diff --git a/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140145/metadata.json b/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140145/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..4c0b1c6bd8c0f75bcf3509e85684cdf9c377ab81
--- /dev/null
+++ b/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140145/metadata.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140145/status.txt b/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140145/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140145/status.txt
@@ -0,0 +1 @@
+success
\ No newline at end of file
diff --git a/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140145/trajectory_info.json b/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140145/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..202bec4be7ec1daa536218b50a46673c60bd02cf
--- /dev/null
+++ b/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140145/trajectory_info.json
@@ -0,0 +1,11 @@
+{
+  "trajectory_id": 140145,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/pour_water_into_mug_74/smoothed/trajectory_140145.json",
+  "total_steps": 1170,
+  "status": "passed",
+  "finish_step": 739,
+  "first_success_step": 719,
+  "reason": "checker_success",
+  "save_dir": null,
+  "video_path": null
+}
diff --git a/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140167/metadata.json b/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140167/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..dce88bf3b87c1acfe45359a7224d581a66fa2b01
--- /dev/null
+++ b/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140167/metadata.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140167/status.txt b/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140167/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140167/status.txt
@@ -0,0 +1 @@
+success
\ No newline at end of file
diff --git a/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140167/trajectory_info.json b/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140167/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..0abb52084775c4deb7d41ac371af7ba8695c839a
--- /dev/null
+++ b/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140167/trajectory_info.json
@@ -0,0 +1,11 @@
+{
+  "trajectory_id": 140167,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/pour_water_into_mug_74/smoothed/trajectory_140167.json",
+  "total_steps": 1201,
+  "status": "passed",
+  "finish_step": 818,
+  "first_success_step": 794,
+  "reason": "checker_success",
+  "save_dir": null,
+  "video_path": null
+}
diff --git a/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140169/metadata.json b/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140169/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..a2ede2ff3700130ed71934b9a3615c990ecf7d27
--- /dev/null
+++ b/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140169/metadata.json
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\ No newline at end of file
diff --git a/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140169/status.txt b/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140169/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140169/status.txt
@@ -0,0 +1 @@
+success
\ No newline at end of file
diff --git a/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140169/trajectory_info.json b/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140169/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..4e4a3516311694da0717a43d8bdc6b0ef34c4dbb
--- /dev/null
+++ b/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140169/trajectory_info.json
@@ -0,0 +1,11 @@
+{
+  "trajectory_id": 140169,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/pour_water_into_mug_74/smoothed/trajectory_140169.json",
+  "total_steps": 1185,
+  "status": "passed",
+  "finish_step": 779,
+  "first_success_step": 759,
+  "reason": "checker_success",
+  "save_dir": null,
+  "video_path": null
+}
diff --git a/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140176/metadata.json b/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140176/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..8c3500ec7099ee82415cda148bcf057a05147da0
--- /dev/null
+++ b/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140176/metadata.json
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\ No newline at end of file
diff --git a/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140176/status.txt b/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140176/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140176/status.txt
@@ -0,0 +1 @@
+success
\ No newline at end of file
diff --git a/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140176/trajectory_info.json b/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140176/trajectory_info.json
new file mode 100644
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--- /dev/null
+++ b/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140176/trajectory_info.json
@@ -0,0 +1,11 @@
+{
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+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/pour_water_into_mug_74/smoothed/trajectory_140176.json",
+  "total_steps": 1240,
+  "status": "passed",
+  "finish_step": 802,
+  "first_success_step": 782,
+  "reason": "checker_success",
+  "save_dir": null,
+  "video_path": null
+}
diff --git a/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140184/metadata.json b/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140184/metadata.json
new file mode 100644
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\ No newline at end of file
diff --git a/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140184/status.txt b/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140184/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140184/status.txt
@@ -0,0 +1 @@
+success
\ No newline at end of file
diff --git a/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140184/trajectory_info.json b/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140184/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..900e184849451000d92f87484aaf9f8d66742e0f
--- /dev/null
+++ b/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140184/trajectory_info.json
@@ -0,0 +1,11 @@
+{
+  "trajectory_id": 140184,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/pour_water_into_mug_74/smoothed/trajectory_140184.json",
+  "total_steps": 1173,
+  "status": "passed",
+  "finish_step": 743,
+  "first_success_step": 723,
+  "reason": "checker_success",
+  "save_dir": null,
+  "video_path": null
+}
diff --git a/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140195/metadata.json b/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140195/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..b28a660d7e27b03cdee56df959aff09d8ebd0c6b
--- /dev/null
+++ b/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140195/metadata.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140195/status.txt b/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140195/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140195/status.txt
@@ -0,0 +1 @@
+success
\ No newline at end of file
diff --git a/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140195/trajectory_info.json b/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140195/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..1ccc04e6470cf18c93e8eae55cc6f3b8a91e837e
--- /dev/null
+++ b/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140195/trajectory_info.json
@@ -0,0 +1,11 @@
+{
+  "trajectory_id": 140195,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/pour_water_into_mug_74/smoothed/trajectory_140195.json",
+  "total_steps": 1209,
+  "status": "passed",
+  "finish_step": 807,
+  "first_success_step": 787,
+  "reason": "checker_success",
+  "save_dir": null,
+  "video_path": null
+}
diff --git a/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140211/metadata.json b/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140211/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..c66bd38a2101daca331dc82da6efb8406f670e17
--- /dev/null
+++ b/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140211/metadata.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140211/status.txt b/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140211/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140211/status.txt
@@ -0,0 +1 @@
+success
\ No newline at end of file
diff --git a/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140211/trajectory_info.json b/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140211/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..e91f12881e6464f0681e44a6afbb665896fba124
--- /dev/null
+++ b/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140211/trajectory_info.json
@@ -0,0 +1,11 @@
+{
+  "trajectory_id": 140211,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/pour_water_into_mug_74/smoothed/trajectory_140211.json",
+  "total_steps": 1175,
+  "status": "passed",
+  "finish_step": 715,
+  "first_success_step": 695,
+  "reason": "checker_success",
+  "save_dir": null,
+  "video_path": null
+}
diff --git a/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140219/metadata.json b/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140219/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..87714a4d86551543a20baa3fdfaeaddce272c99e
--- /dev/null
+++ b/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140219/metadata.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140219/status.txt b/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140219/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140219/status.txt
@@ -0,0 +1 @@
+success
\ No newline at end of file
diff --git a/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140219/trajectory_info.json b/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140219/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..ea9e7a2eecca00b55b0cbd2c494e41a767d1a482
--- /dev/null
+++ b/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140219/trajectory_info.json
@@ -0,0 +1,11 @@
+{
+  "trajectory_id": 140219,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/pour_water_into_mug_74/smoothed/trajectory_140219.json",
+  "total_steps": 1198,
+  "status": "passed",
+  "finish_step": 773,
+  "first_success_step": 753,
+  "reason": "checker_success",
+  "save_dir": null,
+  "video_path": null
+}
diff --git a/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140222/metadata.json b/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140222/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..6c1acda3dd64c2af937256ae73b38e52b58607f9
--- /dev/null
+++ b/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140222/metadata.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140222/status.txt b/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140222/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140222/status.txt
@@ -0,0 +1 @@
+success
\ No newline at end of file
diff --git a/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140222/trajectory_info.json b/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140222/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..e999fbbe61a860e86eecabfc65b0a1da2491105d
--- /dev/null
+++ b/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140222/trajectory_info.json
@@ -0,0 +1,11 @@
+{
+  "trajectory_id": 140222,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/pour_water_into_mug_74/smoothed/trajectory_140222.json",
+  "total_steps": 1208,
+  "status": "passed",
+  "finish_step": 730,
+  "first_success_step": 710,
+  "reason": "checker_success",
+  "save_dir": null,
+  "video_path": null
+}
diff --git a/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140223/metadata.json b/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140223/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..abf60339a1b499345ba0e0b28a6c8fecb92af860
--- /dev/null
+++ b/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140223/metadata.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140223/status.txt b/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140223/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140223/status.txt
@@ -0,0 +1 @@
+success
\ No newline at end of file
diff --git a/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140223/trajectory_info.json b/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140223/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..b2b023498025b3fc576e0c361f26d113e7779249
--- /dev/null
+++ b/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140223/trajectory_info.json
@@ -0,0 +1,11 @@
+{
+  "trajectory_id": 140223,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/pour_water_into_mug_74/smoothed/trajectory_140223.json",
+  "total_steps": 1205,
+  "status": "passed",
+  "finish_step": 814,
+  "first_success_step": 794,
+  "reason": "checker_success",
+  "save_dir": null,
+  "video_path": null
+}
diff --git a/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140235/metadata.json b/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140235/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..897ffe44a36031eb70022788ea7c8f487e0ae2dc
--- /dev/null
+++ b/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140235/metadata.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140235/status.txt b/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140235/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140235/status.txt
@@ -0,0 +1 @@
+success
\ No newline at end of file
diff --git a/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140235/trajectory_info.json b/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140235/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..0498fa877544c8d2a6901f8bfbb286ba5f1a2331
--- /dev/null
+++ b/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140235/trajectory_info.json
@@ -0,0 +1,11 @@
+{
+  "trajectory_id": 140235,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/pour_water_into_mug_74/smoothed/trajectory_140235.json",
+  "total_steps": 1206,
+  "status": "passed",
+  "finish_step": 767,
+  "first_success_step": 747,
+  "reason": "checker_success",
+  "save_dir": null,
+  "video_path": null
+}
diff --git a/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140236/metadata.json b/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140236/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..2a2e1c7c0aab245cf6ea432aebe657afe1e86234
--- /dev/null
+++ b/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140236/metadata.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140236/status.txt b/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140236/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140236/status.txt
@@ -0,0 +1 @@
+success
\ No newline at end of file
diff --git a/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140236/trajectory_info.json b/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140236/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..e6d3ba234300348958572f74aba8bd5c2cfb0390
--- /dev/null
+++ b/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140236/trajectory_info.json
@@ -0,0 +1,11 @@
+{
+  "trajectory_id": 140236,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/pour_water_into_mug_74/smoothed/trajectory_140236.json",
+  "total_steps": 1226,
+  "status": "passed",
+  "finish_step": 821,
+  "first_success_step": 801,
+  "reason": "checker_success",
+  "save_dir": null,
+  "video_path": null
+}
diff --git a/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140238/metadata.json b/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140238/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..9044b1987fae8a0cc4ca3df38435774749cf4f39
--- /dev/null
+++ b/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140238/metadata.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140238/status.txt b/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140238/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140238/status.txt
@@ -0,0 +1 @@
+success
\ No newline at end of file
diff --git a/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140238/trajectory_info.json b/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140238/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..72a4d47ab7e2883c471c5b92622e7e4794387d97
--- /dev/null
+++ b/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140238/trajectory_info.json
@@ -0,0 +1,11 @@
+{
+  "trajectory_id": 140238,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/pour_water_into_mug_74/smoothed/trajectory_140238.json",
+  "total_steps": 1210,
+  "status": "passed",
+  "finish_step": 707,
+  "first_success_step": 687,
+  "reason": "checker_success",
+  "save_dir": null,
+  "video_path": null
+}
diff --git a/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140250/metadata.json b/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140250/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..a72df35a4a2dc2e65fe82453ac786a60e09d964b
--- /dev/null
+++ b/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140250/metadata.json
@@ -0,0 +1 @@
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"task_desc": "Pick up the kettle and pour its contents into the mug."}
\ No newline at end of file
diff --git a/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140250/status.txt b/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140250/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140250/status.txt
@@ -0,0 +1 @@
+success
\ No newline at end of file
diff --git a/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140250/trajectory_info.json b/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140250/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..603ef798e2a89b241e2f060f9ec1290b499b694d
--- /dev/null
+++ b/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140250/trajectory_info.json
@@ -0,0 +1,11 @@
+{
+  "trajectory_id": 140250,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/pour_water_into_mug_74/smoothed/trajectory_140250.json",
+  "total_steps": 1232,
+  "status": "passed",
+  "finish_step": 715,
+  "first_success_step": 695,
+  "reason": "checker_success",
+  "save_dir": null,
+  "video_path": null
+}
diff --git a/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140266/metadata.json b/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140266/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..fc17d0cb00a7ec2e6b85998216833b62b0aeb271
--- /dev/null
+++ b/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140266/metadata.json
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\ No newline at end of file
diff --git a/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140266/status.txt b/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140266/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140266/status.txt
@@ -0,0 +1 @@
+success
\ No newline at end of file
diff --git a/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140266/trajectory_info.json b/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140266/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..18db9de7ca0796acce52da41b1b05f509d3f5910
--- /dev/null
+++ b/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140266/trajectory_info.json
@@ -0,0 +1,11 @@
+{
+  "trajectory_id": 140266,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/pour_water_into_mug_74/smoothed/trajectory_140266.json",
+  "total_steps": 1185,
+  "status": "passed",
+  "finish_step": 794,
+  "first_success_step": 774,
+  "reason": "checker_success",
+  "save_dir": null,
+  "video_path": null
+}
diff --git a/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140281/metadata.json b/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140281/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..243eb7230cc914b735b937046293b0bc2babc56f
--- /dev/null
+++ b/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140281/metadata.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140281/status.txt b/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140281/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140281/status.txt
@@ -0,0 +1 @@
+success
\ No newline at end of file
diff --git a/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140281/trajectory_info.json b/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140281/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..71ae7daf855e0c1d09292ded5eb2f77cfc0b8c23
--- /dev/null
+++ b/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140281/trajectory_info.json
@@ -0,0 +1,11 @@
+{
+  "trajectory_id": 140281,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/pour_water_into_mug_74/smoothed/trajectory_140281.json",
+  "total_steps": 1231,
+  "status": "passed",
+  "finish_step": 802,
+  "first_success_step": 782,
+  "reason": "checker_success",
+  "save_dir": null,
+  "video_path": null
+}
diff --git a/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140287/metadata.json b/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140287/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..115b730d6517197687b25d45333e1da316b0acda
--- /dev/null
+++ b/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140287/metadata.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140287/status.txt b/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140287/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140287/status.txt
@@ -0,0 +1 @@
+success
\ No newline at end of file
diff --git a/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140287/trajectory_info.json b/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140287/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..d20376d50a8f2d02db574fd51fd1c893b405f911
--- /dev/null
+++ b/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140287/trajectory_info.json
@@ -0,0 +1,11 @@
+{
+  "trajectory_id": 140287,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/pour_water_into_mug_74/smoothed/trajectory_140287.json",
+  "total_steps": 1235,
+  "status": "passed",
+  "finish_step": 807,
+  "first_success_step": 787,
+  "reason": "checker_success",
+  "save_dir": null,
+  "video_path": null
+}
diff --git a/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140299/metadata.json b/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140299/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..1dc200ece2594808822274d36973c6872d271c1e
--- /dev/null
+++ b/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140299/metadata.json
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\ No newline at end of file
diff --git a/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140299/status.txt b/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140299/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140299/status.txt
@@ -0,0 +1 @@
+success
\ No newline at end of file
diff --git a/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140299/trajectory_info.json b/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140299/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..fe0649200a28c1bd0bda06029a43cdb554190453
--- /dev/null
+++ b/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140299/trajectory_info.json
@@ -0,0 +1,11 @@
+{
+  "trajectory_id": 140299,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/pour_water_into_mug_74/smoothed/trajectory_140299.json",
+  "total_steps": 1239,
+  "status": "passed",
+  "finish_step": 805,
+  "first_success_step": 785,
+  "reason": "checker_success",
+  "save_dir": null,
+  "video_path": null
+}
diff --git a/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140311/metadata.json b/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140311/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..f8dcb19444a6b2f406425a752e1f898db680baff
--- /dev/null
+++ b/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140311/metadata.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140311/status.txt b/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140311/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140311/status.txt
@@ -0,0 +1 @@
+success
\ No newline at end of file
diff --git a/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140311/trajectory_info.json b/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140311/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..927ca58c6b97b356e498fb7a32e7cbb97ea1cd7f
--- /dev/null
+++ b/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140311/trajectory_info.json
@@ -0,0 +1,11 @@
+{
+  "trajectory_id": 140311,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/pour_water_into_mug_74/smoothed/trajectory_140311.json",
+  "total_steps": 1207,
+  "status": "passed",
+  "finish_step": 791,
+  "first_success_step": 771,
+  "reason": "checker_success",
+  "save_dir": null,
+  "video_path": null
+}
diff --git a/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140313/metadata.json b/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140313/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..2c4f8c5deffab70dc33af3c72ec48b6ee851030d
--- /dev/null
+++ b/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140313/metadata.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140313/status.txt b/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140313/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140313/status.txt
@@ -0,0 +1 @@
+success
\ No newline at end of file
diff --git a/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140313/trajectory_info.json b/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140313/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..822f06701cb9e1508e254b35d885b72d10f4ea16
--- /dev/null
+++ b/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140313/trajectory_info.json
@@ -0,0 +1,11 @@
+{
+  "trajectory_id": 140313,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/pour_water_into_mug_74/smoothed/trajectory_140313.json",
+  "total_steps": 1229,
+  "status": "passed",
+  "finish_step": 793,
+  "first_success_step": 773,
+  "reason": "checker_success",
+  "save_dir": null,
+  "video_path": null
+}
diff --git a/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140328/metadata.json b/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140328/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..b6df08136b3cde96af20b08af62aca469e1558fd
--- /dev/null
+++ b/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140328/metadata.json
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\ No newline at end of file
diff --git a/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140328/status.txt b/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140328/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140328/status.txt
@@ -0,0 +1 @@
+success
\ No newline at end of file
diff --git a/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140328/trajectory_info.json b/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140328/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..e0eb434ea2cd058dcd412abd8d9b4b40747898a3
--- /dev/null
+++ b/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140328/trajectory_info.json
@@ -0,0 +1,11 @@
+{
+  "trajectory_id": 140328,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/pour_water_into_mug_74/smoothed/trajectory_140328.json",
+  "total_steps": 1202,
+  "status": "passed",
+  "finish_step": 775,
+  "first_success_step": 755,
+  "reason": "checker_success",
+  "save_dir": null,
+  "video_path": null
+}
diff --git a/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140338/metadata.json b/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140338/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..bd955b81a103473b872db06ae5dddaa3cb7d5ab3
--- /dev/null
+++ b/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140338/metadata.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140338/status.txt b/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140338/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140338/status.txt
@@ -0,0 +1 @@
+success
\ No newline at end of file
diff --git a/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140338/trajectory_info.json b/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140338/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..caaaf240e1d9be750808b91b55fe16feb689f809
--- /dev/null
+++ b/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140338/trajectory_info.json
@@ -0,0 +1,11 @@
+{
+  "trajectory_id": 140338,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/pour_water_into_mug_74/smoothed/trajectory_140338.json",
+  "total_steps": 1249,
+  "status": "passed",
+  "finish_step": 793,
+  "first_success_step": 773,
+  "reason": "checker_success",
+  "save_dir": null,
+  "video_path": null
+}
diff --git a/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140347/metadata.json b/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140347/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..65eae5e235add12e787c322084224018870bb374
--- /dev/null
+++ b/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140347/metadata.json
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\ No newline at end of file
diff --git a/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140347/status.txt b/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140347/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140347/status.txt
@@ -0,0 +1 @@
+success
\ No newline at end of file
diff --git a/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140347/trajectory_info.json b/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140347/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..7f67196166d620bee63f3e1a7e6cabc41572c7ce
--- /dev/null
+++ b/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140347/trajectory_info.json
@@ -0,0 +1,11 @@
+{
+  "trajectory_id": 140347,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/pour_water_into_mug_74/smoothed/trajectory_140347.json",
+  "total_steps": 1187,
+  "status": "passed",
+  "finish_step": 751,
+  "first_success_step": 731,
+  "reason": "checker_success",
+  "save_dir": null,
+  "video_path": null
+}
diff --git a/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140372/metadata.json b/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140372/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..624a6b9cdd58b8eee645a46bc0d9bc69ddfe25e4
--- /dev/null
+++ b/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140372/metadata.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140372/status.txt b/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140372/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140372/status.txt
@@ -0,0 +1 @@
+success
\ No newline at end of file
diff --git a/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140372/trajectory_info.json b/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140372/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..1d8543df18df3f447a331444e163abd40c3aedfa
--- /dev/null
+++ b/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140372/trajectory_info.json
@@ -0,0 +1,11 @@
+{
+  "trajectory_id": 140372,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/pour_water_into_mug_74/smoothed/trajectory_140372.json",
+  "total_steps": 1207,
+  "status": "passed",
+  "finish_step": 762,
+  "first_success_step": 742,
+  "reason": "checker_success",
+  "save_dir": null,
+  "video_path": null
+}
diff --git a/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140378/metadata.json b/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140378/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..11a2c3fe58a063f6b3756db6c7726537aaf03269
--- /dev/null
+++ b/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140378/metadata.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140378/status.txt b/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140378/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140378/status.txt
@@ -0,0 +1 @@
+success
\ No newline at end of file
diff --git a/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140378/trajectory_info.json b/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140378/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..94049858b7f29cd7b98b59d3a7994ee3b55194a9
--- /dev/null
+++ b/pour_water_into_mug_74-smoothed-passed/robot-franka/success/demo_140378/trajectory_info.json
@@ -0,0 +1,11 @@
+{
+  "trajectory_id": 140378,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/pour_water_into_mug_74/smoothed/trajectory_140378.json",
+  "total_steps": 878,
+  "status": "passed",
+  "finish_step": 797,
+  "first_success_step": 777,
+  "reason": "checker_success",
+  "save_dir": null,
+  "video_path": null
+}