diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_151828/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_151828/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..77b7e6d7fdf95cf136082514f25a5877c2ca589a
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_151828/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_151828/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_151828/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_151828/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_151828/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_151828/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..31f26ca2c87c8824df493fe3a4c46e9f1dc7b79f
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_151828/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 151828,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_151828.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_151828__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_151838/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_151838/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..97f5dc045624a8e56b4db9a974d679197368b571
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_151838/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_151838/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_151838/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_151838/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_151838/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_151838/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..e2cca0d6f6bbfffbe4aa258a0738dde5a37eac76
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_151838/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 151838,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_151838.json",
+  "total_steps": 160,
+  "status": "passed",
+  "finish_step": 160,
+  "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_151838__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_151863/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_151863/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..984df131d769dfb08b44c06fe5df2e3f9acfb693
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_151863/metadata.json
@@ -0,0 +1 @@
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-2.466879367828369, 0.006353927310556173, 1.4250404834747314, 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_151863/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_151863/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_151863/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_151863/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_151863/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..426fdd6fc6565a10a47469e8c2e7142e851392cf
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_151863/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 151863,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_151863.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_151863__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_151866/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_151866/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..03dfba7d5cc4829902fb7b5d72a8885020248e75
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_151866/metadata.json
@@ -0,0 +1 @@
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-2.4648303985595703, 0.007249502930790186, 1.4236427545547485, 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_151866/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_151866/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_151866/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_151866/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_151866/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..0cc40d1470e97c3eee29bedda98e058e9a9746ba
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_151866/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 151866,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_151866.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_151866__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_151917/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_151917/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..f2ebf878a731e5bc422a2218b098ba613d84e4df
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_151917/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_151917/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_151917/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_151917/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_151917/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_151917/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..6d6b513e51b1c6b5429e654952faded6d33bca68
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_151917/trajectory_info.json
@@ -0,0 +1,14 @@
+{
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+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_151917.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_151917__passed.states.json.gz"
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diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_151932/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_151932/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..ea75413fcbd2190118241f4cee6e1c2fa5c80b89
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_151932/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_151932/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_151932/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_151932/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_151932/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_151932/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..6b7d3aa7ef977a6a2535b3617aaa23b8fded8729
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_151932/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 151932,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_151932.json",
+  "total_steps": 203,
+  "status": "passed",
+  "finish_step": 203,
+  "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_151932__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_151940/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_151940/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..ea388946644b5cc0a214923019629bf784879c55
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_151940/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_151940/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_151940/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_151940/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_151940/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_151940/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..f05607686fa8e8340370471274fdae8a0648a777
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_151940/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 151940,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_151940.json",
+  "total_steps": 797,
+  "status": "passed",
+  "finish_step": 797,
+  "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_151940__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_151942/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_151942/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..5809a3cc55e1da099d858f0477f4ed1a928d4883
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_151942/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_151942/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_151942/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_151942/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_151942/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_151942/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..56d36dec4adef7a004381b9fafee98d5727fd4cb
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_151942/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 151942,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_151942.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_151942__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_151948/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_151948/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..c7d650d69566a6eb8c7be7509451d05f52cddf29
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_151948/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_151948/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_151948/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_151948/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_151948/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_151948/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..2c2c599ec3884e127a15370f40da0ab4cba7ae3f
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_151948/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 151948,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_151948.json",
+  "total_steps": 205,
+  "status": "passed",
+  "finish_step": 205,
+  "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_151948__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_151985/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_151985/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..3d44b38df5201e4c3eb5173177f219e45102d788
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_151985/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_151985/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_151985/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_151985/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_151985/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_151985/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..35ad2f9254737dfb8481ef1cb23bd6a3d9bb0630
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_151985/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 151985,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_151985.json",
+  "total_steps": 217,
+  "status": "passed",
+  "finish_step": 217,
+  "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_151985__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_151987/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_151987/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..0dc7c54465c95489be6a7f8e82ae298fbfa395fc
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_151987/metadata.json
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1.1004451513290405, 3.0447075366973877, 1.453246831893921, -0.105105921626091, 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_151987/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_151987/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_151987/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_151987/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_151987/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..f18c52f8fb9390e9767298b0a42c39148ee7fef2
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_151987/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 151987,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_151987.json",
+  "total_steps": 206,
+  "status": "passed",
+  "finish_step": 206,
+  "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_151987__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_151999/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_151999/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..39736e5e9596b4da99f7f2175a123d2096836d3d
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_151999/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_151999/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_151999/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_151999/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_151999/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_151999/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..d21fb5744469e934263b06ce697196b018925aab
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_151999/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 151999,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_151999.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_151999__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152001/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152001/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..fff3d5f8af3f42b6d95f7ccdfeb3a314453eba5e
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152001/metadata.json
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3.130136728286743, -1.0403608083724976, 1.722401738166809, 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_152001/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152001/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152001/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_152001/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152001/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..4d43147ec415bda0e7fa8fb21f5a8e8b8c02a5d8
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152001/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 152001,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_152001.json",
+  "total_steps": 175,
+  "status": "passed",
+  "finish_step": 175,
+  "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_152001__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152071/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152071/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..952774c2871ec94a82ff41110146f04471339fde
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152071/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_152071/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152071/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152071/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_152071/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152071/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..2e85b2872271bab9e6156104e8c955244c6f7e05
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152071/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 152071,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_152071.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_152071__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152077/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152077/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..e857806d7deb3965be800a0d283260bd01babd9b
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152077/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_152077/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152077/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152077/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_152077/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152077/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..6b62865a7b905b805c2dccbe225055c9b2eca486
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152077/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 152077,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_152077.json",
+  "total_steps": 190,
+  "status": "passed",
+  "finish_step": 190,
+  "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_152077__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152128/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152128/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..dc5f845961b605761da9ac4c3e95013da8f1c72d
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152128/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_152128/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152128/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152128/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_152128/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152128/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..dfbca22a8122830526d5537ad28b841ab8da10cf
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152128/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 152128,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_152128.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_152128__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152167/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152167/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..890ada151faf27a1ad5deb0cc9f22e00f643d815
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152167/metadata.json
@@ -0,0 +1 @@
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1.4241081476211548, 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_152167/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152167/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152167/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_152167/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152167/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..a73440aae3847bf883b2fd5f77d778ffa41663eb
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152167/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 152167,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_152167.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_152167__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152217/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152217/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..4682853063b789ac428bccf79ce7def9b3692cb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152217/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_152217/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152217/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152217/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_152217/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152217/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..9eba2aa985cc90e2ee170804f15a32e52f1ed6b6
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152217/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 152217,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_152217.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_152217__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152236/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152236/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..4cedeb2dee281f82d6cd52e6c1ad5aa2ef755e33
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152236/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_152236/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152236/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152236/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_152236/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152236/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..d16184ff048649809030b535075640dcb4d6f47f
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152236/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 152236,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_152236.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_152236__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152279/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152279/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..59215ac266e255671a0fe06919d0d6a2d6add64c
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152279/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_152279/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152279/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152279/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_152279/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152279/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..851e38037e41ae3bca7f6bdbf210fd8c681abd09
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152279/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 152279,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_152279.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_152279__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152299/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152299/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..ea0e9aae9863716eb83dab713322818de78511d7
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152299/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_152299/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152299/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152299/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_152299/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152299/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..8f37339d3aa170cb57e1fae0003964617c02d00d
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152299/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 152299,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_152299.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_152299__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152305/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152305/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..1a25a147eef646dc0ab8ec15f49f96991afeb822
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152305/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_152305/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152305/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152305/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_152305/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152305/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..f6ef8e4fbc9426c378c94eba9eda04a3fd90334b
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152305/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 152305,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_152305.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_152305__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152314/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152314/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..705e6751eda5080418f0dd6b9a1751741dddba2b
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152314/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_152314/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152314/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152314/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_152314/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152314/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..785cb4e8767778fdf9dcdcdebf68227a8df907a9
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152314/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 152314,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_152314.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_152314__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152339/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152339/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..93cc2df133e9071f20f8b3df38ee86fb215c5b47
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152339/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_152339/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152339/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152339/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_152339/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152339/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..41ee84a8293de4b5d4e4f031df966df28aa1e047
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152339/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 152339,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_152339.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_152339__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152373/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152373/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..a0c641d32f77252bbd0a31bbccdccbb3c80201cb
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152373/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_152373/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152373/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152373/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_152373/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152373/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..8bd98dc651ca64721e6e0676c3a305e8b0c4d966
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152373/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 152373,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_152373.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_152373__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152383/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152383/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..f75a256a0f4fc5d78d9a7cca361f46f2869965b5
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152383/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_152383/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152383/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152383/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_152383/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152383/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..fbe5a4e6cb53db092f656184ec2bc8061e59e099
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152383/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 152383,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_152383.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_152383__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152412/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152412/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..8692e1dc50135db62e1d34a2d6661ba4d27ab524
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152412/metadata.json
@@ -0,0 +1 @@
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tilt it to pour."}
\ No newline at end of file
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152412/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152412/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152412/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_152412/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152412/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..147ccfe45056d2a24f5a3ade97578ddb264b5da6
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152412/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 152412,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_152412.json",
+  "total_steps": 164,
+  "status": "passed",
+  "finish_step": 164,
+  "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_152412__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152432/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152432/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..0ac37673ca73079e609f75b8f6faa0d62ad5e666
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152432/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_152432/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152432/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152432/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_152432/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152432/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..cefe20ec085cbd0d1714c433f12939212d22106d
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152432/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 152432,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_152432.json",
+  "total_steps": 268,
+  "status": "passed",
+  "finish_step": 268,
+  "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_152432__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152434/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152434/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..228d863f1ec680e30a3fb5834cb16e414b920cd7
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152434/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_152434/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152434/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152434/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_152434/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152434/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..1085d843a959516272b1e59f54da2177a7900f0d
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152434/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 152434,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_152434.json",
+  "total_steps": 217,
+  "status": "passed",
+  "finish_step": 217,
+  "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_152434__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152436/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152436/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..4dac9c03e1b0611a768fdf1954a8d80fdb4c96a3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152436/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_152436/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152436/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152436/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_152436/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152436/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..639fc7cebbdacd9567169136f5770c75d301fed1
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152436/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 152436,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_152436.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_152436__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152437/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152437/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..a158b32822fdab3caede32fde780724f54036c6a
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152437/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_152437/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152437/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152437/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_152437/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152437/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..2c03252d6374fe2dacac35bd52da6238340fa8d9
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152437/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 152437,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_152437.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_152437__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152439/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152439/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..d784433c3c2a1fd9267c2cf0f79d303c28e5c133
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152439/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_152439/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152439/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152439/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_152439/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152439/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..6fd32326aaf220c56a032a65c230f8a2ac2115fc
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152439/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 152439,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_152439.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_152439__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152449/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152449/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..81025f6bdcced60f8f02bcd1da486964c9473c23
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152449/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_152449/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152449/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152449/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_152449/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152449/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..6035daf6a9a84420cd0ac62f795b6b45ad05d990
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152449/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 152449,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_152449.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_152449__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152459/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152459/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..3c128a65186d9bcca072ace0212792045204e9e6
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152459/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_152459/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152459/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152459/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_152459/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152459/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..aa039724b9b52d75c646d234c840c4f74bc171e5
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152459/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 152459,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_152459.json",
+  "total_steps": 266,
+  "status": "passed",
+  "finish_step": 266,
+  "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_152459__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152470/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152470/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..0e46323f1be8e6c034e366f06ff4741f9e1c8856
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152470/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_152470/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152470/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152470/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_152470/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152470/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..4d90f36b876697c26310047b1d9e55d968a80bf2
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152470/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 152470,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_152470.json",
+  "total_steps": 160,
+  "status": "passed",
+  "finish_step": 160,
+  "first_success_step": null,
+  "reason": "state_replay_complete_without_checker",
+  "render_index": 0,
+  "num_per_demo": 1,
+  "save_dir": null,
+  "video_path": null,
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diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152481/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152481/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..3b4101030ed60aba6880f68736b6c389670f2fdc
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152481/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_152481/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152481/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152481/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_152481/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152481/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..fee2b1fc11075d6b55b9a3376963f7f4df3ce129
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152481/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 152481,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_152481.json",
+  "total_steps": 166,
+  "status": "passed",
+  "finish_step": 166,
+  "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_152481__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152486/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152486/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..c5fa14ac98b8f46dca8d24d540400ac6868859c8
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152486/metadata.json
@@ -0,0 +1 @@
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0.00632131053134799, 1.425109624862671, 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_152486/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152486/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152486/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_152486/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152486/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..3e8bf860f14ac99003cf2fadd5aedc7cbb0ec4cf
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152486/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 152486,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_152486.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_152486__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152490/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152490/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..504de62dc038eb8b04c877302bedced5f04cdf2f
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152490/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_152490/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152490/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152490/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_152490/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152490/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..618804834b693163f06cb2450db6d9cb63ec9f46
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152490/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 152490,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_152490.json",
+  "total_steps": 290,
+  "status": "passed",
+  "finish_step": 290,
+  "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_152490__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152494/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152494/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..cf4fedbc7eccaf57833f1fdd35a59d0c348270da
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152494/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_152494/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152494/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152494/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_152494/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152494/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..945aeeb5fa7e374ead16cad16b0f2657d7a1ce28
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152494/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 152494,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_152494.json",
+  "total_steps": 116,
+  "status": "passed",
+  "finish_step": 116,
+  "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_152494__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152500/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152500/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..0b95712f0c0b38fa9b7354cfa553416b0c30d25e
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152500/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_152500/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152500/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152500/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_152500/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152500/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..1c21d5d4bc813ec68c896b93a8af8bd1dc0bfe3f
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152500/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 152500,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_152500.json",
+  "total_steps": 161,
+  "status": "passed",
+  "finish_step": 161,
+  "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_152500__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152501/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152501/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..cfef8b3ef0d877eb68f81d651d518a6b6156d0a5
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152501/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_152501/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152501/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152501/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_152501/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152501/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..1d74e0db1c88bc2edf86ae8d2169325dcc1d90d5
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152501/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 152501,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_152501.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_152501__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152525/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152525/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..8a39bf08558b8cb43b0e1146fb5bf83373864c42
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152525/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_152525/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152525/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152525/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_152525/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152525/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..c12b1c77c1ece627088cf6ceaf3a0659884492dd
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152525/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 152525,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_152525.json",
+  "total_steps": 198,
+  "status": "passed",
+  "finish_step": 198,
+  "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_152525__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152537/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152537/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..7c3a3039f513fcf8609d77a852c1e401ef73afd7
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152537/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_152537/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152537/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152537/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_152537/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152537/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..69eae7409ee33c104b1f94be47fab491fefa4388
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152537/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 152537,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_152537.json",
+  "total_steps": 133,
+  "status": "passed",
+  "finish_step": 133,
+  "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_152537__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152539/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152539/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..9d8c656fe4f9c8467d661378025b490874b5bc8a
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152539/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_152539/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152539/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152539/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_152539/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152539/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..e21a877448cabd2a431e0eaa4c3774d488d9cd5d
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152539/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 152539,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_152539.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_152539__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152547/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152547/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..22c7e0220f038adc558ddb914a8ca980830b2bb0
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152547/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_152547/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152547/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152547/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_152547/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152547/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..06e020f074baf1c5d5ee62136991f4965e24a64b
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152547/trajectory_info.json
@@ -0,0 +1,14 @@
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\ No newline at end of file
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152548/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152548/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152548/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_152548/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152548/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..c7682f7de83f11f31b0ae40d47b76c8c6cec0e50
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152548/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 152548,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_152548.json",
+  "total_steps": 761,
+  "status": "passed",
+  "finish_step": 761,
+  "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_152548__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152564/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152564/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..d25be2ab17e507c8e30c08e220abcd82affabef3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152564/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_152564/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152564/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152564/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_152564/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152564/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..0b8d17c40064e7936b75e93c9791ecddf42ac280
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152564/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 152564,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_152564.json",
+  "total_steps": 190,
+  "status": "passed",
+  "finish_step": 190,
+  "first_success_step": null,
+  "reason": "state_replay_complete_without_checker",
+  "render_index": 0,
+  "num_per_demo": 1,
+  "save_dir": null,
+  "video_path": null,
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diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152607/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152607/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..7294910f696917d13c43a2313f2868b663fd09ab
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152607/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_152607/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152607/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152607/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_152607/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152607/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..97a1b01b54017ee7d8dd13b44bb1e0a106ec125c
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152607/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 152607,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_152607.json",
+  "total_steps": 189,
+  "status": "passed",
+  "finish_step": 189,
+  "first_success_step": null,
+  "reason": "state_replay_complete_without_checker",
+  "render_index": 0,
+  "num_per_demo": 1,
+  "save_dir": null,
+  "video_path": null,
+  "state_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/checker_validation_smoothed_states/grasp_and_pour_mug_60/smoothed/grasp_and_pour_mug_60__smoothed__trajectory_152607__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152622/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152622/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..d084b117379a8ac0b6f02b15e2bf4db1483b6162
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152622/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_152622/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152622/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152622/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_152622/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152622/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..7449de60da6eec4a54932e678a67607518317737
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152622/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 152622,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_152622.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_152622__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152625/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152625/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..f827185318f2d1268a361724b55d7b67ca038a32
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152625/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_152625/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152625/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152625/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_152625/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152625/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..8b5456cd4f0f56c47e5e99fa2c6314aa151c1952
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152625/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 152625,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_152625.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_152625__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152639/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152639/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..9f04107e6107a18a2eb0378483eae70153e70c3a
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152639/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_152639/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152639/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152639/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_152639/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152639/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..9ff343b28b4268ab7fe087f2d7863571d7deec3b
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152639/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 152639,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_152639.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_152639__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152647/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152647/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..6080ea6a12dc60df3165be1e93eb5d2bf9e098a9
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152647/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_152647/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152647/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152647/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_152647/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152647/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..ac5d0d79ce8a160c258d411b9939c4257079a7a3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152647/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 152647,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_152647.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_152647__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152673/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152673/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..1acb8bafa5ec323c737d89ae67fb263d7e2ef22c
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152673/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_152673/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152673/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152673/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_152673/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152673/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..5458ecc0515aa563857969784a0b3229d6c98c6d
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152673/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 152673,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_152673.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_152673__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152770/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152770/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..b578699df62428fb18f460fc5033d9c16f1aebea
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152770/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_152770/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152770/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152770/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_152770/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152770/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..cbb0c6b27d36b3a48d4ab1dce3348785e4ee1c2e
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152770/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 152770,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_152770.json",
+  "total_steps": 761,
+  "status": "passed",
+  "finish_step": 761,
+  "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_152770__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152774/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152774/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..8587850ddcc45db613599227edea4fffee085436
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152774/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_152774/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152774/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152774/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_152774/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152774/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..a34b0d07f21a211dce90fcacae4ae9f77f20bbb7
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152774/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 152774,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_152774.json",
+  "total_steps": 271,
+  "status": "passed",
+  "finish_step": 271,
+  "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_152774__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152778/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152778/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..ac62a6b9a5910a1a15fd977ed96cb63c83fda5a8
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152778/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_152778/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152778/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152778/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_152778/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152778/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..f5759f377df4be56b0baf84bed7adec619d81c43
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152778/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 152778,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_152778.json",
+  "total_steps": 786,
+  "status": "passed",
+  "finish_step": 786,
+  "first_success_step": null,
+  "reason": "state_replay_complete_without_checker",
+  "render_index": 0,
+  "num_per_demo": 1,
+  "save_dir": null,
+  "video_path": null,
+  "state_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/checker_validation_smoothed_states/grasp_and_pour_mug_60/smoothed/grasp_and_pour_mug_60__smoothed__trajectory_152778__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152798/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152798/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..c75a2d081c99fd3cf1c7b7d19022ff4b39de246b
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152798/metadata.json
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-0.04872756823897362, 0.9887462854385376, -2.468184471130371, 0.0064370897598564625, 1.424582839012146, 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_152798/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152798/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152798/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_152798/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152798/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..3bf963b789a02eef98c04957ec61e4674bb0b854
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152798/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 152798,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_152798.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_152798__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152808/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152808/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..6c64e66effacf08764c3bc2f8a60aec9b05fd384
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152808/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_152808/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152808/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152808/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_152808/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152808/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..bc8bbc530862cd917e62c559e2af5e750f697122
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152808/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 152808,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_152808.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_152808__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152820/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152820/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..808adbfd5f5bf1967ca729219e128edee7c85efc
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152820/metadata.json
@@ -0,0 +1 @@
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-2.4672203063964844, 0.006917716935276985, 1.4230339527130127, 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_152820/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152820/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152820/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_152820/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152820/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..4911e9cf3aaafc9d550f379a56c6bdd54dd94930
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152820/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 152820,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_152820.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_152820__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152832/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152832/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..55765ecf2cdc1281dcc1f2254f0760a05b1adbbb
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152832/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_152832/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152832/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152832/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_152832/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152832/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..bc819a21e3c219ba312ddd9369e1fb5b2fcac060
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152832/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 152832,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_152832.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_152832__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152953/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152953/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..b887386e3fc0b4c74b3e876e0305c15f388a3f0c
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152953/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_152953/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152953/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152953/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_152953/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152953/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..84bc0f8fcc36ec7c12f539c6861845d234831a52
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152953/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 152953,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_152953.json",
+  "total_steps": 275,
+  "status": "passed",
+  "finish_step": 275,
+  "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_152953__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152972/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152972/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..8138419d357b2b099190230216550930e0ae49a6
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152972/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_152972/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152972/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152972/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_152972/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152972/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..767e0760f1aabfa6a86d8536149ab2a294690b22
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_152972/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 152972,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_152972.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_152972__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153023/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153023/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..47c22acaa2f10fa893ccb4c1eeeb04916792ae82
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153023/metadata.json
@@ -0,0 +1 @@
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-0.02731683850288391, 1.5893445014953613, 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_153023/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153023/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153023/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_153023/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153023/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..56040bd7009f85a5c4cdd076b9402f6c0df515f2
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153023/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 153023,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_153023.json",
+  "total_steps": 155,
+  "status": "passed",
+  "finish_step": 155,
+  "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_153023__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153036/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153036/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..dd4194d69432f546bea0139b40b20c70f6767eb6
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153036/metadata.json
@@ -0,0 +1 @@
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-2.4676427841186523, 0.006531245075166225, 1.4242147207260132, 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_153036/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153036/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153036/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_153036/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153036/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..28f1cdba9788fa0992d632bc3f3c064b5c8fbcf4
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153036/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 153036,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_153036.json",
+  "total_steps": 792,
+  "status": "passed",
+  "finish_step": 792,
+  "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_153036__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153047/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153047/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..929d66db0db8fa554cccad20800c0ef13add13cf
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153047/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_153047/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153047/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153047/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_153047/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153047/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..9a28177df758ea40c21ed3b4dec89bc5743f98bf
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153047/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 153047,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_153047.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_153047__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153067/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153067/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..ed08659fd49f0c517daa5c905590de8adef1c126
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153067/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_153067/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153067/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153067/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_153067/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153067/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..bc08a153e6ada77f9397a53b66e183abeeb89293
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153067/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 153067,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_153067.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_153067__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153093/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153093/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..e1e1e322730a6630f4f7d2c7579bee280b396c6d
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153093/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_153093/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153093/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153093/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_153093/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153093/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..7e0f63fc48f781b30817ce9d72de59b6a161a6c6
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153093/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 153093,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_153093.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_153093__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153104/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153104/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..dc9a59a99532b037d69dd4e77886e15450cd0937
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153104/metadata.json
@@ -0,0 +1 @@
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[0.2200346738100052, -0.048453934490680695, 0.9882966876029968, -2.4817488193511963, 0.0058400859124958515, 1.4240658283233643, 0.0], [0.22004348039627075, -0.04845516011118889, 0.9883049130439758, -2.476912021636963, 0.005878070835024118, 1.4240496158599854, 0.0], [0.22001323103904724, -0.048431552946567535, 0.9882755875587463, -2.471893787384033, 0.005877199582755566, 1.4241329431533813, 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_153104/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153104/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153104/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_153104/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153104/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..dc9834b89e8fd8ff47729d5e5f9a0394cee86542
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153104/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 153104,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_153104.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_153104__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153143/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153143/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..a84a82d679246675c0ac7583aee620ecf0d2acde
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153143/metadata.json
@@ -0,0 +1 @@
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from the table and tilt it to pour."}
\ No newline at end of file
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153143/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153143/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153143/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_153143/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153143/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..b9fa72a440de080c332fa18d098224c7c091564b
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153143/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 153143,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_153143.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_153143__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153156/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153156/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..82922a2e97dc25c9bdb3249c442e7babea4406df
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153156/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_153156/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153156/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153156/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_153156/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153156/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..d76035efa2b8a3935bec6ce37d18c165492ea39e
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153156/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 153156,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_153156.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_153156__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153208/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153208/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..f746f3a87c9468bd279a21dce6acd87db3088252
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153208/metadata.json
@@ -0,0 +1 @@
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0.005929243750870228, 1.4233741760253906, 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_153208/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153208/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153208/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_153208/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153208/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..0cac6ab0c8fedfb52aae6cd42a486f48232532c4
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153208/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 153208,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_153208.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_153208__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153255/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153255/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..c4d2852d272f23f3c8a0f130bcf4963b4dddf729
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153255/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_153255/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153255/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153255/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_153255/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153255/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..cf00fd4f48067fe3cc0ef436e94e82762ca80ae8
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153255/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 153255,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_153255.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_153255__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153295/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153295/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..e04fbb5bb3fcaf52a1235ee7df0cdad42fe023c5
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153295/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_153295/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153295/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153295/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_153295/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153295/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..a25f6935a5beb9085db39477974c091ca8456a7a
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153295/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 153295,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_153295.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_153295__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153307/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153307/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..402d2bfa2f98875b240f7ec668c51e3d6ddc329a
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153307/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_153307/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153307/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153307/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_153307/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153307/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..67d23cb2389af61edbf7592b87343d5d0bf38c20
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153307/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 153307,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_153307.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_153307__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153313/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153313/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..3cfa03a43fad1b8d8073ec0c070ded79ccd4bd39
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153313/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_153313/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153313/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153313/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_153313/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153313/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..039e1162db14b7108027e66ac40a0a802b3bcaaf
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153313/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 153313,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_153313.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_153313__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153314/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153314/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..62d511276fde1034fa892b432d812c94b6c0d32c
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153314/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_153314/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153314/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153314/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_153314/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153314/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..0061b2eac544abe059ce6018287be04b4688680d
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153314/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 153314,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_153314.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_153314__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153327/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153327/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..8c95e7046f35ecaa8f0203519f44d9174ae09405
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153327/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_153327/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153327/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153327/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_153327/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153327/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..ba484355739b129875b37c190cfb0778dc7fcf92
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153327/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 153327,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_153327.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_153327__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153328/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153328/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..b270703d8789df772f98f7e3a9ae1fd21240783b
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153328/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_153328/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153328/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153328/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_153328/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153328/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..365599a933f1aa27d9af330e5b332b8e36db964b
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153328/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 153328,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_153328.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_153328__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153376/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153376/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..e28d2abd73166a913d6d36b40654a111ffcaae75
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153376/metadata.json
@@ -0,0 +1 @@
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-0.04861900955438614, 0.9881688952445984, -2.4616403579711914, 0.0060950275510549545, 1.4250746965408325, 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_153376/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153376/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153376/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_153376/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153376/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..3ad449e383b1ae438fc92753d7c3b6011bb1a5f1
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153376/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 153376,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_153376.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_153376__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153381/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153381/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..f0e0759e3858e0c0e1fdbdd0aa959acb897d454d
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153381/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_153381/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153381/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153381/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_153381/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153381/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..c8260af7d38ddeb40c60acc1d0ad1651aa4f5531
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153381/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 153381,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_153381.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_153381__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153400/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153400/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..52017f6e007e075490150d20fc9c31dac120b84e
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_153400/metadata.json
@@ -0,0 +1 @@
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