diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148057/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148057/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..961608d6e5f36f547011eb2b300f0680b7557dc2
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148057/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_148057/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148057/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148057/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_148057/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148057/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..c0eb4dd63577264ad64463eb23e35d72c816b322
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148057/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 148057,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_148057.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_148057__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148080/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148080/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..374088057f7910d93d73d2a488eabac5e83cd7f0
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148080/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_148080/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148080/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148080/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_148080/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148080/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..2132d767eb70da13f4033dac45750e006f3ca3a5
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148080/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 148080,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_148080.json",
+  "total_steps": 1180,
+  "status": "passed",
+  "finish_step": 1180,
+  "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_148080__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148120/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148120/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..5e2f111c6aa2dcdf63020b81328c8d6e22146548
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148120/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_148120/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148120/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148120/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_148120/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148120/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..d2c5d545ee09d9ed339516f59ed1940cd0bad40d
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148120/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 148120,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_148120.json",
+  "total_steps": 61,
+  "status": "passed",
+  "finish_step": 61,
+  "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_148120__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148148/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148148/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..39212e36f87ae41bd0a0fe90d5208083dca0a11c
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148148/metadata.json
@@ -0,0 +1 @@
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to pour."}
\ No newline at end of file
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148148/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148148/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148148/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_148148/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148148/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..52f25efd28a5fe4738ebc84629ffb46439fa52b4
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148148/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 148148,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_148148.json",
+  "total_steps": 1156,
+  "status": "passed",
+  "finish_step": 1156,
+  "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_148148__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148165/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148165/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..f2faa4dd5cd1b1f6c609a4b1ad05c2779c2ae5f4
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148165/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_148165/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148165/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148165/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_148165/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148165/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..41a59b65626e97311e23568a628da88ed34363bb
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148165/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 148165,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_148165.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_148165__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148197/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148197/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..c372da6b422f44731c73e25bd6f4282b3c56dc8a
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148197/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_148197/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148197/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148197/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_148197/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148197/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..8e089d67bd0b28fb36e24d325ad27167766bb49c
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148197/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 148197,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_148197.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_148197__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148201/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148201/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb2581c4d6a6ddd8129d9fe3ab1cef362cde795d
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148201/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_148201/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148201/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148201/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_148201/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148201/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..1e0786c8c5730fe9bb83c57e7229eee45db2443c
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148201/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 148201,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_148201.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_148201__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148206/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148206/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..6395156671980ac7d814af0d998802c03df398c8
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148206/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_148206/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148206/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148206/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_148206/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148206/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..505c80a6a2a32b5d86e1f6460d6c425079cb4720
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148206/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 148206,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_148206.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_148206__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148213/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148213/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..02f798a2e3d13d4a1d354677feb5419475a0fc4b
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148213/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_148213/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148213/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148213/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_148213/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148213/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..7e333ccef5d2ccd90a88004f792ffe617a8d3878
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148213/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 148213,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_148213.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_148213__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148225/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148225/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..ecd6d378e9195418b7dc11f73a1ed20f98ee5b29
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148225/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_148225/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148225/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148225/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_148225/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148225/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..15d8555845427cd18880ccbe0c5e11191b5929d7
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148225/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 148225,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_148225.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_148225__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148242/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148242/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..ab556dbf204f745cfc23750abd4ff0d19c8ae2a7
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148242/metadata.json
@@ -0,0 +1 @@
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0.007006846368312836, 1.425041675567627, 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_148242/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148242/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148242/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_148242/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148242/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..4f1745eb7bdad9623b7879b355ed328f9c8e7d01
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148242/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 148242,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_148242.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_148242__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148257/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148257/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..a09deff18a989ba235fbc48f07031ca4acc1c37a
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148257/metadata.json
@@ -0,0 +1 @@
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2.3684067726135254, -0.47265347838401794, 0.048037782311439514, 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_148257/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148257/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148257/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_148257/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148257/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..2c823cbf5f5ac3759061c5b96eba187ff1467733
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148257/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 148257,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_148257.json",
+  "total_steps": 1235,
+  "status": "passed",
+  "finish_step": 1235,
+  "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_148257__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148261/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148261/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..ae4a948fdf62206e0ea8a193d9dea372190c9900
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148261/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_148261/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148261/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148261/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_148261/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148261/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..35138660d9f809cd1e1af64114e0f828704d20dd
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148261/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 148261,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_148261.json",
+  "total_steps": 1224,
+  "status": "passed",
+  "finish_step": 1224,
+  "first_success_step": null,
+  "reason": "state_replay_complete_without_checker",
+  "render_index": 0,
+  "num_per_demo": 1,
+  "save_dir": null,
+  "video_path": null,
+  "state_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/checker_validation_smoothed_states/grasp_and_pour_mug_60/smoothed/grasp_and_pour_mug_60__smoothed__trajectory_148261__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148265/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148265/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb9f6ae801f836182475fc2dc719d62e4e37425e
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148265/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_148265/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148265/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148265/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_148265/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148265/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..ac3cdff6dc547cf766ae741ed373953497ef0134
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148265/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 148265,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_148265.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_148265__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148284/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148284/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..5244f03304d3e26319ef83bb54224e4df02d09e3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148284/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_148284/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148284/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148284/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_148284/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148284/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..09527ea25192b3d0e02728aa69c9d1bc8a873891
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148284/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 148284,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_148284.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_148284__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148290/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148290/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..1e2788e9e34ec9cd248774e050f2454689982c08
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148290/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_148290/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148290/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148290/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_148290/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148290/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..b256c63994372f2b11f6f80481b2f946fb085233
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148290/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 148290,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_148290.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_148290__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148293/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148293/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..2fec57ec86e0f268cc52344250a08b39ad4c670a
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148293/metadata.json
@@ -0,0 +1 @@
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0.006402048282325268, 1.4248850345611572, 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_148293/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148293/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148293/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_148293/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148293/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..a4a07b11a446dc833914b48104b5cb804ec5a901
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148293/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 148293,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_148293.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_148293__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148296/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148296/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..40e489226c69e205a9d8eb9f3537c8548ed5cd34
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148296/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_148296/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148296/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148296/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_148296/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148296/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..6a0be58665249ed7772ae4a14d47d0a2379f905c
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148296/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 148296,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_148296.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_148296__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148318/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148318/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..15d03afdda3e4c3cc65a42de05e38a69cbba45c2
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148318/metadata.json
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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_148318/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148318/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148318/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_148318/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148318/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..c6026ba2a1aef0439bf0163d28c6e039503557b6
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148318/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 148318,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_148318.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_148318__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148331/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148331/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..50f6dc284b0d6bb348787d534c7ce410a34fc297
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148331/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_148331/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148331/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148331/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_148331/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148331/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..06c4a23aac8a069e6602ad324fd217b8262bfeef
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148331/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 148331,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_148331.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_148331__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148362/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148362/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..9436f32ae9031a72b6e33c0c6c063443849d3c89
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148362/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_148362/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148362/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148362/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_148362/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148362/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..29bcd4471d6749f97991c5c87fc87c4e1801a134
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148362/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 148362,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_148362.json",
+  "total_steps": 776,
+  "status": "passed",
+  "finish_step": 776,
+  "first_success_step": null,
+  "reason": "state_replay_complete_without_checker",
+  "render_index": 0,
+  "num_per_demo": 1,
+  "save_dir": null,
+  "video_path": null,
+  "state_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/checker_validation_smoothed_states/grasp_and_pour_mug_60/smoothed/grasp_and_pour_mug_60__smoothed__trajectory_148362__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148365/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148365/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..e604eef11bdb433daba80ad18c34d8cb2aae4f1b
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148365/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_148365/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148365/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148365/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_148365/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148365/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..95624b2e2aa044204d8f9e32e53aef8897424dd5
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148365/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 148365,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_148365.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_148365__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148370/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148370/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..41ea17baf1a2bd2cd8e0889c100d0c0161d8d754
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148370/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_148370/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148370/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148370/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_148370/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148370/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..f6cc23920e2cdb02a8dc7af364c5f78ba44f20c3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148370/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 148370,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_148370.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_148370__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148386/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148386/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..bb2ca81c4930374985561d61488dbf45bf90feff
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148386/metadata.json
@@ -0,0 +1 @@
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"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_148386/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148386/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148386/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_148386/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148386/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..f5a5be044ae2b58172e1f4f8702b33195b8ff445
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148386/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 148386,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_148386.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_148386__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148396/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148396/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..33a51efa90de8bb1877d0699d9f60fd31dad11cd
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148396/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_148396/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148396/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148396/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_148396/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148396/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..f664be4eb169f1b140aba743e35f564429a0e1dd
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148396/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 148396,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_148396.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_148396__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148406/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148406/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..651594f1948bc119475cb2b6e14e8376d0882a62
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148406/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_148406/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148406/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148406/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_148406/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148406/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..9c37399580ef97b4cc9b26517a28ed920eccc8d2
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148406/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 148406,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_148406.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_148406__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148429/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148429/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..4ab6165ca3e9db7456953f04d4aaf1e2a4ddf83d
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148429/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_148429/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148429/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148429/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_148429/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148429/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..e5d6c95fb6a23ada31655713f8243099b015cfba
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148429/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 148429,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_148429.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_148429__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148451/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148451/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..36a307ec8858b0cf2b80354e4c943efd24e79e89
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148451/metadata.json
@@ -0,0 +1 @@
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the mug from the table and tilt it to pour."}
\ No newline at end of file
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148451/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148451/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148451/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_148451/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148451/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..93a70ea96ed2e7162484c0c5210a30f18533e2b6
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148451/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 148451,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_148451.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_148451__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148545/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148545/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..f5a7e4b0e864783bc87456cc1879d530a1da64f1
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148545/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_148545/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148545/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148545/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_148545/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148545/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..597774474e3699e3341a00c44e72fb04cc1041c4
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148545/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 148545,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_148545.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_148545__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148562/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148562/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..2ce2274b250ce8fb0179866e07347c3437f0e9a6
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148562/metadata.json
@@ -0,0 +1 @@
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-2.5171103477478027, -0.0820515975356102, 1.5314512252807617, 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_148562/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148562/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148562/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_148562/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148562/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..e8cb762256eb39f23be94b530b7fd725d3ea24cc
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148562/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 148562,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_148562.json",
+  "total_steps": 827,
+  "status": "passed",
+  "finish_step": 827,
+  "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_148562__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148575/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148575/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..2daf67379d50cb1ec3472de38040838ee7a74b13
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148575/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_148575/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148575/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148575/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_148575/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148575/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..9dc2baecd7355f767f9253dff5460d9b635f32a3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148575/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 148575,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_148575.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_148575__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148582/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148582/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..b833404ccba383c26ff45dbc7ea4a6abc2eb2799
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148582/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_148582/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148582/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148582/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_148582/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148582/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..a2bc3c1bb68c816393e5cf3406be3cc0fc2a9566
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148582/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 148582,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_148582.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_148582__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148631/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148631/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..137dea0e0eaacb5712a2f3a1a42da78cd917f380
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148631/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_148631/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148631/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148631/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_148631/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148631/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..0b368a74eda40c5f8c6b2cd47fe8405051871306
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148631/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 148631,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_148631.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_148631__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148641/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148641/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..78736fc111416abfdbea5c0e65078d75051262ff
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148641/metadata.json
@@ -0,0 +1 @@
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0.006273672915995121, 1.4241108894348145, 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_148641/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148641/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148641/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_148641/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148641/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..d7b18ec0cd1cf5f651e54523ec232d48aa6f3c3e
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148641/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 148641,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_148641.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_148641__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148646/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148646/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..cdca6a6fe703541f99a1db1b16bf932b92c860ca
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148646/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_148646/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148646/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148646/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_148646/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148646/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..d20bfe89e8f5adf9610159b5b38051447a039dca
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148646/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 148646,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_148646.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_148646__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148654/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148654/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..1e24ce3980ad08668cdc434e24cd5a8814834168
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148654/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_148654/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148654/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148654/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_148654/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148654/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..6ab1351a62053dae96065756da1c2cc4e4bf7f70
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148654/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 148654,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_148654.json",
+  "total_steps": 776,
+  "status": "passed",
+  "finish_step": 776,
+  "first_success_step": null,
+  "reason": "state_replay_complete_without_checker",
+  "render_index": 0,
+  "num_per_demo": 1,
+  "save_dir": null,
+  "video_path": null,
+  "state_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/checker_validation_smoothed_states/grasp_and_pour_mug_60/smoothed/grasp_and_pour_mug_60__smoothed__trajectory_148654__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148675/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148675/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..29519151bb1b40b19187a2f9d4cccb196048c1aa
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148675/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_148675/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148675/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148675/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_148675/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148675/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..3b1c9e45d794ef62457c9be7025edc5537669e9b
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148675/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 148675,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_148675.json",
+  "total_steps": 921,
+  "status": "passed",
+  "finish_step": 921,
+  "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_148675__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148680/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148680/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..8922dbdbc3e7fc1af599f0ae580940136f5dce23
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148680/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_148680/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148680/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148680/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_148680/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148680/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..8f5980b67e3185941ddae54b1cc848762c29bb46
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148680/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 148680,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_148680.json",
+  "total_steps": 776,
+  "status": "passed",
+  "finish_step": 776,
+  "first_success_step": null,
+  "reason": "state_replay_complete_without_checker",
+  "render_index": 0,
+  "num_per_demo": 1,
+  "save_dir": null,
+  "video_path": null,
+  "state_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/checker_validation_smoothed_states/grasp_and_pour_mug_60/smoothed/grasp_and_pour_mug_60__smoothed__trajectory_148680__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148684/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148684/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..1240cda5e5c35cc01510795fc68711b20e78e2e5
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148684/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_148684/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148684/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148684/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_148684/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148684/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..fb401b1eba582404671ec74b41197e7b5171ab1d
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148684/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 148684,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_148684.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_148684__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148721/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148721/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..13d06945f8d1aaf9a730ce35376e44900361ed98
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148721/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_148721/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148721/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148721/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_148721/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148721/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..da5f2dadb81758ad535416da45dabc6c61d885db
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148721/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 148721,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_148721.json",
+  "total_steps": 1282,
+  "status": "passed",
+  "finish_step": 1282,
+  "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_148721__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148806/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148806/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..01414def00f1d25992943f53cba9382272f90091
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148806/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_148806/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148806/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148806/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_148806/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148806/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..576aa532226a3716f8ef1661a8d6fcb207f52f77
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148806/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 148806,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_148806.json",
+  "total_steps": 395,
+  "status": "passed",
+  "finish_step": 395,
+  "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_148806__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148809/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148809/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..3c1afa7d19215acf52cb985b5c136571f04e24da
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148809/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_148809/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148809/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148809/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_148809/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148809/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..5a95aea2a849f22cb4469fa9f1fd983c32135693
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148809/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 148809,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_148809.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_148809__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148824/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148824/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..2a82cd11ee4e1f7e6784701349f06de0d6182852
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148824/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_148824/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148824/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148824/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_148824/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148824/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..9b5a88bc52501090a61a6dfbb4903050647244e3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148824/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 148824,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_148824.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_148824__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148832/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148832/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..5b950060e54c3138dddd2537e3f3dd05213167cb
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148832/metadata.json
@@ -0,0 +1 @@
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1.424676537513733, 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_148832/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148832/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148832/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_148832/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148832/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..c7f5adae499fabac28c1656353e3850609cab68b
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148832/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 148832,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_148832.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_148832__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148844/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148844/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..e9491b5a1cfb4b5d4dcca016961592f7a70b6c2f
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148844/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_148844/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148844/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148844/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_148844/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148844/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..cc0bc2a82073632789b1a18f96a8a92c1be06525
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148844/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 148844,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_148844.json",
+  "total_steps": 766,
+  "status": "passed",
+  "finish_step": 766,
+  "first_success_step": null,
+  "reason": "state_replay_complete_without_checker",
+  "render_index": 0,
+  "num_per_demo": 1,
+  "save_dir": null,
+  "video_path": null,
+  "state_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/checker_validation_smoothed_states/grasp_and_pour_mug_60/smoothed/grasp_and_pour_mug_60__smoothed__trajectory_148844__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148863/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148863/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..420a6f722b160aac1eadd888714214a3dc00bdbf
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148863/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_148863/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148863/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148863/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_148863/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148863/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..a5d7f65c715d3f8654b4b08253a865f3909b331c
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148863/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 148863,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_148863.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_148863__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148875/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148875/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..9a7a8d23f53f77919a93bebaaf785b32ae7d079a
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148875/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_148875/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148875/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148875/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_148875/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148875/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..694c6f6a8d59373d336ba7f589a9e37d3a680a38
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148875/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 148875,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_148875.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_148875__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148882/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148882/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..4506ea588314c39b42bc3c7ee2029833e685c2bb
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148882/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_148882/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148882/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148882/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_148882/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148882/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..790e6a3dc1d1a6792a8c9f9d847eb803cc12dda5
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148882/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 148882,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_148882.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_148882__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148887/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148887/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..be100f338baa1fd004d01715e3b2544ee75499da
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148887/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_148887/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148887/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148887/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_148887/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148887/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..9d0b8ea98b2f459791ca8d366b552224b4708b58
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148887/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 148887,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_148887.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_148887__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148894/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148894/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..1a331dce06a1d1913bebcbed38173d95447081e4
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148894/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_148894/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148894/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148894/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_148894/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148894/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..503eb70d6f5dfe7d947e6bb432b28aedffbb2a80
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148894/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 148894,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_148894.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_148894__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148903/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148903/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..b7e675c28e00137545cbbbd7b5ce3427d1c3cd14
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148903/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_148903/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148903/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148903/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_148903/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148903/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..ce610d765f6fbf874dd3de5446168524db067840
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148903/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 148903,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_148903.json",
+  "total_steps": 1104,
+  "status": "passed",
+  "finish_step": 1104,
+  "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_148903__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148917/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148917/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..422b0b7b27811d4432efac25ebfb74bb808176fc
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148917/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_148917/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148917/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148917/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_148917/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148917/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..2b464ecae052e072113c0f285693c42ee42ebd5f
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148917/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 148917,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_148917.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_148917__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148925/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148925/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..d9541a3f88457dfa0a435be479747f67afb53d05
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148925/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_148925/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148925/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148925/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_148925/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148925/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..7597d1a4f942961dace46b1483628d8580e27815
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148925/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 148925,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_148925.json",
+  "total_steps": 1168,
+  "status": "passed",
+  "finish_step": 1168,
+  "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_148925__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148962/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148962/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..624d0af9cfe786096a0b1ba6f677995c772ab5e6
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148962/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_148962/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148962/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148962/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_148962/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148962/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..15f750f7528e58b66968a7a6a9681fe7a755513b
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_148962/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 148962,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_148962.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_148962__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149008/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149008/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..b4474a4bb09830a371fa6f1c6d469fe1a024dc8e
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149008/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_149008/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149008/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149008/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_149008/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149008/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..ee4e630513591bbc869c5797faafa0875654cf86
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149008/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 149008,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_149008.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_149008__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149011/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149011/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..8bd4aeeba4e1d530dccc7e69b6957d42a541c6e7
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149011/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_149011/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149011/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149011/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_149011/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149011/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..63838132f16c3dde7b70d663358e2194494cd0a9
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149011/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 149011,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_149011.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_149011__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149014/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149014/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..b293910fd28c80f9596cd664aeddbb3b16246f2a
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149014/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_149014/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149014/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149014/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_149014/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149014/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..42cd3dfb0ebc498dec5282f8dea960d1d4c30fd9
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149014/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 149014,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_149014.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_149014__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149015/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149015/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..a8b025a54e50a237105dfaa25cf94f41cc15c7cf
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149015/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_149015/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149015/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149015/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_149015/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149015/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..e7e728dc26a5bd9a5f8697f32f2041592e014e73
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149015/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 149015,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_149015.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_149015__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149048/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149048/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..ecef6f0a457bb2eb1c06e985f73b13d7acfa498a
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149048/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_149048/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149048/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149048/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_149048/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149048/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..1c03f46a07f0ee648c5de68a18b708fa8a244043
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149048/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 149048,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_149048.json",
+  "total_steps": 810,
+  "status": "passed",
+  "finish_step": 810,
+  "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_149048__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149061/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149061/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..0e8ea54f480073a76970fc586ba24b45aa96a2b3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149061/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_149061/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149061/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_149061/status.txt
@@ -0,0 +1 @@
+success
\ No newline at end of file