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\ No newline at end of file
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146346/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146346/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146346/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_146346/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146346/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..216a55beed5b66c9d2c89ecc51e572c6e78f3112
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146346/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 146346,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_146346.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_146346__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146348/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146348/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..c77a145c364d49b413ce4f2b793c2d921846b8b1
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146348/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_146348/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146348/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146348/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_146348/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146348/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..8ac5ec681321136688464837e4850ef898f00104
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146348/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 146348,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_146348.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_146348__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146351/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146351/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..08a0c112e8757b285d9b6a1730514a97f97d3fe8
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146351/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_146351/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146351/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146351/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_146351/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146351/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..fcba7ac535ce8a485613768d796c33a5cf51d8ed
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146351/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 146351,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_146351.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_146351__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146366/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146366/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..2f3ed133ad921af7563357ac6b8669bc8cc52d10
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146366/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_146366/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146366/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146366/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_146366/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146366/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..56df846504ad591909a82ebf9f3b5ce7d39675af
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146366/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 146366,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_146366.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_146366__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146373/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146373/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..dac5626a067874a3522e9c28f10dd64fa6886ed0
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146373/metadata.json
@@ -0,0 +1 @@
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-0.04789885878562927, 0.9882124662399292, -2.4616146087646484, 0.005692231003195047, 1.4256864786148071, 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_146373/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146373/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146373/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_146373/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146373/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..20dffefecdce5a9de00e8c454b68bd009fb350ee
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146373/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 146373,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_146373.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_146373__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146378/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146378/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..bd17d68fb0acd7e2726380759943fdb1ce87df86
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146378/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_146378/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146378/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146378/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_146378/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146378/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..bbca4c6c24e03dfc003aa7b160098f35092d1856
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146378/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 146378,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_146378.json",
+  "total_steps": 1208,
+  "status": "passed",
+  "finish_step": 1208,
+  "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_146378__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146389/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146389/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..3d91142d7d6031f25a4f50a653480d87c180e14e
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146389/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_146389/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146389/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146389/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_146389/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146389/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..07fb21f246394fee276efd1fb7986ec9363e83d4
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146389/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 146389,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_146389.json",
+  "total_steps": 777,
+  "status": "passed",
+  "finish_step": 777,
+  "first_success_step": null,
+  "reason": "state_replay_complete_without_checker",
+  "render_index": 0,
+  "num_per_demo": 1,
+  "save_dir": null,
+  "video_path": null,
+  "state_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/checker_validation_smoothed_states/grasp_and_pour_mug_60/smoothed/grasp_and_pour_mug_60__smoothed__trajectory_146389__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146391/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146391/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..578a88fdc720f2919fa5f18d7353b43c281bd87f
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146391/metadata.json
@@ -0,0 +1 @@
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0.005566330626606941, 1.4241708517074585, 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_146391/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146391/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146391/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_146391/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146391/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..c34f5e1f530573a402375ef5803f4c7e848a8558
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146391/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 146391,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_146391.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_146391__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146403/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146403/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..e775d69fe2ea6ae393ecca193b63a62e5b622fe1
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146403/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_146403/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146403/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146403/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_146403/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146403/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..6978ebe857594b66d45ad99d7b7c89ad0614b575
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146403/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 146403,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_146403.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_146403__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146422/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146422/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..ce26a2affb075eecea788a1a1950d6136cf8acb7
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146422/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_146422/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146422/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146422/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_146422/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146422/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..c7756c0f3a33a4b65d9785b374278b7ff82cc069
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146422/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 146422,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_146422.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_146422__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146427/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146427/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..92130889178fa3363df43bb489ec9f476169518e
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146427/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_146427/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146427/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146427/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_146427/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146427/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..3bc4553bde877504a2f5930be2504f6280003f01
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146427/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 146427,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_146427.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_146427__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146431/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146431/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..bb3187898d2f7694ab792f7fe172d197459c8181
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146431/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_146431/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146431/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146431/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_146431/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146431/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..7561c8b3743c7ce0268ba0377d60d3ee19c25164
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146431/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 146431,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_146431.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_146431__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146441/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146441/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..e804426746f473962b9a1b66d6572daede76a5aa
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146441/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_146441/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146441/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146441/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_146441/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146441/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..0f0eaa06f5885548e141d05d7c06e2d44441f9cd
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146441/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 146441,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_146441.json",
+  "total_steps": 761,
+  "status": "passed",
+  "finish_step": 761,
+  "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_146441__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146450/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146450/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..1ea97ec9228107dcb4e3e78257440bbc1b8fbbad
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146450/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_146450/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146450/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146450/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_146450/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146450/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..69ac1a5921126129456208ca1d081875e9dea008
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146450/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 146450,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_146450.json",
+  "total_steps": 1311,
+  "status": "passed",
+  "finish_step": 1311,
+  "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_146450__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146452/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146452/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..ffc213bb4217f40d3a7171595096b1c51a517308
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146452/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_146452/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146452/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146452/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_146452/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146452/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..8ce79308b5b360e4da397477e2db8645ff16035d
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146452/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 146452,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_146452.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_146452__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146460/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146460/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..bbc0d42ffc9e523c7ac63398b963f7575bd3aee1
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146460/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_146460/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146460/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146460/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_146460/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146460/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..1f8e2d205a901b311d443b644502e1acefb39eb5
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146460/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 146460,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_146460.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_146460__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146475/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146475/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..9dfe0fff7fc3faad45ec738b562ffa075cc8fe95
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146475/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_146475/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146475/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146475/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_146475/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146475/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..3799ecd147f770b544679506b251ade47457fe5f
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146475/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 146475,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_146475.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_146475__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146532/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146532/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..b0eee6d5cee3088ce87c2137c2a2c0ed057498df
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146532/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_146532/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146532/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146532/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_146532/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146532/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..3661ea93757a56586b9107b45c46667e144e9ac0
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146532/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 146532,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_146532.json",
+  "total_steps": 259,
+  "status": "passed",
+  "finish_step": 259,
+  "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_146532__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146545/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146545/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..26bc80a51a674f51e14f09eec3163da9a1bc2c03
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146545/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_146545/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146545/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146545/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_146545/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146545/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..3ad3e61b91f37a00b5925826175605914218ff48
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146545/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 146545,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_146545.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_146545__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146552/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146552/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..b3032021aaf131b1cc92876c856214c9fbc4f5e7
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146552/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_146552/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146552/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146552/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_146552/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146552/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..d48c868ea956d9bd95bdf80a95c12be544256017
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146552/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 146552,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_146552.json",
+  "total_steps": 778,
+  "status": "passed",
+  "finish_step": 778,
+  "first_success_step": null,
+  "reason": "state_replay_complete_without_checker",
+  "render_index": 0,
+  "num_per_demo": 1,
+  "save_dir": null,
+  "video_path": null,
+  "state_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/checker_validation_smoothed_states/grasp_and_pour_mug_60/smoothed/grasp_and_pour_mug_60__smoothed__trajectory_146552__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146560/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146560/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..d83640b9c1a77f4d2be5695eccc4edd5e38e3f05
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146560/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_146560/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146560/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146560/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_146560/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146560/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..7c31bc9a1d2922a6b40e9008630e36af0cab0779
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146560/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 146560,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_146560.json",
+  "total_steps": 59,
+  "status": "passed",
+  "finish_step": 59,
+  "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_146560__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146599/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146599/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..cbc889c0946ab0bde54759f314997aa8f7c04579
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146599/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_146599/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146599/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146599/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_146599/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146599/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..2b5be837a3ba5d99a37192d10e3e577281948d5d
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146599/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 146599,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_146599.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_146599__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146610/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146610/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..a1c6e748282414026c43f66a79b0759659e5766e
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146610/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_146610/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146610/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146610/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_146610/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146610/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..6ca89d6e3abbbcf9f83dda8df1b560aa163e5d9e
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146610/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 146610,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_146610.json",
+  "total_steps": 787,
+  "status": "passed",
+  "finish_step": 787,
+  "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_146610__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146619/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146619/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..19a780dd68f9e0ae01e615984bd7f86fa3fda814
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146619/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_146619/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146619/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146619/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_146619/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146619/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..a9994ceaca8ed0355f2bb77fe5046ff39476e1e7
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146619/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 146619,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_146619.json",
+  "total_steps": 777,
+  "status": "passed",
+  "finish_step": 777,
+  "first_success_step": null,
+  "reason": "state_replay_complete_without_checker",
+  "render_index": 0,
+  "num_per_demo": 1,
+  "save_dir": null,
+  "video_path": null,
+  "state_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/checker_validation_smoothed_states/grasp_and_pour_mug_60/smoothed/grasp_and_pour_mug_60__smoothed__trajectory_146619__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146628/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146628/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..e223d9d705e1df1da9cf0b1d66e454fc59647d5d
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146628/metadata.json
@@ -0,0 +1 @@
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tilt it to pour."}
\ No newline at end of file
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146628/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146628/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146628/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_146628/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146628/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..c9c04fb97ebf076e9b552d70e968a88619c404d5
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146628/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 146628,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_146628.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_146628__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146632/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146632/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..699260b871d2d57acfc5659e449c282d6e395942
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146632/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_146632/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146632/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146632/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_146632/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146632/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..883f2b9d749f772e2724f57dea6513ce56d991f8
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146632/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 146632,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_146632.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_146632__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146645/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146645/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..7c6c83785fee902df6901d50dafe1006fb6ea5e0
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146645/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_146645/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146645/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146645/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_146645/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146645/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..8f9d4b20c1e1389916f3fe98733b5f98557f02c2
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146645/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 146645,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_146645.json",
+  "total_steps": 778,
+  "status": "passed",
+  "finish_step": 778,
+  "first_success_step": null,
+  "reason": "state_replay_complete_without_checker",
+  "render_index": 0,
+  "num_per_demo": 1,
+  "save_dir": null,
+  "video_path": null,
+  "state_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/checker_validation_smoothed_states/grasp_and_pour_mug_60/smoothed/grasp_and_pour_mug_60__smoothed__trajectory_146645__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146655/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146655/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..5f6e7197d4ba62d89460852c2e9d758b7bcc6c32
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146655/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_146655/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146655/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146655/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_146655/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146655/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..20068e0d108d5dca697f574bc40c289c3e56b6bd
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146655/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 146655,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_146655.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_146655__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146661/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146661/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..951852190fa349efa73a8d60d5d712d54d6bcd74
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146661/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_146661/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146661/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146661/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_146661/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146661/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..68c5efadb2f24e110677661da5c8fb4661051a98
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146661/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 146661,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_146661.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_146661__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146667/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146667/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..98b610f2e66792b011376c9822e8ec85c93cad92
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146667/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_146667/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146667/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146667/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_146667/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146667/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..308edbda186d4d3715d08fa7010917c8eb443243
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146667/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 146667,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_146667.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_146667__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146691/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146691/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..bebbb169a4140b175d914ee46c8729de298b9901
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146691/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_146691/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146691/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146691/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_146691/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146691/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..d8c39d16a60e6eb691ccc03a726e6c60dc475de6
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146691/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 146691,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_146691.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_146691__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146704/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146704/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..ed2ef2e1ab3df47566745446cb2a18f6280d657e
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146704/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_146704/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146704/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146704/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_146704/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146704/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..1410a9eca3681336e6f9cfaf39ab1b629ba2f5e6
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146704/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 146704,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_146704.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_146704__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146707/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146707/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..a815c9e4ebf6795cef008d8e065665127286a838
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146707/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_146707/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146707/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146707/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_146707/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146707/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..a4195b93bd78cde47ea5a9abef939a39baecdd4a
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146707/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 146707,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_146707.json",
+  "total_steps": 383,
+  "status": "passed",
+  "finish_step": 383,
+  "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_146707__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146710/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146710/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..2c7eee1c30f21c1c82393023fedd86f98b8f0268
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146710/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_146710/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146710/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146710/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_146710/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146710/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..4690026c90752cbabbe1122cf995443dc33ae9c3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146710/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 146710,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_146710.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_146710__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146725/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146725/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..1ca16bb0bebd12b8f774f11a72960626d5ca7ec4
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146725/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_146725/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146725/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146725/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_146725/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146725/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..d4d88acbc153dc78113455fcb871fabdbb6867b6
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146725/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 146725,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_146725.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_146725__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146733/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146733/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..3b3a995e9681593cfece485e9f248e2a421140a0
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146733/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_146733/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146733/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146733/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_146733/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146733/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..f5c72d04c765092c6137fc06f6ac395955c2c669
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146733/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 146733,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_146733.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_146733__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146736/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146736/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..e478148df4b48247ad94901f139dd85e8b4fa5b5
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146736/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_146736/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146736/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146736/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_146736/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146736/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..5b698c0c218121e5321670ae1d50fdf0923d137c
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146736/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 146736,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_146736.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_146736__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146742/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146742/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..3c767b975158ae08cea24cf52a143761cdaef5ed
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146742/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_146742/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146742/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146742/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_146742/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146742/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..825a0aa825a3873f6a5e419f54838650d0341ee1
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146742/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 146742,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_146742.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_146742__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146743/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146743/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..2d67cd758018b621bb3d07fa297e4249d4fc6531
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146743/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_146743/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146743/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146743/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_146743/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146743/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..7133c9808457d928a7dced391aff0ae60a7b0635
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146743/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 146743,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_146743.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_146743__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146757/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146757/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..d27dfcf196ffe5cc5801b0edbd38a0fea1d71ab7
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146757/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_146757/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146757/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146757/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_146757/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146757/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..56f64d83ce75d0c5cd5e19ff15c9efeb4ae65aa0
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146757/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 146757,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_146757.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_146757__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146766/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146766/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..efea126d9dcacdb823bfd96d2b79561147ebfd42
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146766/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_146766/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146766/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146766/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_146766/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146766/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..fc1c73db6ddf4b584db4bc0f9f9a8a418988171e
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146766/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 146766,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_146766.json",
+  "total_steps": 794,
+  "status": "passed",
+  "finish_step": 794,
+  "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_146766__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146774/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146774/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..6eac0b7a1b8ae76d400ca83ada7a9d68a760ccae
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146774/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_146774/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146774/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146774/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_146774/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146774/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..2342cbfd8c11e4f4e08a2ddc8d4d1ca0107b75e8
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146774/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 146774,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_146774.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_146774__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146823/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146823/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..b132d0d2f2fabe435db0e67166bdea53116c5756
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146823/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_146823/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146823/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146823/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_146823/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146823/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..24ab2c37f3c5c8ad4ec0081ca3fca574748eb016
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146823/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 146823,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_146823.json",
+  "total_steps": 777,
+  "status": "passed",
+  "finish_step": 777,
+  "first_success_step": null,
+  "reason": "state_replay_complete_without_checker",
+  "render_index": 0,
+  "num_per_demo": 1,
+  "save_dir": null,
+  "video_path": null,
+  "state_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/checker_validation_smoothed_states/grasp_and_pour_mug_60/smoothed/grasp_and_pour_mug_60__smoothed__trajectory_146823__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146842/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146842/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..fd989c4b4756294073bd015401bd349880ef0815
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146842/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_146842/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146842/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146842/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_146842/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146842/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..f361847ccf4149b390ae182a515df4c2cf6c80f8
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146842/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 146842,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_146842.json",
+  "total_steps": 265,
+  "status": "passed",
+  "finish_step": 265,
+  "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_146842__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146853/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146853/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..656b5380d9b4d79e68411f5eea966452ca0799f2
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146853/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_146853/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146853/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146853/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_146853/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146853/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..907599eee75071de0341d346185a486f9db0f318
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146853/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 146853,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_146853.json",
+  "total_steps": 789,
+  "status": "passed",
+  "finish_step": 789,
+  "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_146853__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146854/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146854/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..2d461f252dd682eba7d2c4632315c2ae4b5023fa
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146854/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_146854/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146854/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146854/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_146854/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146854/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..b1dea648543b654229fac2462b7f0856a2eec5fe
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146854/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 146854,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_146854.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_146854__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146871/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146871/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..f052bf8ad81ca04319d82300d69b8bfcad6c2b6b
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146871/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_146871/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146871/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146871/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_146871/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146871/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..f912932436df9d451063c5e9fb4a392fce7475f3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146871/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 146871,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_146871.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_146871__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146872/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146872/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..a603b68d4e8dbde6bf38aef3c4b7bd9b605f4213
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146872/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_146872/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146872/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146872/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_146872/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146872/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..16a80bd44489c1b0d75cd02b3461b043db35df4b
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146872/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 146872,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_146872.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_146872__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146881/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146881/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..0f120ddbef3430cfce4b332f2ccd71122f45390d
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146881/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_146881/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146881/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146881/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_146881/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146881/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..f219f3fa0f2953af0038f676603efe2484dd55fd
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146881/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 146881,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_146881.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_146881__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146912/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146912/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..b8eebf2de46dc5455626acf349cc64e4207c0d14
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146912/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_146912/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146912/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146912/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_146912/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146912/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..66344918f5349212bf6ea2793d66b29fe45e07eb
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146912/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 146912,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_146912.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_146912__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146913/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146913/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..7cf876df48db26598fd238d96bdf04737a9f686b
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146913/metadata.json
@@ -0,0 +1 @@
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