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\ No newline at end of file
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145562/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145562/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145562/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_145562/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145562/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..9b96f5caf294357662ee98131db7c29ef184222b
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145562/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 145562,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_145562.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_145562__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145565/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145565/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..6efb56e2cfd7352aaea2d99faff9f62f37b2da38
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145565/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_145565/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145565/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145565/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_145565/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145565/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..7b1eda9d253c3fa1c4b44cd9829e711f8517f5ca
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145565/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 145565,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_145565.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_145565__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145571/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145571/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..92ae39f6ee855e6237573343b794e4b1f56f7adb
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145571/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_145571/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145571/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145571/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_145571/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145571/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..b30723d9be676edd44c50e2b92e5d38078df0616
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145571/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 145571,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_145571.json",
+  "total_steps": 790,
+  "status": "passed",
+  "finish_step": 790,
+  "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_145571__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145602/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145602/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..2dbd5d3c874be8b6920490d642c3051355451737
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145602/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_145602/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145602/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145602/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_145602/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145602/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..d855e6ea33faafee2247ecdaf0530c3f18616f4e
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145602/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 145602,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_145602.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_145602__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145634/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145634/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..7f38824919946f57085cabe8eaffebbaff1c4e50
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145634/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_145634/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145634/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145634/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_145634/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145634/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..5f0517a84265e2517578fe6d070393c6ffb8e44d
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145634/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 145634,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_145634.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_145634__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145646/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145646/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..e89ec3fcfb212175b1a0a4e95488ab23c8e9f6c0
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145646/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_145646/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145646/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145646/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_145646/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145646/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..44168eea0c3e4efa3eb3bb6864bdb9867fd0e726
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145646/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 145646,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_145646.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_145646__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145695/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145695/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..5cfa7e1d0ab12695fd6582e164f9815088243580
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145695/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_145695/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145695/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145695/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_145695/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145695/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..b7eb86ff8a18a012d0039f81f5f6c80b85fe4fd4
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145695/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 145695,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_145695.json",
+  "total_steps": 770,
+  "status": "passed",
+  "finish_step": 770,
+  "first_success_step": null,
+  "reason": "state_replay_complete_without_checker",
+  "render_index": 0,
+  "num_per_demo": 1,
+  "save_dir": null,
+  "video_path": null,
+  "state_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/checker_validation_smoothed_states/grasp_and_pour_mug_60/smoothed/grasp_and_pour_mug_60__smoothed__trajectory_145695__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145702/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145702/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..490832733157f6bd6237b5e2b0481aefacb3d590
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145702/metadata.json
@@ -0,0 +1 @@
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0.005282585043460131, 1.4240916967391968, 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_145702/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145702/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145702/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_145702/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145702/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..a383ec7bcb00dcaa640b7a69c47b6ad7fe7a5bed
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145702/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 145702,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_145702.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_145702__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145709/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145709/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..272c59d784f00dde318604473544b71c2b3916b9
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145709/metadata.json
@@ -0,0 +1 @@
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-0.048770248889923096, 0.9878063201904297, -2.4648537635803223, 0.0055473800748586655, 1.423979640007019, 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_145709/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145709/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145709/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_145709/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145709/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..6638b729ecbe4cb481917c7f4177ab170cdc9c3c
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145709/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 145709,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_145709.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_145709__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145712/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145712/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..6b37048957bc6b1480c5717fa88bfb80cfe6999c
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145712/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_145712/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145712/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145712/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_145712/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145712/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..05b780d3c46fdfd1e319a1940b86360ecce03d89
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145712/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 145712,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_145712.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_145712__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145731/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145731/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..a735f828a3c37495cdeab3bb04a9477bf0d3d91f
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145731/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_145731/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145731/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145731/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_145731/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145731/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..921ff41e8a59087f350134e09398b207e004444f
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145731/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 145731,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_145731.json",
+  "total_steps": 1500,
+  "status": "passed",
+  "finish_step": 1500,
+  "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_145731__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145785/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145785/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..7c55c814d3cf479e00e17736b91ebbff749bea17
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145785/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_145785/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145785/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145785/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_145785/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145785/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..7273fcf8f74d513dd3571d8c870f673458672fa7
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145785/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 145785,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_145785.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_145785__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145787/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145787/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..92e0f1d1c751055ca748278e7b763c5268859765
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145787/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_145787/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145787/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145787/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_145787/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145787/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..cdb89db4d4012e84f3641f86e5e8d1bb0f6e759d
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145787/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 145787,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_145787.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_145787__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145791/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145791/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..ce49c8b29dec2533bd684f17ec5bd58712a470da
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145791/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_145791/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145791/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145791/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_145791/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145791/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..42366857c94b706bf06098cddb2293a0dba772df
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145791/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 145791,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_145791.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_145791__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145795/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145795/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..5f136e3894d1646307948bfb921702b08bb40a69
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145795/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_145795/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145795/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145795/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_145795/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145795/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..912177b279f78cb8edaabddc3147584555b55225
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145795/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 145795,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_145795.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_145795__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145798/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145798/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..c874928e81cb4cee29cf0f7d8f1560d83a4c5d30
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145798/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_145798/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145798/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145798/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_145798/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145798/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..c84832d11778c8539b79f3c611c124e1e2ec9bbc
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145798/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 145798,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_145798.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_145798__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145807/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145807/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..58ab1c9e98ab6fee2692d7320daf34c287002270
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145807/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_145807/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145807/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145807/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_145807/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145807/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..092b43b3d59e97d1168f40cf3bac2029129c8565
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145807/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 145807,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_145807.json",
+  "total_steps": 1217,
+  "status": "passed",
+  "finish_step": 1217,
+  "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_145807__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145812/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145812/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..9235b0a8490379aab90b2c263342261182bc9cc8
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145812/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_145812/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145812/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145812/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_145812/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145812/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..91096023d4a10e3dada2cf6f8c9c4c8792e52a6f
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145812/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 145812,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_145812.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_145812__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145821/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145821/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..83d7dcf70e886907ca23c77c0ece426ef29f95e9
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145821/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_145821/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145821/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145821/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_145821/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145821/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..7e9417dba6c95096cf2671db159eaa17b19527c9
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145821/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 145821,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_145821.json",
+  "total_steps": 1188,
+  "status": "passed",
+  "finish_step": 1188,
+  "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_145821__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145826/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145826/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..5733be0488790edf23d0f383ef1174037850d9b7
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145826/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_145826/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145826/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145826/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_145826/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145826/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..fb31b61b472ed24ed2cde543980288368b24e3f9
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145826/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 145826,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_145826.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_145826__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145828/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145828/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..8c654d23ece026bf27bbeae1dcfa238e881afe5d
--- /dev/null
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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_145828/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145828/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145828/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_145828/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145828/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..a3519f2a3146981b14b099ebb009d8f155428d24
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145828/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 145828,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_145828.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_145828__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145832/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145832/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..18478cb25f98804b9ba5c3acf4d98bcc2f4cd061
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145832/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_145832/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145832/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145832/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_145832/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145832/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..0f572568f1996ecdb618c09194d09fb5237de6be
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145832/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 145832,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_145832.json",
+  "total_steps": 1088,
+  "status": "passed",
+  "finish_step": 1088,
+  "first_success_step": null,
+  "reason": "state_replay_complete_without_checker",
+  "render_index": 0,
+  "num_per_demo": 1,
+  "save_dir": null,
+  "video_path": null,
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+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145835/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145835/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..5938455707051cd4aa7f75b422f8162301834397
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145835/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_145835/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145835/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145835/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_145835/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145835/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..f7f71c71f77ad37a92ed6c64a87fb742baaf33f1
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145835/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 145835,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_145835.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_145835__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145850/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145850/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..307618ff7d66c9e29237e29f6fcb9c4292d22228
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145850/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_145850/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145850/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145850/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_145850/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145850/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..b781478cab119dd5b8062afb1cc37fc927291017
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145850/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 145850,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_145850.json",
+  "total_steps": 763,
+  "status": "passed",
+  "finish_step": 763,
+  "first_success_step": null,
+  "reason": "state_replay_complete_without_checker",
+  "render_index": 0,
+  "num_per_demo": 1,
+  "save_dir": null,
+  "video_path": null,
+  "state_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/checker_validation_smoothed_states/grasp_and_pour_mug_60/smoothed/grasp_and_pour_mug_60__smoothed__trajectory_145850__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145855/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145855/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..c921a80edcfde29f1f86e23d774c18a0e3f6eb10
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145855/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_145855/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145855/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145855/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_145855/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145855/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..bdbc1f96efc67d9210d956c6a58e2b99c5e6d01d
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145855/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 145855,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_145855.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_145855__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145877/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145877/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..13ba1f5291ca4dbd80d32f8e897e33e42123aba5
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145877/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_145877/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145877/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145877/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_145877/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145877/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..52d1213dab500bf76d24c499bd1ac4c1bae09ea4
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145877/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 145877,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_145877.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_145877__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145908/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145908/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..1e3ab0ba51e405337714bf535d546f7e156ee5c1
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145908/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_145908/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145908/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145908/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_145908/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145908/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..5a9bce8e8e4d9b978f128b3ce3fd501bbf53c1f8
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145908/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 145908,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_145908.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_145908__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145910/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145910/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..51e097ee0f35a4da30827a33566f17897ee688ad
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145910/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_145910/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145910/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145910/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_145910/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145910/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..147f03d9a9e5f9e00d688dd9033d7577a0ea5ac9
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145910/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 145910,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_145910.json",
+  "total_steps": 1226,
+  "status": "passed",
+  "finish_step": 1226,
+  "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_145910__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145921/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145921/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..b56b4928df56f77393eb9c7a7e02d1760d279ba6
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145921/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_145921/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145921/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145921/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_145921/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145921/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..5c2d3df70247c079619c248f265a6c4247c934aa
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145921/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 145921,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_145921.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_145921__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145925/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145925/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..15b9015b7a957fe69d676d64bcf946081aa9ac9b
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145925/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_145925/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145925/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145925/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_145925/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145925/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..887d3c7672c435c32b10182480df343d1b67e869
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145925/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 145925,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_145925.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_145925__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145927/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145927/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..9f20355fdfd5cefb277baf792203926d71a6dfdb
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145927/metadata.json
@@ -0,0 +1 @@
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-0.04816676676273346, 0.9880292415618896, -2.4603374004364014, 0.006032492965459824, 1.4245353937149048, 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_145927/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145927/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145927/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_145927/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145927/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..a54f8b843146a0eaa7c2599c872b383b8556d44a
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145927/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 145927,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_145927.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_145927__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145965/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145965/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..f8dc522e3506264606d3502ffc2b95d93e48ac62
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145965/metadata.json
@@ -0,0 +1 @@
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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_145965/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145965/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145965/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_145965/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145965/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..12902ee9ea69eb21f4c3605077f8a17519539dff
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145965/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 145965,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_145965.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_145965__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146003/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146003/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..5e74ea914729e81642827bd6ddd5ccabceaf92aa
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146003/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_146003/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146003/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146003/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_146003/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146003/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..9f4b48ec3668eb36423593294df020a114a1ff96
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146003/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 146003,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_146003.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_146003__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146009/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146009/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..5046293ad619772d73f1b50044cd4d4663b14232
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146009/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_146009/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146009/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146009/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_146009/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146009/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..94536bf0dc6c954f229e750a22a928baad2943df
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146009/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 146009,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_146009.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_146009__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146013/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146013/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..c8d615acd8dc41442521e297030cd4ec7904b3d6
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146013/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_146013/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146013/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146013/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_146013/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146013/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..94c4fc8dbe505700a71612e017dc97f788c2a3a3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146013/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 146013,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_146013.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_146013__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146025/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146025/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..a2c04914f64ee18078846b79fef8ce7f54709e4e
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146025/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_146025/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146025/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146025/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_146025/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146025/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..6489fd44798ad7389080f361746062c05b3be5f4
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146025/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 146025,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_146025.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_146025__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146051/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146051/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..adfcecb0c58c8821ab8b02deba6556679752a08a
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146051/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_146051/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146051/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146051/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_146051/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146051/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..c0dae3cfefb98a62bf8de094a8d648f6c220a360
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146051/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 146051,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_146051.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_146051__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146055/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146055/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..713c44c571a46fa838d0693d38d29d891ee44e2b
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146055/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_146055/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146055/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146055/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_146055/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146055/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..1d6b0ec8ff1e0eb6adf4ce1309d6b16aeaa96149
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146055/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 146055,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_146055.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_146055__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146066/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146066/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..8bfa6bf15e05f8c26f66cceb9cae16068ca851f5
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146066/metadata.json
@@ -0,0 +1 @@
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-2.466033458709717, 0.006050740834325552, 1.4243324995040894, 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_146066/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146066/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146066/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_146066/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146066/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..da36597c0ccbcc5394f6fb9b3420461b6e7d3c72
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146066/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 146066,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_146066.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_146066__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146068/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146068/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..46d45e9814662c2662d9a7d51854f5b5821672be
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146068/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_146068/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146068/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146068/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_146068/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146068/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..315e6c1caba79334ea210fceda9d46446d88e54b
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146068/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 146068,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_146068.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_146068__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146101/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146101/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..1fa8c56b53e1fbb20af5263fc88b8e75586be8d9
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146101/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_146101/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146101/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146101/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_146101/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146101/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..92a471cfe984614e8ea1a6b4e47c95f30de9904b
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146101/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 146101,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_146101.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_146101__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146139/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146139/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..d5a561d801c5b7b2c39d5304318b7877278a55f5
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146139/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_146139/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146139/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146139/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_146139/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146139/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..98b6695446708737cd13b676291370ba8925cc55
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146139/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 146139,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_146139.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_146139__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146166/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146166/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..707db64a6c338005dc2a61c287809b3ffcd419ac
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146166/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_146166/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146166/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146166/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_146166/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146166/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..4c64f43def78aa50a4d2e913b7f0a5077ff3e06c
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146166/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 146166,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_146166.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_146166__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146192/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146192/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..86d2eda4044aedadcf723e732cffd777a9c039ec
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146192/metadata.json
@@ -0,0 +1 @@
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-0.048162225633859634, 0.9879257678985596, -2.460683822631836, 0.006982739549130201, 1.424609899520874, 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_146192/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146192/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146192/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_146192/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146192/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..f45fa72d5b7f04c15fc18d2518dc01a994d4e279
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146192/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 146192,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_146192.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_146192__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146201/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146201/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..b8ce6c3e81651de40d6abe6fe63883d2a15c6eb0
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146201/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_146201/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146201/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146201/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_146201/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146201/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..3ff45f0c3e1bd362c7c6194ab3a91cdf1211dbd7
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146201/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 146201,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_146201.json",
+  "total_steps": 64,
+  "status": "passed",
+  "finish_step": 64,
+  "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_146201__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146217/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146217/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..238c80b28b0cbc274e82497ec3f5f063f5ee1795
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146217/metadata.json
@@ -0,0 +1 @@
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0.005657027009874582, 1.4264953136444092, 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_146217/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146217/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146217/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_146217/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146217/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..bbbd6d1966de46521af817c3bbda2d66046b82a1
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146217/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 146217,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_146217.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_146217__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146219/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146219/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..87aa19ea51eab89d7c78d0ea33f350122690a8f0
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146219/metadata.json
@@ -0,0 +1 @@
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0.0065630171447992325, 1.4239654541015625, 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_146219/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146219/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146219/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_146219/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146219/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..5cc44bcb66821c6f4545cb6486fe9d4fe1e21f94
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146219/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 146219,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_146219.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_146219__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146248/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146248/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..b0d6ffc50feea771ab42e0bff666b3513a471881
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146248/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_146248/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146248/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146248/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_146248/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146248/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..97c2ddd7fb7c0113d5c185d5828e88ccd34ef23a
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146248/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 146248,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_146248.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_146248__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146252/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146252/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..bba6f603991771dc3042d88b0f57536cb0d49e08
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146252/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_146252/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146252/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146252/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_146252/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146252/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..faa6a49eff8415e9b4a0485ff48a4554f91ef0c7
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146252/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 146252,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_146252.json",
+  "total_steps": 762,
+  "status": "passed",
+  "finish_step": 762,
+  "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_146252__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146256/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146256/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..6f3dfd1871ae4c0c082c22737cdbec6bf09daf73
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146256/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_146256/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146256/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146256/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_146256/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146256/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..911322e1911c643e8af1d3124a1400bb476ec1a2
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146256/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 146256,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_146256.json",
+  "total_steps": 767,
+  "status": "passed",
+  "finish_step": 767,
+  "first_success_step": null,
+  "reason": "state_replay_complete_without_checker",
+  "render_index": 0,
+  "num_per_demo": 1,
+  "save_dir": null,
+  "video_path": null,
+  "state_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/checker_validation_smoothed_states/grasp_and_pour_mug_60/smoothed/grasp_and_pour_mug_60__smoothed__trajectory_146256__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146288/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146288/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..1b9946155ff292850be72d1885b3f8071c618025
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146288/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_146288/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146288/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146288/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_146288/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146288/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..8dee9442f9b82b614e7b7cc8284ecf6e3aca3526
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146288/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 146288,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_146288.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_146288__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146314/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146314/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..508cbf2773f34cd07adcbc805e612a3febddc7fe
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146314/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_146314/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146314/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146314/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_146314/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146314/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..55b8b0a5316c007c1a8e4067c8c51d689855637b
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146314/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 146314,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_146314.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_146314__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146323/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146323/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..8befd8ac53db2a26cb40b1227c8bf3ca22e2c2f1
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146323/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_146323/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146323/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146323/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_146323/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146323/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..8455bbcc2fa0ee2c75d6b4dea90c7f3d45bf70bc
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146323/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 146323,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_146323.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_146323__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146330/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146330/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..0835fe9ec0f96481227a6b4359b1141c772c5b1d
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146330/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_146330/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146330/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146330/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_146330/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146330/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..568e2c53f8273d7780b972a85ad69627d8d5c385
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_146330/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 146330,
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