Combining an audio and video stream using gstreame

I am streaming an mp4(mpeg-4) file from one device to another using gstreamer over RTP stream. Basically I am splitting up the mp4 file into its audio and video file and then sending it all to the other device where it gets streamed. Now, I want to save the mp4 file to disk in the other device, but my problem is that I am able to save the audio and video files seperately and it cannot be played individually.

I am confused on how to combine both the audio and video rtp streams to form my mp4 file back and save it to a file in the other device.

Here are the command line codes :

Sender(Server)

gst-launch-0.10 -v filesrc location=/home/kuber/Desktop/sample.mp4 \
             ! qtdemux name=d \
             ! queue \
             ! rtpmp4vpay \
             ! udpsink port=5000 \
             d. \
             ! queue \
             ! rtpmp4gpay \
             ! udpsink port=5002

Reciever(client)

gst-launch-0.10 udpsrc port=5000 caps = "application/x-rtp, media=(string)video, clock-rate=(int)90000, encoding-name=(string)MP4V-ES, profile-level-id=(string)243, config=(string)000001b0f3000001b50ee040c0cf0000010000000120008440fa282fa0f0a21f, payload=(int)96, ssrc=(uint)4291479415, clock-base=(uint)4002140493, seqnum-base=(uint)57180" \
             ! rtpmp4vdepay \
             ! ffdec_mpeg4 \
             ! xvimagesink sync=false \
             udpsrc port=5002 caps="application/x-rtp, media=(string)audio, clock-rate=(int)32000, encoding-name=(string)MPEG4-GENERIC, encoding-params=(string)2, streamtype=(string)5, profile-level-id=(string)2, mode=(string)AAC-hbr, config=(string)1290, sizelength=(string)13, indexlength=(string)3, indexdeltalength=(string)3, payload=(int)96, ssrc=(uint)501975200, clock-base=(uint)4248495069, seqnum-base=(uint)37039"\
             ! rtpmp4gdepay \
             ! faad \
             ! alsasink sync=false

You can try the following pipeline to mux audio and video into a single file. Pipeline for this is as follows:

gst-launch-0.10 udpsrc port=5000 caps = "application/x-rtp, media=(string)video, clock-rate=(int)90000, encoding-name=(string)MP4V-ES, profile-level-id=(string)243, config=(string)000001b0f3000001b50ee040c0cf0000010000000120008440fa282fa0f0a21f, payload=(int)96, ssrc=(uint)4291479415, clock-base=(uint)4002140493, seqnum-base=(uint)57180" \
             ! rtpmp4vdepay \
             ! ffdec_mpeg4 \
             ! mux. \
         udpsrc port=5002 caps="application/x-rtp, media=(string)audio, clock-rate=(int)32000, encoding-name=(string)MPEG4-GENERIC, encoding-params=(string)2, streamtype=(string)5, profile-level-id=(string)2, mode=(string)AAC-hbr, config=(string)1290, sizelength=(string)13, indexlength=(string)3, indexdeltalength=(string)3, payload=(int)96, ssrc=(uint)501975200, clock-base=(uint)4248495069, seqnum-base=(uint)37039"\
             ! rtpmp4gdepay \
             ! faad \
             ! mux. 
         matroskamux name=mux 
             ! filesink location=video.mp4