diff --git a/.gitattributes b/.gitattributes
index b92a3c9052f707893a339d51d32f9e01cf632b5f..d3d8ce220a832217c3109c4bdcb97540e5449dfd 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -258,3 +258,4 @@ grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_143290/depth_uint16.mkv
 grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_143310/depth_uint16.mkv filter=lfs diff=lfs merge=lfs -text
 grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_143350/depth_uint16.mkv filter=lfs diff=lfs merge=lfs -text
 grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_143413/depth_uint16.mkv filter=lfs diff=lfs merge=lfs -text
+grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_143418/depth_uint16.mkv filter=lfs diff=lfs merge=lfs -text
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_143418/depth_uint16.mkv b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_143418/depth_uint16.mkv
new file mode 100644
index 0000000000000000000000000000000000000000..247da619db0ba87f0eb76b7a96684e578651464e
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_143418/depth_uint16.mkv
@@ -0,0 +1,3 @@
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+size 17947870
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144045/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144045/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..56618745f4134ce7a4e13f00d5571332bce3f95a
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144045/metadata.json
@@ -0,0 +1 @@
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1.4252591133117676, 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_144045/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144045/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144045/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_144045/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144045/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..5fd5ce00df03bdd539867e7ab46937a5e982b3e4
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144045/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 144045,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_144045.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_144045__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144046/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144046/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..609deaec723d5866f908bebf3d35fdc84f5fe4fb
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144046/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_144046/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144046/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144046/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_144046/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144046/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..a79e0e3a05c8d76dbc05191104b10f7e04125f54
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144046/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 144046,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_144046.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_144046__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144051/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144051/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..e2fa4c78809e0ff5c33f04e3a9b8c9b9c474a7c9
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144051/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_144051/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144051/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144051/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_144051/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144051/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..998fc0cd2de945c0059c8759462edd0a0fda95a9
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144051/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 144051,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_144051.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_144051__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144062/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144062/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..c4b9db2e9e46fff5589e0a6f92839756e1609b5d
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144062/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_144062/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144062/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144062/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_144062/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144062/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..9b03b3593b03da7621eba061d5fb28092e4ee52b
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144062/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 144062,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_144062.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_144062__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144072/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144072/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..96c4f0e4f19a1e154fbf088687ea25925bca4f54
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144072/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_144072/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144072/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144072/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_144072/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144072/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..4fc94e7e389846fa3bfe8a58f41fb5899a90c56e
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144072/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 144072,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_144072.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_144072__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144075/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144075/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..6441379a5cd424c51ec2439f1d87bdbba410db15
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144075/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_144075/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144075/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144075/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_144075/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144075/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..07aadaa6d3df1d04004a7d8eb60fc433e1c95f4c
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144075/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 144075,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_144075.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_144075__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144077/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144077/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..2667628d9c687a81676f9077858ba45fb5ff818e
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144077/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_144077/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144077/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144077/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_144077/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144077/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..9f101f67c29cb80685a5a48b63d21bef10af339a
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144077/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 144077,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_144077.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_144077__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144082/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144082/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..faacde5e006c55cd3d21f4ffbc6ec7489fceb30d
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144082/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_144082/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144082/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144082/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_144082/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144082/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..07932a65d2381f1f5990edf02d3090eb7c51fbf6
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144082/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 144082,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_144082.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_144082__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144108/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144108/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..a268559886bcc5e9b04f211fad2dac6cd1ce95c8
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144108/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_144108/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144108/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144108/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_144108/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144108/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..1bf06b6708b8c856470a591e84284b8220ddaa7d
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144108/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 144108,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_144108.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_144108__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144211/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144211/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..a4254f33fe41df8ce86bd319cb1e66e92f03803b
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144211/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_144211/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144211/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144211/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_144211/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144211/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..4e48c6a84ee626bf800d907f75733a60153007a8
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144211/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 144211,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_144211.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_144211__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144249/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144249/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..0b1833b438a32f56258e39776b08173d6173dd26
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144249/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_144249/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144249/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144249/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_144249/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144249/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..0856e2d8c951b6b06daf878ff62dc21bbb2e58a0
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144249/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 144249,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_144249.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_144249__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144265/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144265/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..989974a1a03b4287c606bf5b2ca646e9bb0685de
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144265/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_144265/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144265/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144265/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_144265/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144265/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..96793ead8265431625a1a540bad814b2b53d0175
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144265/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 144265,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_144265.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_144265__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144271/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144271/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..3ef0c11dd8a8659040c39b946737e7d067a38d6d
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144271/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_144271/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144271/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144271/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_144271/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144271/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..7d3ec8bf555bc12e44cb9443bb583b51b9fc5909
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144271/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 144271,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_144271.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_144271__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144303/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144303/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..26036d6cb18ba8c04d8fe7a7ae3db71b4f1fd349
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144303/metadata.json
@@ -0,0 +1 @@
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-0.04836401343345642, 0.9882221221923828, -2.471240282058716, 0.005718026775866747, 1.4241238832473755, 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_144303/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144303/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144303/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_144303/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144303/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..b6dd93881fa382bca72210b14d3013efbaa05cce
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144303/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 144303,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_144303.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_144303__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144321/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144321/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..65c801ea01f9132021dcaca7096254228b2fbbd8
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144321/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_144321/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144321/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144321/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_144321/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144321/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..7fdea5c4568e5e087853090606c7ff6b73b268dd
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144321/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 144321,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_144321.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_144321__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144368/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144368/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..1164b3003f7715df5e5be614bc998be52be9620f
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144368/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_144368/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144368/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144368/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_144368/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144368/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..7d2adfe8de841ad67d488e2a3f57cbdb2c4510bc
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144368/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 144368,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_144368.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_144368__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144373/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144373/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..4f361df57e0ff7a605994a902cdd0034789bc64e
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144373/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_144373/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144373/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144373/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_144373/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144373/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..e0beeb8b730311ee56c9eb3c22d84ccc1ec487c8
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144373/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 144373,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_144373.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_144373__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144447/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144447/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..13c9ed5e4fb27f9432ad39f76af029e0d4d3f3c8
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144447/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_144447/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144447/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144447/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_144447/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144447/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..5137a995259a0b8cbe14989ff38940a38ef99842
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144447/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 144447,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_144447.json",
+  "total_steps": 325,
+  "status": "passed",
+  "finish_step": 325,
+  "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_144447__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144545/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144545/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..72e935a328e4f6d8202449f81def4e2d81b8176b
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144545/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_144545/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144545/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144545/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_144545/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144545/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..639b0665cb18d097f352c4c46b13721a21993242
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144545/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 144545,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_144545.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_144545__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144584/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144584/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..9de6e5de89864f42500acf8f365688858ed455a4
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144584/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_144584/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144584/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144584/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_144584/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144584/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..2fb57ed289efd2856ab2e8949c68867dc5baae98
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144584/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 144584,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_144584.json",
+  "total_steps": 768,
+  "status": "passed",
+  "finish_step": 768,
+  "first_success_step": null,
+  "reason": "state_replay_complete_without_checker",
+  "render_index": 0,
+  "num_per_demo": 1,
+  "save_dir": null,
+  "video_path": null,
+  "state_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/checker_validation_smoothed_states/grasp_and_pour_mug_60/smoothed/grasp_and_pour_mug_60__smoothed__trajectory_144584__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144621/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144621/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..b393ee603210254b4d1f8a5d27db8eaf5d3d972e
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144621/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_144621/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144621/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144621/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_144621/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144621/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..3dffdb416a7bb664a6c02c67943104f99c11123c
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144621/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 144621,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_144621.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_144621__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144638/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144638/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..7bd83bfbe01d32648aba09a8806a83a1a1985bbc
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144638/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_144638/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144638/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144638/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_144638/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144638/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..c2cabb2930b67a4b87de0bc64142d356b1ea9ce6
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144638/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 144638,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_144638.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_144638__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144670/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144670/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..b37ffc998d477ecd9bae27a33abfe5b577b02a5c
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144670/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_144670/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144670/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144670/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_144670/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144670/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..aaf67c699cd4d0fdc96e3359834e83f47fb69b0f
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144670/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 144670,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_144670.json",
+  "total_steps": 768,
+  "status": "passed",
+  "finish_step": 768,
+  "first_success_step": null,
+  "reason": "state_replay_complete_without_checker",
+  "render_index": 0,
+  "num_per_demo": 1,
+  "save_dir": null,
+  "video_path": null,
+  "state_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/checker_validation_smoothed_states/grasp_and_pour_mug_60/smoothed/grasp_and_pour_mug_60__smoothed__trajectory_144670__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144687/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144687/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..3347d249d892e2897cceb775440ec920977e0a8e
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144687/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_144687/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144687/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144687/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_144687/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144687/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..a4a1be0ee30303548f508c1edc6c289acec7f7fe
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144687/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 144687,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_144687.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_144687__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144784/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144784/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..fcaa882becdbc9ad029c78265bf4923fec1ddefe
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144784/metadata.json
@@ -0,0 +1 @@
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[0.21995963156223297, -0.048630185425281525, 0.9885691404342651, -2.4817445278167725, 0.0067216488532722, 1.4251177310943604, 0.0], [0.21992522478103638, -0.04871651530265808, 0.988567590713501, -2.4768548011779785, 0.006758055649697781, 1.424898624420166, 0.0], [0.21988892555236816, -0.048757486045360565, 0.9885716438293457, -2.4719717502593994, 0.006679489742964506, 1.424716591835022, 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_144784/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144784/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144784/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_144784/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144784/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..baedf72d199d4a23028b37e42b2248f34fdf1b4a
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144784/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 144784,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_144784.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_144784__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144832/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144832/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..55c41d1fb84494a10b258f04d8c4d57f9cb42cb0
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144832/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_144832/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144832/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144832/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_144832/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144832/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..03e4e17e55fb750636da895d6794985a23ecccca
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144832/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 144832,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_144832.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_144832__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144834/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144834/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..0ce7fff34ffc66aa976066f542c6e689195ae7c8
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144834/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_144834/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144834/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144834/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_144834/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144834/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..45e516e0797d08e980bb683747abe2410b49fc14
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144834/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 144834,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_144834.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_144834__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144858/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144858/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..55eaf90b37c455816241b799f6dcc106926ba7c9
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144858/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_144858/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144858/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144858/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_144858/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144858/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..d1e29b4190a3b2fbd880a053735b5ad058a7deb5
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144858/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 144858,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_144858.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_144858__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144892/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144892/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..48cfd6c48350c3d3f0db10889d7026930c704c67
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144892/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_144892/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144892/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144892/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_144892/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144892/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..d68c6738d1c7445fc841106b68d6cec0c6934242
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144892/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 144892,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_144892.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_144892__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144908/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144908/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..aeb7fa4bdcfc1ef447c9716cc3ce4b4f98071598
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144908/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_144908/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144908/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144908/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_144908/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144908/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..aca25842b48dec2a94a8ec93ad9e4c3e480c3f25
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144908/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 144908,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_144908.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_144908__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144909/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144909/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..96ac95f3291ceafc4c1440e35579b296b9f3bf63
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144909/metadata.json
@@ -0,0 +1 @@
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[0.2198062390089035, -0.048520658165216446, 0.9882609248161316, -2.475799798965454, 0.006103214342147112, 1.4238063097000122, 0.0], [0.21975773572921753, -0.0484054759144783, 0.9881959557533264, -2.4705893993377686, 0.005971887148916721, 1.4240291118621826, 0.0], [0.21973399817943573, -0.048336710780858994, 0.9881606698036194, -2.465522289276123, 0.005906537640839815, 1.4243205785751343, 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_144909/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144909/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144909/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_144909/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144909/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..104807ad90f2cff6a80079a9cb3b0e0893c86d7f
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144909/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 144909,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_144909.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_144909__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144925/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144925/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..8ea5ec59b12a38e0cce09232ac65fcd5ae483928
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144925/metadata.json
@@ -0,0 +1 @@
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-2.461721897125244, 0.0060059064999222755, 1.4249852895736694, 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_144925/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144925/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144925/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_144925/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144925/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..3555226ed03bae7a8307c907be1230e18afe9746
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144925/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 144925,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_144925.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_144925__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144956/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144956/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..1f178c602f113a026f8c1791cfd78a7ee23b4859
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144956/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_144956/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144956/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144956/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_144956/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144956/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..b10576e7f41790c127427b6b40e87694972a54cd
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144956/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 144956,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_144956.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_144956__passed.states.json.gz"
+}