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\ No newline at end of file
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149087/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149087/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149087/status.txt
@@ -0,0 +1 @@
+success
\ No newline at end of file
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149087/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149087/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..cf301f165c06d97638b7a4a59d5beeb4d76a5bbc
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149087/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 149087,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_149087.json",
+  "total_steps": 781,
+  "status": "passed",
+  "finish_step": 781,
+  "first_success_step": null,
+  "reason": "state_replay_complete_without_checker",
+  "render_index": 0,
+  "num_per_demo": 1,
+  "save_dir": null,
+  "video_path": null,
+  "state_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/checker_validation_smoothed_states/grasp_and_pour_mug_60/smoothed/grasp_and_pour_mug_60__smoothed__trajectory_149087__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149092/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149092/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..c0078c2e6f28880fa685a56bf58d96ad7081cbbe
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149092/metadata.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149092/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149092/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149092/status.txt
@@ -0,0 +1 @@
+success
\ No newline at end of file
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149092/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149092/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..6ccd315275378122f3ffb168d81e4ab2eb4704f1
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149092/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 149092,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_149092.json",
+  "total_steps": 780,
+  "status": "passed",
+  "finish_step": 780,
+  "first_success_step": null,
+  "reason": "state_replay_complete_without_checker",
+  "render_index": 0,
+  "num_per_demo": 1,
+  "save_dir": null,
+  "video_path": null,
+  "state_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/checker_validation_smoothed_states/grasp_and_pour_mug_60/smoothed/grasp_and_pour_mug_60__smoothed__trajectory_149092__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149124/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149124/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..b7aa690256a97c556bd93f07204d43cac604feb4
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149124/metadata.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149124/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149124/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149124/status.txt
@@ -0,0 +1 @@
+success
\ No newline at end of file
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149124/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149124/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..b5c8318648d1f93edd16df64e343c78a73db8b5c
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149124/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 149124,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_149124.json",
+  "total_steps": 780,
+  "status": "passed",
+  "finish_step": 780,
+  "first_success_step": null,
+  "reason": "state_replay_complete_without_checker",
+  "render_index": 0,
+  "num_per_demo": 1,
+  "save_dir": null,
+  "video_path": null,
+  "state_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/checker_validation_smoothed_states/grasp_and_pour_mug_60/smoothed/grasp_and_pour_mug_60__smoothed__trajectory_149124__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149144/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149144/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..512e41d2cd7a54ee556ee16b67c484426e9fd54c
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149144/metadata.json
@@ -0,0 +1 @@
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[0.22016558051109314, -0.04789964109659195, 0.9885022044181824, -2.4671318531036377, 0.005556204356253147, 1.4263837337493896, 0.0], [0.22028671205043793, -0.0479322224855423, 0.9885507225990295, -2.462592840194702, 0.005715460516512394, 1.4263659715652466, 0.0]], "task_desc": "Pick up the mug from the table and tilt it to pour."}
\ No newline at end of file
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149144/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149144/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149144/status.txt
@@ -0,0 +1 @@
+success
\ No newline at end of file
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149144/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149144/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..36bc9a6824f28d2e9825b8ab158504e66047c157
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149144/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 149144,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_149144.json",
+  "total_steps": 783,
+  "status": "passed",
+  "finish_step": 783,
+  "first_success_step": null,
+  "reason": "state_replay_complete_without_checker",
+  "render_index": 0,
+  "num_per_demo": 1,
+  "save_dir": null,
+  "video_path": null,
+  "state_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/checker_validation_smoothed_states/grasp_and_pour_mug_60/smoothed/grasp_and_pour_mug_60__smoothed__trajectory_149144__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149155/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149155/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..6f4e67b05b8bd9dfcf0dc54940f0ca2a459f633e
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149155/metadata.json
@@ -0,0 +1 @@
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0.9886527061462402, -2.4619131088256836, 0.005837220698595047, 1.4244319200515747, 0.0]], "task_desc": "Pick up the mug from the table and tilt it to pour."}
\ No newline at end of file
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149155/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149155/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149155/status.txt
@@ -0,0 +1 @@
+success
\ No newline at end of file
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149155/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149155/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..81ed060d4e743b019e3ac4cc3774d10dc6a3e8b9
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149155/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 149155,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_149155.json",
+  "total_steps": 777,
+  "status": "passed",
+  "finish_step": 777,
+  "first_success_step": null,
+  "reason": "state_replay_complete_without_checker",
+  "render_index": 0,
+  "num_per_demo": 1,
+  "save_dir": null,
+  "video_path": null,
+  "state_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/checker_validation_smoothed_states/grasp_and_pour_mug_60/smoothed/grasp_and_pour_mug_60__smoothed__trajectory_149155__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149159/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149159/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..04de6e8e068cbb69c1d0ec0d2da18ec3c9d3a0ad
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149159/metadata.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149159/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149159/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149159/status.txt
@@ -0,0 +1 @@
+success
\ No newline at end of file
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149159/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149159/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..6e315f7b036faac2b82b14cc3b9d7ddaa2131783
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149159/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 149159,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_149159.json",
+  "total_steps": 774,
+  "status": "passed",
+  "finish_step": 774,
+  "first_success_step": null,
+  "reason": "state_replay_complete_without_checker",
+  "render_index": 0,
+  "num_per_demo": 1,
+  "save_dir": null,
+  "video_path": null,
+  "state_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/checker_validation_smoothed_states/grasp_and_pour_mug_60/smoothed/grasp_and_pour_mug_60__smoothed__trajectory_149159__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149170/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149170/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..f878714712a126bde52c7ce15feebf7c3a1b6d1b
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149170/metadata.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149170/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149170/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149170/status.txt
@@ -0,0 +1 @@
+success
\ No newline at end of file
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149170/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149170/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..470795b3001e43f8aa25bec848a87b7049474a7a
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149170/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 149170,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_149170.json",
+  "total_steps": 773,
+  "status": "passed",
+  "finish_step": 773,
+  "first_success_step": null,
+  "reason": "state_replay_complete_without_checker",
+  "render_index": 0,
+  "num_per_demo": 1,
+  "save_dir": null,
+  "video_path": null,
+  "state_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/checker_validation_smoothed_states/grasp_and_pour_mug_60/smoothed/grasp_and_pour_mug_60__smoothed__trajectory_149170__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149176/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149176/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..e106c55f0a69130e200e41d749b7b608f432dc6d
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149176/metadata.json
@@ -0,0 +1 @@
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"Pick up the mug from the table and tilt it to pour."}
\ No newline at end of file
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149176/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149176/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149176/status.txt
@@ -0,0 +1 @@
+success
\ No newline at end of file
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149176/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149176/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..4ccd20b5f475027e1ab64a953a54522c5d150f36
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149176/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 149176,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_149176.json",
+  "total_steps": 766,
+  "status": "passed",
+  "finish_step": 766,
+  "first_success_step": null,
+  "reason": "state_replay_complete_without_checker",
+  "render_index": 0,
+  "num_per_demo": 1,
+  "save_dir": null,
+  "video_path": null,
+  "state_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/checker_validation_smoothed_states/grasp_and_pour_mug_60/smoothed/grasp_and_pour_mug_60__smoothed__trajectory_149176__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149190/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149190/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..3575f35eddedda45bbc6a6b88c62a19c7b16cced
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149190/metadata.json
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\ No newline at end of file
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149190/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149190/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149190/status.txt
@@ -0,0 +1 @@
+success
\ No newline at end of file
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149190/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149190/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..7b6b10fcf8db7927f01540e482da81bafa44bbc0
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149190/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 149190,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_149190.json",
+  "total_steps": 779,
+  "status": "passed",
+  "finish_step": 779,
+  "first_success_step": null,
+  "reason": "state_replay_complete_without_checker",
+  "render_index": 0,
+  "num_per_demo": 1,
+  "save_dir": null,
+  "video_path": null,
+  "state_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/checker_validation_smoothed_states/grasp_and_pour_mug_60/smoothed/grasp_and_pour_mug_60__smoothed__trajectory_149190__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149204/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149204/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..ccf2df487a0740c81ae98fb9350c2969660d3eaf
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149204/metadata.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149204/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149204/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149204/status.txt
@@ -0,0 +1 @@
+success
\ No newline at end of file
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149204/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149204/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..67b54dd096b703a00e2a1b425ea64ef9944957d1
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149204/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 149204,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_149204.json",
+  "total_steps": 263,
+  "status": "passed",
+  "finish_step": 263,
+  "first_success_step": null,
+  "reason": "state_replay_complete_without_checker",
+  "render_index": 0,
+  "num_per_demo": 1,
+  "save_dir": null,
+  "video_path": null,
+  "state_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/checker_validation_smoothed_states/grasp_and_pour_mug_60/smoothed/grasp_and_pour_mug_60__smoothed__trajectory_149204__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149251/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149251/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..b5c5720008daddaea134f9e9ec3345db9569c913
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149251/metadata.json
@@ -0,0 +1 @@
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mug from the table and tilt it to pour."}
\ No newline at end of file
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149251/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149251/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149251/status.txt
@@ -0,0 +1 @@
+success
\ No newline at end of file
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149251/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149251/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..8987ed5051036dd64098cc17e83b7e61e92e4648
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149251/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 149251,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_149251.json",
+  "total_steps": 784,
+  "status": "passed",
+  "finish_step": 784,
+  "first_success_step": null,
+  "reason": "state_replay_complete_without_checker",
+  "render_index": 0,
+  "num_per_demo": 1,
+  "save_dir": null,
+  "video_path": null,
+  "state_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/checker_validation_smoothed_states/grasp_and_pour_mug_60/smoothed/grasp_and_pour_mug_60__smoothed__trajectory_149251__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149260/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149260/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..e533bc77c426baef2853dcd2010767951831d48f
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149260/metadata.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149260/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149260/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149260/status.txt
@@ -0,0 +1 @@
+success
\ No newline at end of file
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149260/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149260/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..8dffffd6211ad7f5e6d0fbf4bd34948efdc34784
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149260/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 149260,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_149260.json",
+  "total_steps": 779,
+  "status": "passed",
+  "finish_step": 779,
+  "first_success_step": null,
+  "reason": "state_replay_complete_without_checker",
+  "render_index": 0,
+  "num_per_demo": 1,
+  "save_dir": null,
+  "video_path": null,
+  "state_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/checker_validation_smoothed_states/grasp_and_pour_mug_60/smoothed/grasp_and_pour_mug_60__smoothed__trajectory_149260__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149264/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149264/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..a063d094bd2b7a8345d0ae7339359268d849759a
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149264/metadata.json
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\ No newline at end of file
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149264/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149264/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149264/status.txt
@@ -0,0 +1 @@
+success
\ No newline at end of file
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149264/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149264/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..e16141241fc9809f7bd06c35ccf5c8167cf98d93
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149264/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 149264,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_149264.json",
+  "total_steps": 783,
+  "status": "passed",
+  "finish_step": 783,
+  "first_success_step": null,
+  "reason": "state_replay_complete_without_checker",
+  "render_index": 0,
+  "num_per_demo": 1,
+  "save_dir": null,
+  "video_path": null,
+  "state_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/checker_validation_smoothed_states/grasp_and_pour_mug_60/smoothed/grasp_and_pour_mug_60__smoothed__trajectory_149264__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149277/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149277/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..5fd0963d67a19294a1457e556daf02ad0847d4ca
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149277/metadata.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149277/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149277/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149277/status.txt
@@ -0,0 +1 @@
+success
\ No newline at end of file
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149277/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149277/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..4ef2d65f6a285a133e960ba361d49cabb6091fb5
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149277/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 149277,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_149277.json",
+  "total_steps": 785,
+  "status": "passed",
+  "finish_step": 785,
+  "first_success_step": null,
+  "reason": "state_replay_complete_without_checker",
+  "render_index": 0,
+  "num_per_demo": 1,
+  "save_dir": null,
+  "video_path": null,
+  "state_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/checker_validation_smoothed_states/grasp_and_pour_mug_60/smoothed/grasp_and_pour_mug_60__smoothed__trajectory_149277__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149285/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149285/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..8ba9da29ed406cfb79aedd319e8df862a1543f2d
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149285/metadata.json
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\ No newline at end of file
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149285/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149285/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149285/status.txt
@@ -0,0 +1 @@
+success
\ No newline at end of file
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149285/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149285/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..a7b438ce74e1c8efb60c69ee1194c11ea5c155f2
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149285/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 149285,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_149285.json",
+  "total_steps": 774,
+  "status": "passed",
+  "finish_step": 774,
+  "first_success_step": null,
+  "reason": "state_replay_complete_without_checker",
+  "render_index": 0,
+  "num_per_demo": 1,
+  "save_dir": null,
+  "video_path": null,
+  "state_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/checker_validation_smoothed_states/grasp_and_pour_mug_60/smoothed/grasp_and_pour_mug_60__smoothed__trajectory_149285__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149298/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149298/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..bdc12efa2fc204cade2a5f4af8a95ac19bd266b1
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149298/metadata.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149298/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149298/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149298/status.txt
@@ -0,0 +1 @@
+success
\ No newline at end of file
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149298/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149298/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..0ffbaa58401faee4b526d201356e7313ce420f4c
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149298/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 149298,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_149298.json",
+  "total_steps": 778,
+  "status": "passed",
+  "finish_step": 778,
+  "first_success_step": null,
+  "reason": "state_replay_complete_without_checker",
+  "render_index": 0,
+  "num_per_demo": 1,
+  "save_dir": null,
+  "video_path": null,
+  "state_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/checker_validation_smoothed_states/grasp_and_pour_mug_60/smoothed/grasp_and_pour_mug_60__smoothed__trajectory_149298__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149309/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149309/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..43d0007473b06d841b43c0df70250b8cf39aec58
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149309/metadata.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149309/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149309/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149309/status.txt
@@ -0,0 +1 @@
+success
\ No newline at end of file
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149309/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149309/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..3dddef9f8189c870fe9461269b75e6a4baa9fece
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149309/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 149309,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_149309.json",
+  "total_steps": 783,
+  "status": "passed",
+  "finish_step": 783,
+  "first_success_step": null,
+  "reason": "state_replay_complete_without_checker",
+  "render_index": 0,
+  "num_per_demo": 1,
+  "save_dir": null,
+  "video_path": null,
+  "state_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/checker_validation_smoothed_states/grasp_and_pour_mug_60/smoothed/grasp_and_pour_mug_60__smoothed__trajectory_149309__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149318/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149318/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..0513d7983033ed3ee91aa580dad1f676517f3ab4
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149318/metadata.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149318/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149318/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149318/status.txt
@@ -0,0 +1 @@
+success
\ No newline at end of file
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149318/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149318/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..a74a52809d463752f53141dc8c933caaa536401a
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149318/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 149318,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_149318.json",
+  "total_steps": 246,
+  "status": "passed",
+  "finish_step": 246,
+  "first_success_step": null,
+  "reason": "state_replay_complete_without_checker",
+  "render_index": 0,
+  "num_per_demo": 1,
+  "save_dir": null,
+  "video_path": null,
+  "state_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/checker_validation_smoothed_states/grasp_and_pour_mug_60/smoothed/grasp_and_pour_mug_60__smoothed__trajectory_149318__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149328/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149328/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..89ee756989b46af293e94bf3f00845642b559186
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149328/metadata.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149328/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149328/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149328/status.txt
@@ -0,0 +1 @@
+success
\ No newline at end of file
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149328/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149328/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..c023612a45bffd0fc5b51893b35ba5490f05e4c0
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149328/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 149328,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_149328.json",
+  "total_steps": 785,
+  "status": "passed",
+  "finish_step": 785,
+  "first_success_step": null,
+  "reason": "state_replay_complete_without_checker",
+  "render_index": 0,
+  "num_per_demo": 1,
+  "save_dir": null,
+  "video_path": null,
+  "state_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/checker_validation_smoothed_states/grasp_and_pour_mug_60/smoothed/grasp_and_pour_mug_60__smoothed__trajectory_149328__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149335/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149335/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..f77aa8f67c2a921dff25962e20738255bdd91d9c
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149335/metadata.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149335/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149335/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149335/status.txt
@@ -0,0 +1 @@
+success
\ No newline at end of file
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149335/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149335/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..43facb7c3ac293f583fc84cbafcfb10167c6af63
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149335/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 149335,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_149335.json",
+  "total_steps": 702,
+  "status": "passed",
+  "finish_step": 702,
+  "first_success_step": null,
+  "reason": "state_replay_complete_without_checker",
+  "render_index": 0,
+  "num_per_demo": 1,
+  "save_dir": null,
+  "video_path": null,
+  "state_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/checker_validation_smoothed_states/grasp_and_pour_mug_60/smoothed/grasp_and_pour_mug_60__smoothed__trajectory_149335__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149371/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149371/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..df37cd44d0cd6f02ec891750f8522ef979a79ed7
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149371/metadata.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149371/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149371/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149371/status.txt
@@ -0,0 +1 @@
+success
\ No newline at end of file
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149371/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149371/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..58b0807eea87707280bcd1b7abf503ddfe43a99d
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149371/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 149371,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_149371.json",
+  "total_steps": 781,
+  "status": "passed",
+  "finish_step": 781,
+  "first_success_step": null,
+  "reason": "state_replay_complete_without_checker",
+  "render_index": 0,
+  "num_per_demo": 1,
+  "save_dir": null,
+  "video_path": null,
+  "state_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/checker_validation_smoothed_states/grasp_and_pour_mug_60/smoothed/grasp_and_pour_mug_60__smoothed__trajectory_149371__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149374/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149374/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..a6423447a0fa9ee2915d0f7dda5a041d57f8a271
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149374/metadata.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149374/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149374/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149374/status.txt
@@ -0,0 +1 @@
+success
\ No newline at end of file
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149374/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149374/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..5542e6119e25c396394e53028590498b5ecdc6a3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149374/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 149374,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_149374.json",
+  "total_steps": 401,
+  "status": "passed",
+  "finish_step": 401,
+  "first_success_step": null,
+  "reason": "state_replay_complete_without_checker",
+  "render_index": 0,
+  "num_per_demo": 1,
+  "save_dir": null,
+  "video_path": null,
+  "state_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/checker_validation_smoothed_states/grasp_and_pour_mug_60/smoothed/grasp_and_pour_mug_60__smoothed__trajectory_149374__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149377/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149377/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..4df9960f01dcca60fe2431e29ed08e7c9ae0fb95
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149377/metadata.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149377/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149377/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149377/status.txt
@@ -0,0 +1 @@
+success
\ No newline at end of file
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149377/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149377/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..1542c797576f540c788937a9d551aa152e622d78
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149377/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 149377,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_149377.json",
+  "total_steps": 774,
+  "status": "passed",
+  "finish_step": 774,
+  "first_success_step": null,
+  "reason": "state_replay_complete_without_checker",
+  "render_index": 0,
+  "num_per_demo": 1,
+  "save_dir": null,
+  "video_path": null,
+  "state_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/checker_validation_smoothed_states/grasp_and_pour_mug_60/smoothed/grasp_and_pour_mug_60__smoothed__trajectory_149377__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149407/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149407/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..4d3dd4a0788777b24a9871d0a1ef1929d5f5cfe9
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149407/metadata.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149407/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149407/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149407/status.txt
@@ -0,0 +1 @@
+success
\ No newline at end of file
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149407/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149407/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..59073f89c19d0aaede79505b0f6ee2c0f3676ef9
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149407/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 149407,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_149407.json",
+  "total_steps": 782,
+  "status": "passed",
+  "finish_step": 782,
+  "first_success_step": null,
+  "reason": "state_replay_complete_without_checker",
+  "render_index": 0,
+  "num_per_demo": 1,
+  "save_dir": null,
+  "video_path": null,
+  "state_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/checker_validation_smoothed_states/grasp_and_pour_mug_60/smoothed/grasp_and_pour_mug_60__smoothed__trajectory_149407__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149420/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149420/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..96dd159fa13d62831ce3ccbf906aa061aa49970e
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149420/metadata.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149420/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149420/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149420/status.txt
@@ -0,0 +1 @@
+success
\ No newline at end of file
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149420/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149420/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..bb1b6b8973bb8f9ef75b56d26a2ffe543363e1ba
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149420/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 149420,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_149420.json",
+  "total_steps": 773,
+  "status": "passed",
+  "finish_step": 773,
+  "first_success_step": null,
+  "reason": "state_replay_complete_without_checker",
+  "render_index": 0,
+  "num_per_demo": 1,
+  "save_dir": null,
+  "video_path": null,
+  "state_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/checker_validation_smoothed_states/grasp_and_pour_mug_60/smoothed/grasp_and_pour_mug_60__smoothed__trajectory_149420__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149454/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149454/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..f394f6dfac5cfa01dd2954a4b578471f856c4d0e
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149454/metadata.json
@@ -0,0 +1 @@
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-0.04815201461315155, 0.9886025190353394, -2.4672725200653076, 0.00612006476148963, 1.4253969192504883, 0.0]], "task_desc": "Pick up the mug from the table and tilt it to pour."}
\ No newline at end of file
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149454/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149454/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149454/status.txt
@@ -0,0 +1 @@
+success
\ No newline at end of file
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149454/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149454/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..a22eea93483211b7369a4d5effece0af5eedd9d1
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149454/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 149454,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_149454.json",
+  "total_steps": 775,
+  "status": "passed",
+  "finish_step": 775,
+  "first_success_step": null,
+  "reason": "state_replay_complete_without_checker",
+  "render_index": 0,
+  "num_per_demo": 1,
+  "save_dir": null,
+  "video_path": null,
+  "state_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/checker_validation_smoothed_states/grasp_and_pour_mug_60/smoothed/grasp_and_pour_mug_60__smoothed__trajectory_149454__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149458/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149458/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..70905f9116c9efffd6c48d43f3514c972e19d3b1
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149458/metadata.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149458/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149458/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149458/status.txt
@@ -0,0 +1 @@
+success
\ No newline at end of file
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149458/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149458/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..0741bb7bea0fc3151bafd01c331ffd8df60de46e
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149458/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 149458,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_149458.json",
+  "total_steps": 763,
+  "status": "passed",
+  "finish_step": 763,
+  "first_success_step": null,
+  "reason": "state_replay_complete_without_checker",
+  "render_index": 0,
+  "num_per_demo": 1,
+  "save_dir": null,
+  "video_path": null,
+  "state_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/checker_validation_smoothed_states/grasp_and_pour_mug_60/smoothed/grasp_and_pour_mug_60__smoothed__trajectory_149458__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149467/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149467/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..9f5da339a53bd818b1390b98e945d53474e78625
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149467/metadata.json
@@ -0,0 +1 @@
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0.9881181716918945, -2.46165132522583, 0.005885780788958073, 1.4254297018051147, 0.0]], "task_desc": "Pick up the mug from the table and tilt it to pour."}
\ No newline at end of file
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149467/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149467/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149467/status.txt
@@ -0,0 +1 @@
+success
\ No newline at end of file
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149467/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149467/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..de4b7227a9dd483010f936232869cc0cbd87eafd
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149467/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 149467,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_149467.json",
+  "total_steps": 783,
+  "status": "passed",
+  "finish_step": 783,
+  "first_success_step": null,
+  "reason": "state_replay_complete_without_checker",
+  "render_index": 0,
+  "num_per_demo": 1,
+  "save_dir": null,
+  "video_path": null,
+  "state_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/checker_validation_smoothed_states/grasp_and_pour_mug_60/smoothed/grasp_and_pour_mug_60__smoothed__trajectory_149467__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149472/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149472/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..de77d9ebad66571a83d9c4625ef29c6e0aec52f0
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149472/metadata.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149472/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149472/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149472/status.txt
@@ -0,0 +1 @@
+success
\ No newline at end of file
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149472/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149472/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..f52152a11d2affb638494daea98cfc4df67bccc7
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149472/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 149472,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_149472.json",
+  "total_steps": 777,
+  "status": "passed",
+  "finish_step": 777,
+  "first_success_step": null,
+  "reason": "state_replay_complete_without_checker",
+  "render_index": 0,
+  "num_per_demo": 1,
+  "save_dir": null,
+  "video_path": null,
+  "state_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/checker_validation_smoothed_states/grasp_and_pour_mug_60/smoothed/grasp_and_pour_mug_60__smoothed__trajectory_149472__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149546/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149546/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..b1bc7f4fbe05dd219ac6c4caafeb182dfe9000dd
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149546/metadata.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149546/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149546/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149546/status.txt
@@ -0,0 +1 @@
+success
\ No newline at end of file
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149546/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149546/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..3300edb04d23da3aff0cc0d6fa3d7e44fa90b377
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149546/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 149546,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_149546.json",
+  "total_steps": 408,
+  "status": "passed",
+  "finish_step": 408,
+  "first_success_step": null,
+  "reason": "state_replay_complete_without_checker",
+  "render_index": 0,
+  "num_per_demo": 1,
+  "save_dir": null,
+  "video_path": null,
+  "state_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/checker_validation_smoothed_states/grasp_and_pour_mug_60/smoothed/grasp_and_pour_mug_60__smoothed__trajectory_149546__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149557/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149557/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..5c4f3eca3e9a724d1418df3e6f0645ffc2497a04
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149557/metadata.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149557/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149557/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149557/status.txt
@@ -0,0 +1 @@
+success
\ No newline at end of file
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149557/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149557/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..a0e0e5765595a805077faf12587612f1a59dab56
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149557/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 149557,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_149557.json",
+  "total_steps": 784,
+  "status": "passed",
+  "finish_step": 784,
+  "first_success_step": null,
+  "reason": "state_replay_complete_without_checker",
+  "render_index": 0,
+  "num_per_demo": 1,
+  "save_dir": null,
+  "video_path": null,
+  "state_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/checker_validation_smoothed_states/grasp_and_pour_mug_60/smoothed/grasp_and_pour_mug_60__smoothed__trajectory_149557__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149583/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149583/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..568d087236057f5228bd0a7c09fb9dfd53a8b33d
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149583/metadata.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149583/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149583/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149583/status.txt
@@ -0,0 +1 @@
+success
\ No newline at end of file
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149583/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149583/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..58862bcb47c43a93c6b161e1f4cc90a145b4fb04
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149583/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 149583,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_149583.json",
+  "total_steps": 778,
+  "status": "passed",
+  "finish_step": 778,
+  "first_success_step": null,
+  "reason": "state_replay_complete_without_checker",
+  "render_index": 0,
+  "num_per_demo": 1,
+  "save_dir": null,
+  "video_path": null,
+  "state_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/checker_validation_smoothed_states/grasp_and_pour_mug_60/smoothed/grasp_and_pour_mug_60__smoothed__trajectory_149583__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149603/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149603/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..1819453ad8f0e3f10c8b861c1a7c8ca7d717ab18
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149603/metadata.json
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\ No newline at end of file
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149603/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149603/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149603/status.txt
@@ -0,0 +1 @@
+success
\ No newline at end of file
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149603/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149603/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..7db2c5250166e96e804655ea84b8196218365ffe
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149603/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 149603,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_149603.json",
+  "total_steps": 778,
+  "status": "passed",
+  "finish_step": 778,
+  "first_success_step": null,
+  "reason": "state_replay_complete_without_checker",
+  "render_index": 0,
+  "num_per_demo": 1,
+  "save_dir": null,
+  "video_path": null,
+  "state_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/checker_validation_smoothed_states/grasp_and_pour_mug_60/smoothed/grasp_and_pour_mug_60__smoothed__trajectory_149603__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149674/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149674/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..9d033ab5943c7eb783c90399aa91f39b5ecd53a3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149674/metadata.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149674/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149674/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149674/status.txt
@@ -0,0 +1 @@
+success
\ No newline at end of file
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149674/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149674/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..13fe02570a314e4edcb14c1247db9a59b8b94cc7
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149674/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 149674,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_149674.json",
+  "total_steps": 769,
+  "status": "passed",
+  "finish_step": 769,
+  "first_success_step": null,
+  "reason": "state_replay_complete_without_checker",
+  "render_index": 0,
+  "num_per_demo": 1,
+  "save_dir": null,
+  "video_path": null,
+  "state_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/checker_validation_smoothed_states/grasp_and_pour_mug_60/smoothed/grasp_and_pour_mug_60__smoothed__trajectory_149674__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149709/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149709/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..c2a06f68a5c3e2b1bf411413e22c7ea811b292a4
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149709/metadata.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149709/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149709/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149709/status.txt
@@ -0,0 +1 @@
+success
\ No newline at end of file
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149709/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149709/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..a076caaca7bdf81ba5d96ed29df1c508c1e3a3ef
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149709/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 149709,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_149709.json",
+  "total_steps": 763,
+  "status": "passed",
+  "finish_step": 763,
+  "first_success_step": null,
+  "reason": "state_replay_complete_without_checker",
+  "render_index": 0,
+  "num_per_demo": 1,
+  "save_dir": null,
+  "video_path": null,
+  "state_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/checker_validation_smoothed_states/grasp_and_pour_mug_60/smoothed/grasp_and_pour_mug_60__smoothed__trajectory_149709__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149734/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149734/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..e9653729ebcec4b6dd20750195611745225050c3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149734/metadata.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149734/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149734/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149734/status.txt
@@ -0,0 +1 @@
+success
\ No newline at end of file
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149734/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149734/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..67b8b89290c4d3d6f75651dd859c65b16380a920
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149734/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 149734,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_149734.json",
+  "total_steps": 775,
+  "status": "passed",
+  "finish_step": 775,
+  "first_success_step": null,
+  "reason": "state_replay_complete_without_checker",
+  "render_index": 0,
+  "num_per_demo": 1,
+  "save_dir": null,
+  "video_path": null,
+  "state_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/checker_validation_smoothed_states/grasp_and_pour_mug_60/smoothed/grasp_and_pour_mug_60__smoothed__trajectory_149734__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149743/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149743/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..031e8456fe391a2cd2dbab7e60c9428e78c67cb8
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149743/metadata.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149743/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149743/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149743/status.txt
@@ -0,0 +1 @@
+success
\ No newline at end of file
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149743/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149743/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..7828d468461b0081a13ebd2e8426a6e4bc41c755
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149743/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 149743,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_149743.json",
+  "total_steps": 767,
+  "status": "passed",
+  "finish_step": 767,
+  "first_success_step": null,
+  "reason": "state_replay_complete_without_checker",
+  "render_index": 0,
+  "num_per_demo": 1,
+  "save_dir": null,
+  "video_path": null,
+  "state_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/checker_validation_smoothed_states/grasp_and_pour_mug_60/smoothed/grasp_and_pour_mug_60__smoothed__trajectory_149743__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149758/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149758/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..5de41b891f928678ba4e77c9cb152022e98b2692
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149758/metadata.json
@@ -0,0 +1 @@
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"task_desc": "Pick up the mug from the table and tilt it to pour."}
\ No newline at end of file
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149758/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149758/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149758/status.txt
@@ -0,0 +1 @@
+success
\ No newline at end of file
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149758/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149758/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..08858eb67652e6e5141be9177d07f1b3c283cc36
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149758/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 149758,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_149758.json",
+  "total_steps": 777,
+  "status": "passed",
+  "finish_step": 777,
+  "first_success_step": null,
+  "reason": "state_replay_complete_without_checker",
+  "render_index": 0,
+  "num_per_demo": 1,
+  "save_dir": null,
+  "video_path": null,
+  "state_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/checker_validation_smoothed_states/grasp_and_pour_mug_60/smoothed/grasp_and_pour_mug_60__smoothed__trajectory_149758__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149795/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149795/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..83ea65ea62877dbfc5ebe04c12e6955ed64bb3d7
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149795/metadata.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149795/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149795/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149795/status.txt
@@ -0,0 +1 @@
+success
\ No newline at end of file
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149795/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149795/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..8ea7ab3b8fb203eb4efa62d26177978f05a7db7d
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149795/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 149795,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_149795.json",
+  "total_steps": 778,
+  "status": "passed",
+  "finish_step": 778,
+  "first_success_step": null,
+  "reason": "state_replay_complete_without_checker",
+  "render_index": 0,
+  "num_per_demo": 1,
+  "save_dir": null,
+  "video_path": null,
+  "state_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/checker_validation_smoothed_states/grasp_and_pour_mug_60/smoothed/grasp_and_pour_mug_60__smoothed__trajectory_149795__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149851/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149851/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..09ee4cd2a5db601bb6210d1bba5206eedbdc2e40
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149851/metadata.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149851/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149851/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149851/status.txt
@@ -0,0 +1 @@
+success
\ No newline at end of file
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149851/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149851/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..ff5c8ecedbb628574847cc875957433aa9c5372e
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149851/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 149851,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_149851.json",
+  "total_steps": 780,
+  "status": "passed",
+  "finish_step": 780,
+  "first_success_step": null,
+  "reason": "state_replay_complete_without_checker",
+  "render_index": 0,
+  "num_per_demo": 1,
+  "save_dir": null,
+  "video_path": null,
+  "state_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/checker_validation_smoothed_states/grasp_and_pour_mug_60/smoothed/grasp_and_pour_mug_60__smoothed__trajectory_149851__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149876/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149876/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..de3f3141f76719f533dce6c9591a0d0e5a740094
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149876/metadata.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149876/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149876/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149876/status.txt
@@ -0,0 +1 @@
+success
\ No newline at end of file
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149876/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149876/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..6d9f5132c7e9e1fcf7f97905e433b478b145d184
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149876/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 149876,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_149876.json",
+  "total_steps": 780,
+  "status": "passed",
+  "finish_step": 780,
+  "first_success_step": null,
+  "reason": "state_replay_complete_without_checker",
+  "render_index": 0,
+  "num_per_demo": 1,
+  "save_dir": null,
+  "video_path": null,
+  "state_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/checker_validation_smoothed_states/grasp_and_pour_mug_60/smoothed/grasp_and_pour_mug_60__smoothed__trajectory_149876__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149906/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149906/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..42cbf0f14f10a7899abe7059a4f4ccc1e0e3c4a3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149906/metadata.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149906/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149906/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149906/status.txt
@@ -0,0 +1 @@
+success
\ No newline at end of file
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149906/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149906/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..0f4dabb89eae1a69520d6892756bb12ec65d0ce8
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149906/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 149906,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_149906.json",
+  "total_steps": 783,
+  "status": "passed",
+  "finish_step": 783,
+  "first_success_step": null,
+  "reason": "state_replay_complete_without_checker",
+  "render_index": 0,
+  "num_per_demo": 1,
+  "save_dir": null,
+  "video_path": null,
+  "state_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/checker_validation_smoothed_states/grasp_and_pour_mug_60/smoothed/grasp_and_pour_mug_60__smoothed__trajectory_149906__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149943/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149943/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..b47adc4d548ffed6b384fb97b32790a473e7c509
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149943/metadata.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149943/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149943/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149943/status.txt
@@ -0,0 +1 @@
+success
\ No newline at end of file
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149943/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149943/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..eda38d673304e92c90090805a1785fd17d675ed0
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149943/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 149943,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_149943.json",
+  "total_steps": 1145,
+  "status": "passed",
+  "finish_step": 1145,
+  "first_success_step": null,
+  "reason": "state_replay_complete_without_checker",
+  "render_index": 0,
+  "num_per_demo": 1,
+  "save_dir": null,
+  "video_path": null,
+  "state_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/checker_validation_smoothed_states/grasp_and_pour_mug_60/smoothed/grasp_and_pour_mug_60__smoothed__trajectory_149943__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149947/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149947/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..6c244158c13008e1ddf56e732f02850da6163333
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149947/metadata.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149947/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149947/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149947/status.txt
@@ -0,0 +1 @@
+success
\ No newline at end of file
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149947/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149947/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..8367b9daa0ff684d231e2e15b64420be90266a51
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149947/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 149947,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_149947.json",
+  "total_steps": 1166,
+  "status": "passed",
+  "finish_step": 1166,
+  "first_success_step": null,
+  "reason": "state_replay_complete_without_checker",
+  "render_index": 0,
+  "num_per_demo": 1,
+  "save_dir": null,
+  "video_path": null,
+  "state_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/checker_validation_smoothed_states/grasp_and_pour_mug_60/smoothed/grasp_and_pour_mug_60__smoothed__trajectory_149947__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149958/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149958/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..d9036936d553d2a0f941a8b3cfda3f80a881e2ab
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149958/metadata.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149958/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149958/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149958/status.txt
@@ -0,0 +1 @@
+success
\ No newline at end of file
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149958/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149958/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..c143746a135a1f174b74feb363bd589fa710c988
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149958/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 149958,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_149958.json",
+  "total_steps": 628,
+  "status": "passed",
+  "finish_step": 628,
+  "first_success_step": null,
+  "reason": "state_replay_complete_without_checker",
+  "render_index": 0,
+  "num_per_demo": 1,
+  "save_dir": null,
+  "video_path": null,
+  "state_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/checker_validation_smoothed_states/grasp_and_pour_mug_60/smoothed/grasp_and_pour_mug_60__smoothed__trajectory_149958__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149975/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149975/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..494f7a836b3f182b6e386c672d0872ec825c1b28
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149975/metadata.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149975/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149975/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149975/status.txt
@@ -0,0 +1 @@
+success
\ No newline at end of file
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149975/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149975/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..df0730fca690f26247972f04eef6f9e7bc1f6e83
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149975/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 149975,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_149975.json",
+  "total_steps": 784,
+  "status": "passed",
+  "finish_step": 784,
+  "first_success_step": null,
+  "reason": "state_replay_complete_without_checker",
+  "render_index": 0,
+  "num_per_demo": 1,
+  "save_dir": null,
+  "video_path": null,
+  "state_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/checker_validation_smoothed_states/grasp_and_pour_mug_60/smoothed/grasp_and_pour_mug_60__smoothed__trajectory_149975__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149987/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149987/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..5d3014273a5210a8e3980308656bbbe3eb99bdbd
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149987/metadata.json
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\ No newline at end of file
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149987/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149987/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149987/status.txt
@@ -0,0 +1 @@
+success
\ No newline at end of file
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149987/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149987/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..0d8abddc36c74d33cc360299119c0603de13b371
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149987/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 149987,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_149987.json",
+  "total_steps": 769,
+  "status": "passed",
+  "finish_step": 769,
+  "first_success_step": null,
+  "reason": "state_replay_complete_without_checker",
+  "render_index": 0,
+  "num_per_demo": 1,
+  "save_dir": null,
+  "video_path": null,
+  "state_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/checker_validation_smoothed_states/grasp_and_pour_mug_60/smoothed/grasp_and_pour_mug_60__smoothed__trajectory_149987__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149992/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149992/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..b60ee3fd67a6605d1044e8b8d7f233ca11a972d0
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149992/metadata.json
@@ -0,0 +1 @@
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-2.466453790664673, 0.006097862962633371, 1.4259033203125, 0.0]], "task_desc": "Pick up the mug from the table and tilt it to pour."}
\ No newline at end of file
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149992/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149992/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149992/status.txt
@@ -0,0 +1 @@
+success
\ No newline at end of file
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149992/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149992/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..62e12a94c61bf1df3eaa345b6a898d09b3627367
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149992/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 149992,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_149992.json",
+  "total_steps": 768,
+  "status": "passed",
+  "finish_step": 768,
+  "first_success_step": null,
+  "reason": "state_replay_complete_without_checker",
+  "render_index": 0,
+  "num_per_demo": 1,
+  "save_dir": null,
+  "video_path": null,
+  "state_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/checker_validation_smoothed_states/grasp_and_pour_mug_60/smoothed/grasp_and_pour_mug_60__smoothed__trajectory_149992__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_150004/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_150004/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..407dcc226ec11d36392ed2ac502cac70ded5e2d0
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_150004/metadata.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_150004/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_150004/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_150004/status.txt
@@ -0,0 +1 @@
+success
\ No newline at end of file
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_150004/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_150004/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..b7b8c3950eb0b3951f452207d7359ba3b3cfdfae
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_150004/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 150004,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_150004.json",
+  "total_steps": 775,
+  "status": "passed",
+  "finish_step": 775,
+  "first_success_step": null,
+  "reason": "state_replay_complete_without_checker",
+  "render_index": 0,
+  "num_per_demo": 1,
+  "save_dir": null,
+  "video_path": null,
+  "state_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/checker_validation_smoothed_states/grasp_and_pour_mug_60/smoothed/grasp_and_pour_mug_60__smoothed__trajectory_150004__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_150065/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_150065/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..e3d5fba2b8017385bad57cc490a2be3d28bf2d61
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_150065/metadata.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_150065/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_150065/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_150065/status.txt
@@ -0,0 +1 @@
+success
\ No newline at end of file
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_150065/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_150065/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..0833fb4803e284bdad14ec303f108a1b4e9693db
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_150065/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 150065,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_150065.json",
+  "total_steps": 773,
+  "status": "passed",
+  "finish_step": 773,
+  "first_success_step": null,
+  "reason": "state_replay_complete_without_checker",
+  "render_index": 0,
+  "num_per_demo": 1,
+  "save_dir": null,
+  "video_path": null,
+  "state_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/checker_validation_smoothed_states/grasp_and_pour_mug_60/smoothed/grasp_and_pour_mug_60__smoothed__trajectory_150065__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_150068/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_150068/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..628d9f75235163c0cf2019e8b4cfe9046494d1d9
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_150068/metadata.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_150068/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_150068/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_150068/status.txt
@@ -0,0 +1 @@
+success
\ No newline at end of file
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_150068/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_150068/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..90a96dc6bef105a1b953112b43ae86cbde846f2d
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_150068/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 150068,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_150068.json",
+  "total_steps": 771,
+  "status": "passed",
+  "finish_step": 771,
+  "first_success_step": null,
+  "reason": "state_replay_complete_without_checker",
+  "render_index": 0,
+  "num_per_demo": 1,
+  "save_dir": null,
+  "video_path": null,
+  "state_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/checker_validation_smoothed_states/grasp_and_pour_mug_60/smoothed/grasp_and_pour_mug_60__smoothed__trajectory_150068__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_150070/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_150070/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..6afc1e5ce8072ec2b0bf58cffa1e048efb774eb0
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_150070/metadata.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_150070/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_150070/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_150070/status.txt
@@ -0,0 +1 @@
+success
\ No newline at end of file
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_150070/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_150070/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..510dcdaad7f098e0a52b34ad2f1952ed33084fe5
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_150070/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 150070,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_150070.json",
+  "total_steps": 770,
+  "status": "passed",
+  "finish_step": 770,
+  "first_success_step": null,
+  "reason": "state_replay_complete_without_checker",
+  "render_index": 0,
+  "num_per_demo": 1,
+  "save_dir": null,
+  "video_path": null,
+  "state_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/checker_validation_smoothed_states/grasp_and_pour_mug_60/smoothed/grasp_and_pour_mug_60__smoothed__trajectory_150070__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_150097/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_150097/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..b6250cbdc1ec8119a225cbc81fd2955dedc040b5
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_150097/metadata.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_150097/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_150097/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_150097/status.txt
@@ -0,0 +1 @@
+success
\ No newline at end of file
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_150097/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_150097/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..88831654072b4492c7b4063ad286ae23bead2dfa
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_150097/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 150097,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_150097.json",
+  "total_steps": 780,
+  "status": "passed",
+  "finish_step": 780,
+  "first_success_step": null,
+  "reason": "state_replay_complete_without_checker",
+  "render_index": 0,
+  "num_per_demo": 1,
+  "save_dir": null,
+  "video_path": null,
+  "state_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/checker_validation_smoothed_states/grasp_and_pour_mug_60/smoothed/grasp_and_pour_mug_60__smoothed__trajectory_150097__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_150114/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_150114/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..1e4714b4c342c89c6508c5e1ae83eb7e13865175
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_150114/metadata.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_150114/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_150114/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_150114/status.txt
@@ -0,0 +1 @@
+success
\ No newline at end of file
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_150114/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_150114/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..322b6e682623b83e04787fd6c630d19cdb105f6d
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_150114/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 150114,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_150114.json",
+  "total_steps": 784,
+  "status": "passed",
+  "finish_step": 784,
+  "first_success_step": null,
+  "reason": "state_replay_complete_without_checker",
+  "render_index": 0,
+  "num_per_demo": 1,
+  "save_dir": null,
+  "video_path": null,
+  "state_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/checker_validation_smoothed_states/grasp_and_pour_mug_60/smoothed/grasp_and_pour_mug_60__smoothed__trajectory_150114__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_150130/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_150130/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..80747963de8e936d8f454cb3ac8af32882be7005
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_150130/metadata.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_150130/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_150130/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_150130/status.txt
@@ -0,0 +1 @@
+success
\ No newline at end of file
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_150130/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_150130/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..ad76c00acb2649df3acd23c8f362bc9610958dea
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_150130/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 150130,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_150130.json",
+  "total_steps": 771,
+  "status": "passed",
+  "finish_step": 771,
+  "first_success_step": null,
+  "reason": "state_replay_complete_without_checker",
+  "render_index": 0,
+  "num_per_demo": 1,
+  "save_dir": null,
+  "video_path": null,
+  "state_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/checker_validation_smoothed_states/grasp_and_pour_mug_60/smoothed/grasp_and_pour_mug_60__smoothed__trajectory_150130__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_150173/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_150173/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..d049ee557aaf450d6a052358dda96556c30ef14c
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_150173/metadata.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_150173/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_150173/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_150173/status.txt
@@ -0,0 +1 @@
+success
\ No newline at end of file
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_150173/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_150173/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..616ab92333bdda2b01b7bd9ebd1bdf61f0e75764
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_150173/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 150173,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_150173.json",
+  "total_steps": 774,
+  "status": "passed",
+  "finish_step": 774,
+  "first_success_step": null,
+  "reason": "state_replay_complete_without_checker",
+  "render_index": 0,
+  "num_per_demo": 1,
+  "save_dir": null,
+  "video_path": null,
+  "state_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/checker_validation_smoothed_states/grasp_and_pour_mug_60/smoothed/grasp_and_pour_mug_60__smoothed__trajectory_150173__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_150192/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_150192/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..d9eb50a6320e88359aa2692b9ae4a1f697dec819
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_150192/metadata.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_150192/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_150192/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_150192/status.txt
@@ -0,0 +1 @@
+success
\ No newline at end of file
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_150192/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_150192/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..10abb487a904d38d42da7b4ab0d5bc29f2392ecd
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_150192/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 150192,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_150192.json",
+  "total_steps": 775,
+  "status": "passed",
+  "finish_step": 775,
+  "first_success_step": null,
+  "reason": "state_replay_complete_without_checker",
+  "render_index": 0,
+  "num_per_demo": 1,
+  "save_dir": null,
+  "video_path": null,
+  "state_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/checker_validation_smoothed_states/grasp_and_pour_mug_60/smoothed/grasp_and_pour_mug_60__smoothed__trajectory_150192__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_150363/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_150363/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..39e214c8e736dfdd3a21d5457c16377c9188fe05
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_150363/metadata.json
@@ -0,0 +1 @@
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0.9884138107299805, -2.4720773696899414, 0.005650993902236223, 1.4245495796203613, 0.0]], "task_desc": "Pick up the mug from the table and tilt it to pour."}
\ No newline at end of file