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\ No newline at end of file
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141136/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141136/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141136/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_141136/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141136/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..321f77254016732da0efc0038a1a2502dbe5f850
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141136/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 141136,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_141136.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_141136__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141140/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141140/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..ef9495aa79e73682bbc22ec72a431c77c74a8496
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141140/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_141140/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141140/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141140/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_141140/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141140/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..16e8066d2c9a1a6dff30ece01d2e9b4dc426410c
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141140/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 141140,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_141140.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_141140__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141142/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141142/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..bec50aa3e66673c87ff3f89ff5e689374d2b2afe
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141142/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_141142/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141142/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141142/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_141142/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141142/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..72f67e29496257e92f395ac5a07e9632ca0c0598
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141142/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 141142,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_141142.json",
+  "total_steps": 780,
+  "status": "passed",
+  "finish_step": 780,
+  "first_success_step": null,
+  "reason": "state_replay_complete_without_checker",
+  "render_index": 0,
+  "num_per_demo": 1,
+  "save_dir": null,
+  "video_path": null,
+  "state_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/checker_validation_smoothed_states/grasp_and_pour_mug_60/smoothed/grasp_and_pour_mug_60__smoothed__trajectory_141142__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141147/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141147/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..4feac6e56a9ca7a4f9dbf537d0d8d3a2e9fd8716
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141147/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_141147/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141147/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141147/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_141147/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141147/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..7b3da320efda2506fc126a3624b7693a06462697
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141147/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 141147,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_141147.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_141147__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141150/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141150/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..d8473982a8756c0a0a614aa696ef19a80f2417a9
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141150/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_141150/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141150/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141150/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_141150/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141150/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..1f867fb2e04cee9e357affda1fe188f7fa5c1f00
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141150/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 141150,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_141150.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_141150__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141154/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141154/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..d13894c82ceef1983e9ee32b99d7cc6988b03e17
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141154/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_141154/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141154/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141154/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_141154/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141154/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..f03f529ef26c36b48e9d5766f07e87de7c24d6b5
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141154/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 141154,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_141154.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_141154__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141156/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141156/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..7f8f8fe1e8cca003f843fe6d02042fdcc4bc2f06
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141156/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_141156/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141156/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141156/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_141156/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141156/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..af220ef1a5d9c2e80db3cadd3a4d36959caa0c98
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141156/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 141156,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_141156.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_141156__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141157/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141157/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..ae2bcad30be89fbc49c8eff357c3c4b283648b40
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141157/metadata.json
@@ -0,0 +1 @@
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it to pour."}
\ No newline at end of file
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141157/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141157/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141157/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_141157/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141157/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..dcd14132618769eec09734a3b0b318894418809b
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141157/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 141157,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_141157.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_141157__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141170/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141170/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..87e6023bb0cc74727779d17c16867c7949f6c931
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141170/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_141170/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141170/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141170/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_141170/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141170/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..409fba6103f6dbb9fcf702ff066da503009618a6
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141170/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 141170,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_141170.json",
+  "total_steps": 702,
+  "status": "passed",
+  "finish_step": 702,
+  "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_141170__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141173/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141173/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..eee5d5ed8f6cba172c8efa201edd6e606ea12230
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141173/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_141173/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141173/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141173/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_141173/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141173/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..1470980f28b68e3e802c456d41a6b1989ca3b01e
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141173/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 141173,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_141173.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_141173__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141176/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141176/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..466f3836b18003bae790cf7be1126ff8b784a262
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141176/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_141176/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141176/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141176/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_141176/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141176/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..bf24e96dcd026875205addd30109116dc8e63724
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141176/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 141176,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_141176.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_141176__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141411/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141411/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..6b8341c9587004cfcb119e925d163fe2fbfdc6c9
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141411/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_141411/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141411/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141411/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_141411/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141411/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..9a64cbfeb91c249f3926dce1ef7308b2efc027d9
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_141411/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 141411,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_141411.json",
+  "total_steps": 1584,
+  "status": "passed",
+  "finish_step": 1584,
+  "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_141411__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_142366/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_142366/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..566c5950275afa83691f95cc6293c2e6c52f307a
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_142366/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_142366/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_142366/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_142366/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_142366/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_142366/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..72bda56e29c30bf2f53d524fa68087ae7cb9a516
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_142366/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 142366,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_142366.json",
+  "total_steps": 373,
+  "status": "passed",
+  "finish_step": 373,
+  "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_142366__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_142752/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_142752/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..a80603400eea295fe01fbc1363e4d9e5b8de0a98
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_142752/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_142752/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_142752/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_142752/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_142752/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_142752/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..5b73b850b9dcdf1eecf573a9926ab27930806d09
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_142752/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 142752,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_142752.json",
+  "total_steps": 428,
+  "status": "passed",
+  "finish_step": 428,
+  "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_142752__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_142756/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_142756/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..328535b1caeb0649fe607e5d0faa84d3d2b704f2
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_142756/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_142756/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_142756/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_142756/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_142756/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_142756/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..4601b0920a9f6b9789faedba01e13c20774a6b1e
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_142756/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 142756,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_142756.json",
+  "total_steps": 246,
+  "status": "passed",
+  "finish_step": 246,
+  "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_142756__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_142760/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_142760/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..81b9aa48e14d26fc07efc982c674541a58274b81
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_142760/metadata.json
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-0.048343587666749954, 0.8908088207244873, 3.139572858810425, 0.008107354864478111, 0.0008064787834882736, 1.0]], "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_142760/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_142760/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_142760/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_142760/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_142760/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..40905ea613ace023fdec506b6de4e3be69eb8e41
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_142760/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 142760,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_142760.json",
+  "total_steps": 196,
+  "status": "passed",
+  "finish_step": 196,
+  "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_142760__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_142771/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_142771/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..49c5eaed50c84fa00fb7231e5b6716cfff851a09
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_142771/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_142771/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_142771/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_142771/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_142771/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_142771/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..87011f43445b5c9dd7a20deed3856fe723c9d923
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_142771/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 142771,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_142771.json",
+  "total_steps": 239,
+  "status": "passed",
+  "finish_step": 239,
+  "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_142771__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_142779/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_142779/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..e62b3bd59969343b48f26173c4d3025df1bddcfb
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_142779/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_142779/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_142779/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_142779/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_142779/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_142779/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..103a81f78c44350e0e05bd40c4e519580236ea93
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_142779/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 142779,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_142779.json",
+  "total_steps": 193,
+  "status": "passed",
+  "finish_step": 193,
+  "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_142779__passed.states.json.gz"
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diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_142988/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_142988/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..3ad2ab874ac036fa185552be878e36f626c1799f
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_142988/metadata.json
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0.001140412874519825, 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_142988/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_142988/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_142988/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_142988/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_142988/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..ac80a4e522438818f10878975a3e453f4d2617d2
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_142988/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 142988,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_142988.json",
+  "total_steps": 189,
+  "status": "passed",
+  "finish_step": 189,
+  "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_142988__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_143036/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_143036/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..585a0eea89a594326306a9859f988affe60a0f82
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_143036/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_143036/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_143036/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_143036/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_143036/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_143036/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..a31ed87337fe79862e784ad3ea5580964b2f81e3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_143036/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 143036,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_143036.json",
+  "total_steps": 430,
+  "status": "passed",
+  "finish_step": 430,
+  "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_143036__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_143041/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_143041/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..247e49a38fe40cfd8fce95cfbc9df03d114f4cc6
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_143041/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_143041/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_143041/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_143041/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_143041/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_143041/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..3255ce6cdee0d06572e454fff78237f0685c77e5
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_143041/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 143041,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_143041.json",
+  "total_steps": 425,
+  "status": "passed",
+  "finish_step": 425,
+  "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_143041__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_143168/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_143168/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..03051fe4de0e33f370862de2410f4c41b5d3a68f
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_143168/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_143168/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_143168/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_143168/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_143168/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_143168/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..a0867e55d949d11b2dbebc03e17cc7a685adc972
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_143168/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 143168,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_143168.json",
+  "total_steps": 926,
+  "status": "passed",
+  "finish_step": 926,
+  "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_143168__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_143271/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_143271/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..8e8f94d4bb2259d9ddaeab00571c15096d9472dd
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_143271/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_143271/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_143271/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_143271/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_143271/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_143271/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..ad39a71f99e25d27a774d8d8109396fcc9f7c290
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_143271/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 143271,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_143271.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_143271__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_143290/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_143290/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..b49812158215c54f09b5d064b3bdc5f09de26e28
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_143290/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_143290/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_143290/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_143290/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_143290/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_143290/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..36286a2a6ee6945578ca6733b2ea57f765769422
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_143290/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 143290,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_143290.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_143290__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_143310/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_143310/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..60b5931852fab88e2d3db3102bb59018b2aa3c4a
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_143310/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_143310/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_143310/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_143310/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_143310/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_143310/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..ab37adca1b170373dcc2266c908b04937a7636a4
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_143310/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 143310,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_143310.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_143310__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_143350/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_143350/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..b2aedff1f11a48715d838dd48315d7f85e944397
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_143350/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_143350/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_143350/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_143350/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_143350/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_143350/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..c13fac7d3b0f18a5ae030774727211826cabc4bb
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_143350/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 143350,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_143350.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_143350__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_143413/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_143413/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..96cbf16fac35b4d14de272677ff0141cc90b858c
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_143413/metadata.json
@@ -0,0 +1 @@
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[0.21984849870204926, -0.04869983717799187, 0.9884400963783264, -2.4662559032440186, 0.005805406253784895, 1.4245752096176147, 0.0], [0.2198566049337387, -0.04845765605568886, 0.988444983959198, -2.461122989654541, 0.005586417391896248, 1.4249155521392822, 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_143413/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_143413/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_143413/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_143413/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_143413/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..053e2904c2fe22df492b729e57f6ccf45cf0bc4c
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_143413/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 143413,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_143413.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_143413__passed.states.json.gz"
+}