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\ No newline at end of file
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_140971/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_140971/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_140971/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_140971/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_140971/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..56bd69b9ea9ee5f1a640c73fc54f4736b569073d
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_140971/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 140971,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_140971.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_140971__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_140972/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_140972/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..c8f166abe715c2aa0205e141f9e1c3039d406e83
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_140972/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_140972/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_140972/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_140972/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_140972/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_140972/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..f0494b5eec925b092f33e2d34aa317981c883f44
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_140972/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 140972,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_140972.json",
+  "total_steps": 786,
+  "status": "passed",
+  "finish_step": 786,
+  "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_140972__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_140976/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_140976/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..184a345e25ecfa5e09f1b71e90383fe7127a6853
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_140976/metadata.json
@@ -0,0 +1 @@
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[0.22024942934513092, -0.04799473658204079, 0.9891232848167419, -2.478361129760742, 0.005089753307402134, 1.4253644943237305, 0.0], [0.22026556730270386, -0.04803728684782982, 0.9891682863235474, -2.473628044128418, 0.005162705667316914, 1.4251707792282104, 0.0], [0.2203083038330078, -0.0480739064514637, 0.9892010688781738, -2.468855619430542, 0.00541005888953805, 1.4250538349151611, 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_140976/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_140976/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_140976/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_140976/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_140976/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..250d07d0152e2ee4eb3eff9ae9b251544e340c20
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_140976/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 140976,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_140976.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_140976__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_140978/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_140978/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..a5af7fe6314761a3ea7c279357bb0218d66a407f
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_140978/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_140978/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_140978/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_140978/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_140978/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_140978/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..211849b14f6652f4e64697feee4808d7241ef5f9
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_140978/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 140978,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_140978.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_140978__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_140981/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_140981/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..be77a423a48f573507ba297fadd63752661a022a
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_140981/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_140981/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_140981/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_140981/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_140981/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_140981/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..ab5a797c8afd8f07f7f955f6e599a03ae668748b
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_140981/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 140981,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_140981.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_140981__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_140983/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_140983/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..229ba684a1b5477bbdf05419989cb43e783bca88
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_140983/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_140983/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_140983/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_140983/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_140983/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_140983/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..ded582bfef016a1fa84b9a148f270297234ba588
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_140983/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 140983,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_140983.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_140983__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_140987/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_140987/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..d2e7367a72d9793ba7cdfe3ad7c5dd4ff71afb4b
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_140987/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_140987/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_140987/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_140987/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_140987/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_140987/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..8268d9cbf1506895e4294b7e950ccac4a2f7e61e
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_140987/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 140987,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_140987.json",
+  "total_steps": 786,
+  "status": "passed",
+  "finish_step": 786,
+  "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_140987__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_140989/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_140989/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..f72166c9c7cc1bb5282c2d0e0ac74303a2e64354
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_140989/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_140989/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_140989/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_140989/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_140989/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_140989/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..433dc859bf753d5601a94a1309b22bb0046878f7
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_140989/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 140989,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_140989.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_140989__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_140992/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_140992/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..17439c7771a09a82ebe11533286d402960bb7e55
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_140992/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_140992/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_140992/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_140992/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_140992/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_140992/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..c661f197133846957cb8351883bf70fe634207e7
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_140992/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 140992,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_140992.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_140992__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_140995/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_140995/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..40e75600c20cdab270e3e11e23faa05f2865167e
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_140995/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_140995/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_140995/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_140995/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_140995/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_140995/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..9b689c01fcb69b4ecc985b67e5a1a880a3d92389
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_140995/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 140995,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_140995.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_140995__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_140998/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_140998/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..6efaf7bee66b9d06f8038e5a8aa407c3408b0f05
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_140998/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_140998/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_140998/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_140998/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_140998/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_140998/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..1b94116065acaa829a2b66517883848ed691ba77
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_140998/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 140998,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_140998.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_140998__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141001/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141001/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..bfec02002e04fe95e0cdd87a3e9eac95b1555b2b
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141001/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_141001/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141001/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141001/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_141001/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141001/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..9df805bbf841f28a40102ddb8e96de157ff52989
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141001/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 141001,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_141001.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_141001__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141004/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141004/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..f13f3eacc0bdb8da02e25f394eb03d790e42c9e6
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141004/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_141004/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141004/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141004/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_141004/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141004/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..2c27143389fc8597848b5b4bde6111bcda59bae0
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141004/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 141004,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_141004.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_141004__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141007/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141007/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..7edc69c1f09d5dc858488a01878d6efd921e71c1
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141007/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_141007/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141007/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141007/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_141007/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141007/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..a1f04267f7625bab0269e098446dc31a5f882e97
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141007/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 141007,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_141007.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_141007__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141010/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141010/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..c6231154fa2c975462e920f6731dbeac6aa745ba
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141010/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_141010/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141010/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141010/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_141010/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141010/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..2b1ba25051e440ede3574f0fc59f8113a27c8e9b
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141010/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 141010,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_141010.json",
+  "total_steps": 785,
+  "status": "passed",
+  "finish_step": 785,
+  "first_success_step": null,
+  "reason": "state_replay_complete_without_checker",
+  "render_index": 0,
+  "num_per_demo": 1,
+  "save_dir": null,
+  "video_path": null,
+  "state_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/checker_validation_smoothed_states/grasp_and_pour_mug_60/smoothed/grasp_and_pour_mug_60__smoothed__trajectory_141010__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141013/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141013/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..418997d9d5efc5df73da476c7789fba746f3c7cc
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141013/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_141013/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141013/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141013/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_141013/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141013/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..c854167eee6e1f7bf1e29dac914429665046a975
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141013/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 141013,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_141013.json",
+  "total_steps": 785,
+  "status": "passed",
+  "finish_step": 785,
+  "first_success_step": null,
+  "reason": "state_replay_complete_without_checker",
+  "render_index": 0,
+  "num_per_demo": 1,
+  "save_dir": null,
+  "video_path": null,
+  "state_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/checker_validation_smoothed_states/grasp_and_pour_mug_60/smoothed/grasp_and_pour_mug_60__smoothed__trajectory_141013__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141016/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141016/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..4c35fd2861bdd9c055cdbc82835fc1d0c453fa5f
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141016/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_141016/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141016/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141016/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_141016/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141016/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..e7b0aca602c3de6b2975637d7b6b0ea925b2092d
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141016/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 141016,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_141016.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_141016__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141018/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141018/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..439c8849b7465ffd7c7966f253f32d7f4dec2f55
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141018/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_141018/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141018/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141018/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_141018/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141018/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..1c94353b7cc2d480d5b33b31d90548e2728574c5
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141018/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 141018,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_141018.json",
+  "total_steps": 784,
+  "status": "passed",
+  "finish_step": 784,
+  "first_success_step": null,
+  "reason": "state_replay_complete_without_checker",
+  "render_index": 0,
+  "num_per_demo": 1,
+  "save_dir": null,
+  "video_path": null,
+  "state_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/checker_validation_smoothed_states/grasp_and_pour_mug_60/smoothed/grasp_and_pour_mug_60__smoothed__trajectory_141018__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141022/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141022/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..19c86466a736a9c348103611927091e42b4fb3ef
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141022/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_141022/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141022/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141022/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_141022/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141022/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..d416d52236a073715975d051d7d524948c8ab10c
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141022/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 141022,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_141022.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_141022__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141048/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141048/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..77961d24e7a5590811ddf58d118e62f745776437
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141048/metadata.json
@@ -0,0 +1 @@
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-0.048185743391513824, 0.9887034893035889, -2.467568874359131, 0.00600017886608839, 1.4251803159713745, 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_141048/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141048/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141048/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_141048/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141048/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..58a83904d6dbb7dc3e616137fc31c2a2ec808af0
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141048/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 141048,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_141048.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_141048__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141080/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141080/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..2b5678a31f4649248e8888d02a8232654e8721bb
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141080/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_141080/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141080/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141080/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_141080/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141080/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..dd13a009a4216697ed96f5a18ac59c70e2928d20
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141080/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 141080,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_141080.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_141080__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141094/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141094/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..0fb123ca82f61ddd1af0ab53dc437057c05a4008
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141094/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_141094/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141094/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141094/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_141094/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141094/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..925a24681e890f0bb48dd65fa76113c6a3d834d2
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141094/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 141094,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_141094.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_141094__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141096/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141096/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..06afdf4bc79e7d4909594effa8170e4b69e0cf30
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141096/metadata.json
@@ -0,0 +1 @@
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1.4246711730957031, 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_141096/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141096/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141096/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_141096/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141096/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..e2aafdc922b09a6f36c667673ee072336843303b
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141096/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 141096,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_141096.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_141096__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141100/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141100/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..453f31211622fc439a847a4e89999ad0534e3b45
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141100/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_141100/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141100/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141100/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_141100/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141100/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..c9d78f370e98130bcc65eec7a56e4f2d14dbb475
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141100/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 141100,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_141100.json",
+  "total_steps": 791,
+  "status": "passed",
+  "finish_step": 791,
+  "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_141100__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141102/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141102/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..23c9430524bd8fb6cead09896f7de0fa3e709bf5
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141102/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_141102/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141102/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141102/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_141102/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141102/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..ce9916bb6099ec185fa2e4de5aa66148b51c8c05
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141102/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 141102,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_141102.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_141102__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141108/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141108/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..37b1b381927e5d4f3a4245dda082c044ec66dc57
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141108/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_141108/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141108/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141108/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_141108/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141108/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..b51f1a0590dfcfb60157390ce35d600e6f591477
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141108/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 141108,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_141108.json",
+  "total_steps": 785,
+  "status": "passed",
+  "finish_step": 785,
+  "first_success_step": null,
+  "reason": "state_replay_complete_without_checker",
+  "render_index": 0,
+  "num_per_demo": 1,
+  "save_dir": null,
+  "video_path": null,
+  "state_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/checker_validation_smoothed_states/grasp_and_pour_mug_60/smoothed/grasp_and_pour_mug_60__smoothed__trajectory_141108__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141112/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141112/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..614a290ea4bfb9f82eea869a76cb9d2ca4de66e0
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141112/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_141112/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141112/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141112/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_141112/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141112/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..8502ecd20fc81482fea84818ee60104909e38f1d
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141112/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 141112,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_141112.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_141112__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141117/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141117/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..9f3216046c3d7f28366924b79e0c3290d298939e
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141117/metadata.json
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-0.04848291724920273, 0.9882428646087646, -2.4614250659942627, 0.006489134859293699, 1.423824429512024, 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_141117/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141117/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141117/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_141117/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141117/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..95031f4d1090a5035aa79ae8e4529d4cbffc9ab5
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141117/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 141117,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_141117.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_141117__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141120/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141120/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..eeb57bf1e435d7f9a3635a48485189203bdcc64e
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141120/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_141120/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141120/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141120/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_141120/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141120/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..2ab16803dbd129f28aee7e2abd7e8b1d9e068049
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141120/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 141120,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_141120.json",
+  "total_steps": 637,
+  "status": "passed",
+  "finish_step": 637,
+  "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_141120__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141123/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141123/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..27fbaccb5ea4680543b1a48a193494f146fbea12
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141123/metadata.json
@@ -0,0 +1 @@
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-2.4680798053741455, 0.005929142236709595, 1.4249820709228516, 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_141123/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141123/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141123/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_141123/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141123/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..b21e091a39b581680132cf31ba7f5b7ba0ec6364
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141123/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 141123,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_141123.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_141123__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141124/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141124/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..d6ba8500feff264de17a5192dedf6bff14e32364
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141124/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_141124/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141124/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141124/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_141124/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141124/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..2d2ecd0a2379a8809c7c45bb3294d6372879df18
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141124/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 141124,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_141124.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_141124__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141130/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141130/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..229e7bcaa147a50f36b736396df0c8969f4ac323
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141130/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_141130/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141130/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141130/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_141130/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141130/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..e5a37758a14430b01b96d74accab402bb469cafc
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141130/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 141130,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_141130.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_141130__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141132/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141132/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..54340691a67d3f455be3d19ce3fb7b1f24bdd74f
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141132/metadata.json
@@ -0,0 +1 @@
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\ No newline at end of file