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diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_143433/depth_uint8.mp4 b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_143433/depth_uint8.mp4
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diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146913/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146913/status.txt
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diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146913/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146913/trajectory_info.json
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+  "status": "passed",
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diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146941/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146941/metadata.json
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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_146941/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146941/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146941/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_146941/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146941/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..575e47e8aaf4b640f1c4e3b2361abd67edd6a7ae
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146941/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 146941,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_146941.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_146941__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146944/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146944/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..dc4019f031116bbd419cabb7eb8357c0fc477e3a
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146944/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_146944/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146944/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146944/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_146944/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146944/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..9ac8fd81af75c8ab91b2c9cc94f17e7a0b6bf81b
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146944/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 146944,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_146944.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_146944__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146952/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146952/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..a127093111489d39db7b85ddbbf47b36fe0f5d5f
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146952/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_146952/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146952/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146952/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_146952/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146952/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..5603275a465a14e930cd04f8d6f9aa03b311d90c
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146952/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 146952,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_146952.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_146952__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146971/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146971/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..b8b85e406cc6a25bcc6da1050441bfe9d3b10d73
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146971/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_146971/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146971/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146971/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_146971/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146971/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..ca0cd882df3bf1b2e47dc95f87c6ce549f0635dc
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146971/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 146971,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_146971.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_146971__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146974/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146974/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..1f873f3ff900747a855316e6ea8d06816d3d6b13
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146974/metadata.json
@@ -0,0 +1 @@
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mug from the table and tilt it to pour."}
\ No newline at end of file
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146974/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146974/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146974/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_146974/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146974/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..194881ab7d80cd0a91785abfcd832720c6527a53
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146974/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 146974,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_146974.json",
+  "total_steps": 768,
+  "status": "passed",
+  "finish_step": 768,
+  "first_success_step": null,
+  "reason": "state_replay_complete_without_checker",
+  "render_index": 0,
+  "num_per_demo": 1,
+  "save_dir": null,
+  "video_path": null,
+  "state_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/checker_validation_smoothed_states/grasp_and_pour_mug_60/smoothed/grasp_and_pour_mug_60__smoothed__trajectory_146974__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146981/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146981/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..9d975dce7a4b3035806780198585c0b064c1f7ae
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146981/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_146981/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146981/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146981/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_146981/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146981/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..46e265e52812af31a5de610053f2de476d461dd0
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146981/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 146981,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_146981.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_146981__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146983/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146983/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..6f2196d804bf0ae592fd151d387511ec0b1adb2b
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146983/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_146983/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146983/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146983/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_146983/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146983/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..18c17bc7ca1bd475a91beecc573a75432f0d854f
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146983/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 146983,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_146983.json",
+  "total_steps": 1199,
+  "status": "passed",
+  "finish_step": 1199,
+  "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_146983__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146991/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146991/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..c7243f1dd3f9ae86a31916cc2fa1177b21437368
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146991/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_146991/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146991/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146991/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_146991/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146991/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..443c8d666262f29adb1186c637121e4a9f8e4d31
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146991/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 146991,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_146991.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_146991__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147023/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147023/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..b4c66687f9fc077d8ce8093d8370a572e46a83a5
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147023/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_147023/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147023/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147023/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_147023/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147023/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..86939abe319a5f98a54b11765879aa8049ce79d7
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147023/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 147023,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_147023.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_147023__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147043/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147043/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..7bfc3561be0483a93f2dae35c5b4863a97c1ce5a
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147043/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_147043/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147043/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147043/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_147043/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147043/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..9b17a081b70a5795e477bd6a1336a8e3a87843cc
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147043/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 147043,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_147043.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_147043__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147081/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147081/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..fbd9fa2c5102616b1b9149f6780cebb99073c973
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147081/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_147081/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147081/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147081/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_147081/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147081/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..6d38297278abd4d21baaf82946fc8e820938c456
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147081/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 147081,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_147081.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_147081__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147082/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147082/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..e2bf833d54a3afca0c6f851b7c23639b355b1532
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147082/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_147082/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147082/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147082/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_147082/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147082/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..cccb8192ee4c0e80102682dbd7b3179e39d95f6a
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147082/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 147082,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_147082.json",
+  "total_steps": 772,
+  "status": "passed",
+  "finish_step": 772,
+  "first_success_step": null,
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diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147122/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147122/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..a1cc6d944d85d4e13f4edb7fbd374a42b8f109bd
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147122/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_147122/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147122/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147122/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_147122/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147122/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..b50abc8d09731b891f784bcb2f7bbc721caf1566
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147122/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 147122,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_147122.json",
+  "total_steps": 754,
+  "status": "passed",
+  "finish_step": 754,
+  "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_147122__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147131/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147131/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..e1d53350bbf79f3f34db7df932a1e9575ed5193a
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147131/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_147131/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147131/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147131/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_147131/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147131/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..3c04cf106d763e3be0f54de8a914ad89df431deb
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147131/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 147131,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_147131.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_147131__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147158/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147158/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..a1e8e1640c0ccf6d0d5f2b9e3b2434f8af9b5a20
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147158/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_147158/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147158/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147158/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_147158/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147158/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..43efb6a77f9c4dccf5f8d9ee846d1a2ff1bbf6c4
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147158/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 147158,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_147158.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_147158__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147179/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147179/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..3dc2942bec52bb53a5a9ecbdf53e238beef67b5b
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147179/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_147179/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147179/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147179/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_147179/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147179/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..8d99b728f3b1d37a77235186cf5da62bc13a01aa
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147179/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 147179,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_147179.json",
+  "total_steps": 274,
+  "status": "passed",
+  "finish_step": 274,
+  "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_147179__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147180/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147180/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..bc2247664409d20b6d8e2aa6f752eff46c8d7177
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147180/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_147180/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147180/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147180/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_147180/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147180/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..355a3d20924fba6e0c51d54c87207c63a1c9a9c6
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147180/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 147180,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_147180.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_147180__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147185/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147185/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..fae6b553c4a9e8eee584718b02e15e1a04489c77
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147185/metadata.json
@@ -0,0 +1 @@
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-2.470755100250244, 0.006494617555290461, 1.4242932796478271, 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_147185/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147185/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147185/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_147185/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147185/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..dc482162c8cd8557a55fbec4bab4ddbf2c60c111
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147185/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 147185,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_147185.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_147185__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147188/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147188/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..e0c2185059baba5395169778c3fda928999e981c
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147188/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_147188/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147188/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147188/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_147188/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147188/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..3f4b6f9f5e63284ad1489d10caae8d27cbc85d42
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147188/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 147188,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_147188.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_147188__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147191/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147191/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..75ce19b42c113d48aef8d2a2b49700512f946efb
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147191/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_147191/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147191/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147191/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_147191/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147191/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..f614b0a62994cfd056e07c98d3a2248c1dfdee81
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147191/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 147191,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_147191.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_147191__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147208/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147208/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..af916b418f06ebd36962cde1071c7c6c1dfa7ab3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147208/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_147208/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147208/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147208/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_147208/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147208/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..8042d1126d0f8b12fc2052c6898a111e1c0260ee
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147208/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 147208,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_147208.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_147208__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147239/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147239/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..6f74a9392e9a8ca4e7222ab90ca959f2373425fd
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147239/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_147239/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147239/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147239/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_147239/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147239/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..f64e621cdd5eeab768c24bdd4844fd7bfcc4616a
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147239/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 147239,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_147239.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_147239__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147263/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147263/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..c3d684a21005cfa68bb934a85aa7328fc38b39a3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147263/metadata.json
@@ -0,0 +1 @@
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-2.4721975326538086, 0.006095401477068663, 1.4244154691696167, 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_147263/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147263/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147263/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_147263/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147263/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..a1a39a0f82c8a7a22d85ea5bc9534ed8493d83cc
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147263/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 147263,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_147263.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_147263__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147285/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147285/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..6f3a8bd09741dea8c158ab68550a11cd441ccf35
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147285/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_147285/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147285/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147285/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_147285/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147285/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..4e9304ee64dbb987993c015dc234a631cf49592f
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147285/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 147285,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_147285.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_147285__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147325/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147325/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..715fd28f3fee8e547df079470de4a482200d8035
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147325/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_147325/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147325/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147325/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_147325/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147325/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..ed9438703cf0263b9a57f475966e433198f2ceed
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147325/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 147325,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_147325.json",
+  "total_steps": 1224,
+  "status": "passed",
+  "finish_step": 1224,
+  "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_147325__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147339/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147339/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..a9b0bf4727d858e09262463e43fce0491fedf86c
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147339/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_147339/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147339/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147339/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_147339/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147339/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..2f88feb3e42837e720b7626146f4777538ab2724
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147339/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 147339,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_147339.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_147339__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147377/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147377/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..71aa4cbc4c90b2b381d6aee29a2e60d3440cc946
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147377/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_147377/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147377/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147377/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_147377/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147377/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..8f80d49c5732fafa0ced173afb6c1d8840719037
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147377/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 147377,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_147377.json",
+  "total_steps": 1279,
+  "status": "passed",
+  "finish_step": 1279,
+  "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_147377__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147392/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147392/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..6ba006653495d4874a62cd39faf1f3042fcd29ac
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147392/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_147392/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147392/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147392/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_147392/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147392/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..a422a92a53d2d3da5a2aece0a56163b6e2475802
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147392/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 147392,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_147392.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_147392__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147396/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147396/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..4d2ac059dc2b94d809ab8ac3d0ef12616b53192c
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147396/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_147396/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147396/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147396/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_147396/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147396/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..de5a341948a402c00e86f0960f94e7d0c3abc349
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147396/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 147396,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_147396.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_147396__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147428/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147428/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..f7f1476b80173be865d410e0e89cb1ce3c152b2d
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147428/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_147428/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147428/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147428/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_147428/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147428/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..4e5b85ab07939641d6a1407a890da8c3179961ec
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147428/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 147428,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_147428.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_147428__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147438/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147438/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..a66ad1b65e59159f32879f581f7944494b71b3b6
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147438/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_147438/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147438/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147438/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_147438/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147438/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..c9f5ebe264e1c65ff714f28b582bae267fe5ad5a
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147438/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 147438,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_147438.json",
+  "total_steps": 759,
+  "status": "passed",
+  "finish_step": 759,
+  "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_147438__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147447/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147447/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..3117354429b19297da43682ae2cdb743ac13267e
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147447/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_147447/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147447/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147447/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_147447/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147447/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..8f35fe5d5ed412b0fbd3bb50ae3d1c8de5557583
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147447/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 147447,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_147447.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_147447__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147464/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147464/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..7594c3f564b38da1092846de09beb53344670ff7
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147464/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_147464/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147464/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147464/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_147464/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147464/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..a82d67fff6ecaf58efb6cf9379d9bcc08b59c082
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147464/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 147464,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_147464.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_147464__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147481/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147481/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..100627124db76dd552d7d0dc8e2ca4504c54d4c9
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147481/metadata.json
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mug from the table and tilt it to pour."}
\ No newline at end of file
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147481/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147481/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147481/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_147481/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147481/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..4fdace7fc3aff29b80886a8874b72bde4a4f55c8
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147481/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 147481,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_147481.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_147481__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147525/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147525/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..d7c20346e478aa1f83dcf5353fcce8e6297c6007
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147525/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_147525/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147525/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147525/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_147525/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147525/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..c63a8b81a2771660edd67c4145e2716c572621f7
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147525/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 147525,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_147525.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_147525__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147568/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147568/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..44b0514aef3431e30efcb1c8d4f5effa7e473c21
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147568/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_147568/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147568/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147568/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_147568/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147568/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..62c0b11411c08744ee272188775e330b24df9e48
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147568/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 147568,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_147568.json",
+  "total_steps": 798,
+  "status": "passed",
+  "finish_step": 798,
+  "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_147568__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147605/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147605/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..b337d24c574efa48a30d92f41e61f761c5c864dc
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147605/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_147605/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147605/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147605/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_147605/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147605/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..9c0643823fd62665f944fc8f96d41faa15452ca8
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147605/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 147605,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_147605.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_147605__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147612/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147612/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..e9b5494bf0add3c228023e4dab0bc5f142bd80ac
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147612/metadata.json
@@ -0,0 +1 @@
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-0.04820796102285385, 0.9883175492286682, -2.46225643157959, 0.005516097415238619, 1.4252620935440063, 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_147612/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147612/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147612/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_147612/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147612/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..8ac4425c0a0100eabe26e790ce92ece4403afcb1
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147612/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 147612,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_147612.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_147612__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147622/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147622/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..5993904db20ba622f7504a800a97d32a40bf7e09
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147622/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_147622/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147622/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147622/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_147622/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147622/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..c77e137a06e4e1f372dbb9b4a823e1bbc95699e4
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147622/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 147622,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_147622.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_147622__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147626/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147626/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..456e2450f54bb487cdb24a65f1b2645dd945a21d
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147626/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_147626/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147626/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147626/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_147626/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147626/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..0f0faa2a8f38696e9abaac2eea13083a21e95951
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147626/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 147626,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_147626.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_147626__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147642/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147642/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..2dbeec570665029c1cf0c0a9bd0db566c31c1909
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147642/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_147642/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147642/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147642/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_147642/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147642/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..6b9ece5d893f423c9f038b15123c3b2e964ffcf2
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147642/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 147642,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_147642.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_147642__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147679/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147679/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..a3499580c80882e40c3cf008bab002b06a004d0a
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147679/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_147679/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147679/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147679/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_147679/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147679/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..bf70fbc63c4cfcc1307aa802e7e8b44799f93d9c
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147679/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 147679,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_147679.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_147679__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147682/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147682/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..41cdd7519d5d8ab9dfad90967dbdd538a79bca03
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147682/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_147682/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147682/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147682/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_147682/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147682/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..e1d8f52fd722e9becd4beef6e0f80efc0b7da69d
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147682/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 147682,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_147682.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_147682__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147690/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147690/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..3408e889c770137c13c61f803509033d0523ee4f
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147690/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_147690/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147690/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147690/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_147690/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147690/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..9a1257b5679da50f6fcd385339dcea6638b7d910
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147690/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 147690,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_147690.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_147690__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147697/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147697/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..6bc4a1aa698110ee33ace6f42892eeb6b30b507d
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147697/metadata.json
@@ -0,0 +1 @@
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and tilt it to pour."}
\ No newline at end of file
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147697/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147697/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147697/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_147697/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147697/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..81de729acf3258783e1b0f171071d34dcc999023
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147697/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 147697,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_147697.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_147697__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147698/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147698/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..f2fed473cc8ecb57f6e0a59899aab9eaac371c55
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147698/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_147698/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147698/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147698/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_147698/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147698/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..54e0817e9a31994606db1e9f809909a68b093fe3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147698/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 147698,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_147698.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_147698__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147706/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147706/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..d530830be5cc857dd25989b5386ffd40c0efa973
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147706/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_147706/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147706/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147706/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_147706/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147706/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..0a2a4660e6ef02b85c7a43d7ea95ace1f3651188
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147706/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 147706,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_147706.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_147706__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147713/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147713/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..f3db50ace3aec3a80226ebba7c90c43d8e94b991
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147713/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_147713/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147713/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147713/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_147713/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147713/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..bfa49f691b1345bf5d393709b598812881b4a3c7
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147713/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 147713,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_147713.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_147713__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147714/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147714/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..01055d6854f2634e287db8e9d415db1f876bba50
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147714/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_147714/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147714/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147714/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_147714/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147714/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..24de395b7fb8c76076be1e9d8cf58d034b67c12b
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147714/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 147714,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_147714.json",
+  "total_steps": 58,
+  "status": "passed",
+  "finish_step": 58,
+  "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_147714__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147722/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147722/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..834dc03fe3f9257b59890bfbb9ba9f67b62b3c29
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147722/metadata.json
@@ -0,0 +1 @@
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-2.4681785106658936, 0.006691938731819391, 1.4261270761489868, 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_147722/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147722/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147722/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_147722/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147722/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..6a1d363d56a308016343fa9732faf810eb943a59
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147722/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 147722,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_147722.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_147722__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147746/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147746/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..9c1108ca3f52db989c10f4b612d00a86c0c0f4e8
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147746/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_147746/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147746/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147746/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_147746/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147746/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..e0abb9308943ed18af8851252ecb9b00eb6f994b
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147746/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 147746,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_147746.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_147746__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147764/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147764/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..63d116eaf551cb3504ac47a457c4ddf690b97193
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147764/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_147764/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147764/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147764/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_147764/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147764/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..71c53aed560fe376e7c17125fbef2ac1a9e736c1
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147764/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 147764,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_147764.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_147764__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147769/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147769/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..ddd6a79bb2708d26b0dee4442f03e973cb691af4
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147769/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_147769/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147769/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147769/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_147769/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147769/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..0f55864add59f969363d29c7fc32553081e846f3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147769/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 147769,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_147769.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_147769__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147793/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147793/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..dd062144973012d205f0b7c81a968b74a57fcc00
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147793/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_147793/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147793/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147793/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_147793/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147793/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..82c933ade90cbefe20e67250fa6ba97c7aeb2d3b
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147793/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 147793,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_147793.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_147793__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147802/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147802/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..bd161b3d985d9cbda39b5dea0948c6e96a431c2e
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147802/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_147802/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147802/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147802/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_147802/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147802/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..828eba7f1c2e29e3356bae5b31ecbc91a4ff3d45
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147802/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 147802,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_147802.json",
+  "total_steps": 779,
+  "status": "passed",
+  "finish_step": 779,
+  "first_success_step": null,
+  "reason": "state_replay_complete_without_checker",
+  "render_index": 0,
+  "num_per_demo": 1,
+  "save_dir": null,
+  "video_path": null,
+  "state_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/checker_validation_smoothed_states/grasp_and_pour_mug_60/smoothed/grasp_and_pour_mug_60__smoothed__trajectory_147802__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147829/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147829/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..4700411907a6959d4c124acdeb633c4df0939fb4
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147829/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_147829/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147829/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147829/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_147829/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147829/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..1e1170d737b0c38e2c55b63c4de28118be6f712c
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147829/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 147829,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_147829.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_147829__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147839/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147839/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..316eadbb01c2f64e6e03991794d98a316c799969
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147839/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_147839/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147839/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147839/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_147839/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147839/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..f955efa6af55786554f48377b9d04245e0e03aba
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147839/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 147839,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_147839.json",
+  "total_steps": 58,
+  "status": "passed",
+  "finish_step": 58,
+  "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_147839__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147858/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147858/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..44c5e91acec13b0840bf9266a3f31321c3d35c92
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147858/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_147858/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147858/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147858/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_147858/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147858/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..de80bca1443281bb0d593c8298ea0a94c428d5d9
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147858/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 147858,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_147858.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_147858__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147894/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147894/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..f9544c05306ff4e5874634666a516ea7d14e6552
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147894/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_147894/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147894/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147894/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_147894/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147894/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..078fd2866566dbd2b59bb05f423cac07c2621fb8
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147894/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 147894,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_147894.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_147894__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147904/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147904/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..ea74c6c6c4c9a49d146fdc36e37cea4a6eb5ead1
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147904/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_147904/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147904/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147904/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_147904/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147904/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..a4ee87e71f5a75a6293ff8479865b62b6301acbf
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147904/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 147904,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_147904.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_147904__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147935/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147935/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..d1aa99b7185f650d51030cb5c44e70e254dfba92
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147935/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_147935/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147935/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147935/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_147935/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147935/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..bcce9587155bfca8807b5a7fb7eab2d118a8a690
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147935/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 147935,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_147935.json",
+  "total_steps": 593,
+  "status": "passed",
+  "finish_step": 593,
+  "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_147935__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147957/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147957/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..6cf28ff3c07e37726ef7bf15a3fb60e221d3d5d3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147957/metadata.json
@@ -0,0 +1 @@
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-0.04840008541941643, 0.9888019561767578, -2.4677226543426514, 0.006035773083567619, 1.4250041246414185, 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_147957/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147957/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147957/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_147957/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147957/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..7b4f581b48a8d46d07cfcc719b82c16ac7f33bf8
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147957/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 147957,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_147957.json",
+  "total_steps": 779,
+  "status": "passed",
+  "finish_step": 779,
+  "first_success_step": null,
+  "reason": "state_replay_complete_without_checker",
+  "render_index": 0,
+  "num_per_demo": 1,
+  "save_dir": null,
+  "video_path": null,
+  "state_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/checker_validation_smoothed_states/grasp_and_pour_mug_60/smoothed/grasp_and_pour_mug_60__smoothed__trajectory_147957__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147960/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147960/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..661fd4681cb9227858483b5e281998fa06797c4d
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147960/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_147960/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147960/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147960/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_147960/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147960/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..ad38da69bc36db156fca4634465edba3db3d8f68
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147960/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 147960,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_147960.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_147960__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147997/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147997/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..e7650e8ce45754858e20eb810576d97c8f90157b
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147997/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_147997/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147997/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147997/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_147997/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147997/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..cd7161aaf8b44de28dac4b8e3ef50fd82a661917
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_147997/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 147997,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_147997.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_147997__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148026/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148026/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..aec6eaf40bcaf8faf71d34ee61fec534782a97c9
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148026/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_148026/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148026/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148026/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_148026/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148026/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..3a24cd827a012056b798d7cbceaec4b571b12455
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148026/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 148026,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_148026.json",
+  "total_steps": 788,
+  "status": "passed",
+  "finish_step": 788,
+  "first_success_step": null,
+  "reason": "state_replay_complete_without_checker",
+  "render_index": 0,
+  "num_per_demo": 1,
+  "save_dir": null,
+  "video_path": null,
+  "state_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/checker_validation_smoothed_states/grasp_and_pour_mug_60/smoothed/grasp_and_pour_mug_60__smoothed__trajectory_148026__passed.states.json.gz"
+}