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\ No newline at end of file
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153410/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153410/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153410/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_153410/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153410/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..64df5bfe0683acd21c17b431ac4c64f5c6664322
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153410/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 153410,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_153410.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_153410__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153422/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153422/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..209ac4cf246b34cdeef6331c544386466b8cc10d
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153422/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_153422/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153422/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153422/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_153422/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153422/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..65e3d08aa7abf924e48cdeae48aeb6d5cbceb4fd
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153422/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 153422,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_153422.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_153422__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153428/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153428/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..3701a40679420afab4cecc719c593e033671046d
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153428/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_153428/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153428/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153428/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_153428/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153428/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..b42e40507f739ef4fd9f4233bdc77c0757d18592
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153428/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 153428,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_153428.json",
+  "total_steps": 765,
+  "status": "passed",
+  "finish_step": 765,
+  "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_153428__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153432/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153432/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..b6810349adb9009307cf371e936fa9da1739b3e0
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153432/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_153432/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153432/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153432/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_153432/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153432/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..a3fc188890e7022c776b98886053a5bf48d171f1
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153432/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 153432,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_153432.json",
+  "total_steps": 788,
+  "status": "passed",
+  "finish_step": 788,
+  "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_153432__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153453/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153453/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..2917601c17e26a2fd70f1272710054920659cf64
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153453/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_153453/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153453/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153453/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_153453/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153453/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..c42a15ec776d2145ba2dbaa1ad3ab1ba32d7b00c
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153453/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 153453,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_153453.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_153453__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153455/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153455/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..e8aecb5bf2eb9316fdda4602dbf78ef529dc85f7
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153455/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_153455/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153455/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153455/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_153455/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153455/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..49376892504b563d02c2903f59acfe108fe6e95a
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153455/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 153455,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_153455.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_153455__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153463/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153463/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..bf25e34580793b9e56eb82a831d2b8f4ba42716a
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153463/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_153463/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153463/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153463/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_153463/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153463/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..26938b1fb9c77c278e032ecfae04fca12b49203f
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153463/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 153463,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_153463.json",
+  "total_steps": 760,
+  "status": "passed",
+  "finish_step": 760,
+  "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_153463__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153499/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153499/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..f963228293bdf9b19d8f34aa6b4e2fe7d7e6f148
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153499/metadata.json
@@ -0,0 +1 @@
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0.006467331666499376, 1.4254463911056519, 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_153499/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153499/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153499/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_153499/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153499/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..f2d8cf07028871a83a416db328fe4171ca463aea
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153499/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 153499,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_153499.json",
+  "total_steps": 764,
+  "status": "passed",
+  "finish_step": 764,
+  "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_153499__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153500/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153500/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..59d9d1eb79ce5b0a0084d9cf1d936d19f4c91b87
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153500/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_153500/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153500/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153500/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_153500/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153500/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..8a4dfbee6bffe7f878b9707212b777565f98c243
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153500/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 153500,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_153500.json",
+  "total_steps": 764,
+  "status": "passed",
+  "finish_step": 764,
+  "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_153500__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153511/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153511/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..173a08d5c54da3254443ab4993f8e42b4fc5bc4e
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153511/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_153511/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153511/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153511/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_153511/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153511/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..c8add806071bb2eed8f0175f850c2fd4de020d7e
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153511/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 153511,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_153511.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_153511__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153516/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153516/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..abb36ce710ad499d60f2a56b31f5a89b243fd05f
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153516/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_153516/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153516/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153516/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_153516/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153516/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..39bcad796cb3472533b8ab65ebb1f85c7568d8e2
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153516/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 153516,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_153516.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_153516__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153518/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153518/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..7d6cf5e382faad56caf74cd355700765017b267d
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153518/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_153518/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153518/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153518/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_153518/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153518/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..16075a4bc57ef21c21686503d3fb55c837caeb92
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153518/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 153518,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_153518.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_153518__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153534/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153534/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..06bb1ab17963497740486d8f1a1a13cc8fff1d39
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153534/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_153534/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153534/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153534/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_153534/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153534/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..6f33baad690357a631e9fd9ff6dbab635af0d98d
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153534/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 153534,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_153534.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_153534__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153547/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153547/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..73bf5916917d18df0e8d7e6b8bad8b66113c4da2
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153547/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_153547/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153547/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153547/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_153547/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153547/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..1c8b08fa488ac4cb80fefa95574f5cbc9f740fe6
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153547/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 153547,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_153547.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_153547__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153575/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153575/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..d305ef42a9cf092d494424164ef565485c4914a9
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153575/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_153575/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153575/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153575/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_153575/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153575/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..5f3dbfda4e9951f8e92c7b06f068f174219d499f
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153575/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 153575,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_153575.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_153575__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153581/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153581/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..cdcc85603d83a621ed1d58b82c66f047ee176663
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153581/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_153581/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153581/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153581/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_153581/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153581/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..4f5780da416c46de56466da6614e92d83117d6fa
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153581/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 153581,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_153581.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_153581__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153590/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153590/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..72683a48c26a3590000afd60bbe972df5b4f2bb7
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153590/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_153590/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153590/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153590/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_153590/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153590/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..d43183907ab0f8d52fae7a16b58a30877ba1d961
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153590/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 153590,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_153590.json",
+  "total_steps": 361,
+  "status": "passed",
+  "finish_step": 361,
+  "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_153590__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153598/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153598/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..2839c82932e183cfafcf05678ffcdcfc345b91d8
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153598/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_153598/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153598/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153598/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_153598/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153598/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..b3bbd17221458424c4c385e39e275b2afd5c5370
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153598/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 153598,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_153598.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_153598__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153642/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153642/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..1b73625d2e7b582a7bbece2d9a91322e1c5feb04
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153642/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_153642/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153642/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153642/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_153642/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153642/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..3a95e866b9367fe4408e4bf993bc075fc6f7659b
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153642/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 153642,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_153642.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_153642__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153667/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153667/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..28914e16a06dd77fbe0d8a54a044154fc4076e88
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153667/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_153667/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153667/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153667/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_153667/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153667/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..8cba1eb3d924649b2874970308289a50935bc8a0
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153667/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 153667,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_153667.json",
+  "total_steps": 772,
+  "status": "passed",
+  "finish_step": 772,
+  "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_153667__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153678/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153678/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..66e43f76191ea800f0be4c0ef4ff96364addb396
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153678/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_153678/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153678/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153678/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_153678/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153678/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..0915bb4adb2fefa0cee5eecbb15fa845dcbb7dce
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153678/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 153678,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_153678.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_153678__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153687/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153687/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..40ac52a3ff272be6d384e4680a2526d3cceb0a4b
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153687/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_153687/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153687/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153687/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_153687/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153687/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..d165c50e0b05b8747c8450047ef3cf93736eb2cd
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153687/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 153687,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_153687.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_153687__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153705/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153705/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..86d6ce1800a6b5666e48fcff5154582b545709bf
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153705/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_153705/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153705/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153705/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_153705/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153705/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..fe58c7b29e3e01784afdcda884f1268b2685d63f
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153705/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 153705,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_153705.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_153705__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153723/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153723/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..e79a17e454e3bc7b6b9fcc0c58a756f62bb22d39
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153723/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_153723/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153723/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153723/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_153723/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153723/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..91fc6574d836592376dde503561fd71f55e0e4bd
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153723/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 153723,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_153723.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_153723__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153726/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153726/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..4fe5b44d315c0050abfab671cc99c5aa63126fbf
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153726/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_153726/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153726/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153726/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_153726/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153726/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..5b6165913d1e114f1ff5c36530589e5bbe5b68bd
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153726/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 153726,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_153726.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_153726__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153775/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153775/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..0b710b7f99f70e482b23e34392fe7302b2f59469
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153775/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_153775/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153775/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153775/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_153775/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153775/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..d3b80909943cc212d56992d80d2969257ad18b2c
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153775/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 153775,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_153775.json",
+  "total_steps": 803,
+  "status": "passed",
+  "finish_step": 803,
+  "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_153775__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153789/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153789/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..2c02dcd0b4468cb64b2237d42b1e5119f2c1000b
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153789/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_153789/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153789/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153789/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_153789/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153789/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..e10dd7279cb15f3ca6585f5587a50800f065bf83
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153789/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 153789,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_153789.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_153789__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153795/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153795/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..d1e5f5173478cd09214440d8930f89d89e858884
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153795/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_153795/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153795/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153795/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_153795/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153795/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..aba957c52b2c6ec6f436425ee512a9ac60f369b8
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153795/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 153795,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_153795.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_153795__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153801/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153801/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..a396b9f145446a242aac6e3d59986ae20e34bc36
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153801/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_153801/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153801/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153801/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_153801/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153801/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb643c22c9fae420832d5af8def730a178f47ec5
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153801/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 153801,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_153801.json",
+  "total_steps": 776,
+  "status": "passed",
+  "finish_step": 776,
+  "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_153801__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153809/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153809/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..3036c88aeec33862b4d5ed3e0d5ce3f5bbb655a6
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153809/metadata.json
@@ -0,0 +1 @@
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-0.04840928316116333, 0.9889174103736877, -2.4631292819976807, 0.005790411960333586, 1.4245002269744873, 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_153809/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153809/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153809/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_153809/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153809/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..87d850600eb828e0566e3355ac5e8b7c238ea739
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153809/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 153809,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_153809.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_153809__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153880/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153880/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..4f061e124202d6ee1e679b3a467a23ef5cc4c286
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153880/metadata.json
@@ -0,0 +1 @@
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-2.461430072784424, 0.0061454689130187035, 1.4231959581375122, 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_153880/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153880/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153880/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_153880/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153880/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..9fa54d70f118396b72c00c22bb34a6d778e86b5e
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153880/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 153880,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_153880.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,
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+  "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_153880__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153889/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153889/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..34f974c8c7324145eb7d6d5a69714fcc7a09ca80
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153889/metadata.json
@@ -0,0 +1 @@
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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_153889/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153889/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153889/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_153889/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153889/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..29f906ce6213ff660395b4812bb47739868f4066
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153889/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 153889,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_153889.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_153889__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153897/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153897/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..907ed97b8a801387a8e03b90bb5d9c4982aa7a33
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153897/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_153897/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153897/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153897/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_153897/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153897/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..0b277971b88fbb63a7328396d320eae82ac03701
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153897/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 153897,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_153897.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_153897__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153923/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153923/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..b1d18f78d04b1b4e0f50b37b7d064481360bdac5
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153923/metadata.json
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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_153923/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153923/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153923/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_153923/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153923/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..05944ce88421519be7fc55b9dfc1f1f998bd0868
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153923/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 153923,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_153923.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_153923__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153929/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153929/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..a0d3383c1cd192357e50a6ab6d6e2c11f8bbdf02
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153929/metadata.json
@@ -0,0 +1 @@
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-0.04862859100103378, 0.988504946231842, -2.4666152000427246, 0.0064160763286054134, 1.424017310142517, 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_153929/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153929/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153929/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_153929/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153929/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..2c3d000d509a206cbc646ddfbf2bfd05ad335534
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153929/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 153929,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_153929.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_153929__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153940/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153940/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..63daeab9def149bf8645c5884f218c80c020e381
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153940/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_153940/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153940/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153940/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_153940/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153940/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..3c416075abc6805d0557c4e7ae2b8e2bb894ba24
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153940/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 153940,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_153940.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_153940__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153946/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153946/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..7cb31ed9f3073e57550e2316621946e88554b663
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153946/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_153946/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153946/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153946/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_153946/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153946/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..0e3079d1e1bf4d14db26798cf79d99112cf82a32
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153946/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 153946,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_153946.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_153946__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153957/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153957/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..e2ac7ef940d27fae8a5c19012942888166bb29f0
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153957/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_153957/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153957/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153957/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_153957/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153957/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..810e01b0ddab932ad66d0b2e1c0e89ce785ec1e6
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153957/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 153957,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_153957.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_153957__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153961/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153961/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..00c6d9e7cc27a8afa2aad871364730ea88f79861
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153961/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_153961/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153961/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153961/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_153961/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153961/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..e4f2eb7058ca826e4043b2d2df3dd63460cf818b
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153961/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 153961,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_153961.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_153961__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_154055/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_154055/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..02d96ee97aaa11add626db006a7c62377bf642c7
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_154055/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_154055/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_154055/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_154055/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_154055/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_154055/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..151fb98796c596d70c1846e7a1d6342b20a09e07
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_154055/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 154055,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_154055.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_154055__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_154067/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_154067/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..79591bdd38e17ade5c4b9875f7c8c2d8cc8993aa
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_154067/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_154067/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_154067/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_154067/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_154067/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_154067/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..68db9b1a32dd60b2aba9d005061291445cdd7612
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_154067/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 154067,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_154067.json",
+  "total_steps": 760,
+  "status": "passed",
+  "finish_step": 760,
+  "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_154067__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_154078/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_154078/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..7720e00e1ae2e844a8d214ca9f351ad2cf75ef53
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_154078/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_154078/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_154078/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_154078/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_154078/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_154078/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..1d34203bd7ff5efef987c6b65f61c94b0cb7793e
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_154078/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 154078,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_154078.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_154078__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_154084/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_154084/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..22f6fcd777468543efb16fa920236e10e9ecc744
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_154084/metadata.json
@@ -0,0 +1 @@
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1.4239078760147095, 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_154084/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_154084/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_154084/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_154084/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_154084/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..45ae8401c5178d615fdd64b67eff9910d3e8f6b5
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_154084/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 154084,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_154084.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_154084__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_154085/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_154085/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..85a2fe94119f8139a1ad5ce221f4c89e3622d19b
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_154085/metadata.json
@@ -0,0 +1 @@
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-2.466907262802124, 0.005884307436645031, 1.4249697923660278, 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_154085/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_154085/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_154085/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_154085/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_154085/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..ee02264d47102d065a2920ccbf234979c043fa2a
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_154085/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 154085,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_154085.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_154085__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_154092/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_154092/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..d91a6f1058147315a145363dfd10f66ec2189ac6
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_154092/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_154092/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_154092/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_154092/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_154092/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_154092/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..72f3c427d00ffdd0e87deb3acca84e5bff902c91
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_154092/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 154092,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_154092.json",
+  "total_steps": 772,
+  "status": "passed",
+  "finish_step": 772,
+  "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_154092__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_154112/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_154112/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..3bcd2acdffee6ca661eb504bd83d29c9649fa93a
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_154112/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_154112/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_154112/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_154112/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_154112/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_154112/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..0cfb8ed23fb63d9af77b3bb9757be9b2e7321297
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_154112/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 154112,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_154112.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_154112__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_154114/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_154114/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..9a0131b218574aad7485da8649e92ea4cc628436
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_154114/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_154114/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_154114/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_154114/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_154114/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_154114/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..6d2ca983d48893f80cd723cae9cf6ff9f9d705f7
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_154114/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 154114,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_154114.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_154114__passed.states.json.gz"
+}