diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144959/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144959/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..d90a8a83f807fd1de412290abff119bf548d2410
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144959/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_144959/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144959/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144959/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_144959/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144959/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..2e1b8edcda85b6366e8a914eaf7e340d26147dcb
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144959/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 144959,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_144959.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_144959__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144976/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144976/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..866ec93934a2188ee13b1d888f1f5a81a25506c8
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144976/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_144976/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144976/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144976/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_144976/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144976/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..c111f630462b9f37dd1c9c0cce614d4648f5475e
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144976/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 144976,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_144976.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_144976__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144977/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144977/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..6024cfad4b07f38e1d97e113af07de1d8b8513d1
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144977/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_144977/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144977/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144977/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_144977/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144977/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..d700cecdc5712c0424098c88ced61e877efe2c6e
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144977/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 144977,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_144977.json",
+  "total_steps": 782,
+  "status": "passed",
+  "finish_step": 782,
+  "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_144977__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144982/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144982/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..525d56ffe89da29ad05f1d34dbb633dfccf296a5
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144982/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_144982/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144982/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144982/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_144982/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144982/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..5984f46dc27316f1184e69fc8b9007ef7b689282
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_144982/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 144982,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_144982.json",
+  "total_steps": 764,
+  "status": "passed",
+  "finish_step": 764,
+  "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_144982__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145057/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145057/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..5c9f24b677a1c0f0dcc16767c74a2290f1e55c05
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145057/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_145057/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145057/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145057/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_145057/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145057/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..9aafab03b9254ef42cb7b20d4a729dc76fba86c4
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145057/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 145057,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_145057.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_145057__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145058/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145058/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..006136629e382802803dafdb1087509ea4d53b65
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145058/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_145058/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145058/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145058/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_145058/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145058/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..d6569a795cd8ca388dbd6b0c2c37b7955a76a116
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145058/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 145058,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_145058.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_145058__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145097/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145097/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..ba24b61711236c473fb340880a2111a2451901ad
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145097/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_145097/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145097/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145097/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_145097/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145097/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..d52a00bb4762c12f5345a99b1c0de40e1fc5ef96
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145097/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 145097,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_145097.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_145097__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145099/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145099/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..f620b0027a394f8abdfe94165e4ef7cea6163028
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145099/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_145099/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145099/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145099/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_145099/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145099/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..e5a0aab56c0410db19c0ede8df7b5faac1eb68cf
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145099/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 145099,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_145099.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_145099__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145117/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145117/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..4832faa728c341bff19992040d5511462b8ec23f
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145117/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_145117/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145117/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145117/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_145117/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145117/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..bd13c8af64f329b7f4cec303fcae139b2e50f0ea
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145117/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 145117,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_145117.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_145117__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145120/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145120/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..55bf35d9f37cc1a5a53dd3a789e1b8cd835a2871
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145120/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_145120/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145120/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145120/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_145120/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145120/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..913db0c097eabcf6b590aab9005e96f3ad006576
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145120/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 145120,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_145120.json",
+  "total_steps": 766,
+  "status": "passed",
+  "finish_step": 766,
+  "first_success_step": null,
+  "reason": "state_replay_complete_without_checker",
+  "render_index": 0,
+  "num_per_demo": 1,
+  "save_dir": null,
+  "video_path": null,
+  "state_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/checker_validation_smoothed_states/grasp_and_pour_mug_60/smoothed/grasp_and_pour_mug_60__smoothed__trajectory_145120__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145128/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145128/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..d647cfe9120c9967a6c7c49d689c9d46830621fc
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145128/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_145128/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145128/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145128/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_145128/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145128/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..1a6b1cb13e1840aa500dd70429dc943e866d21d0
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145128/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 145128,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_145128.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_145128__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145130/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145130/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..54b79fcde0d06dade59a3d8e0ef0e75e1401ca46
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145130/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_145130/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145130/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145130/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_145130/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145130/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..c83a19fb13fa737af893080ebde3ee26e98315e9
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145130/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 145130,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_145130.json",
+  "total_steps": 763,
+  "status": "passed",
+  "finish_step": 763,
+  "first_success_step": null,
+  "reason": "state_replay_complete_without_checker",
+  "render_index": 0,
+  "num_per_demo": 1,
+  "save_dir": null,
+  "video_path": null,
+  "state_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/checker_validation_smoothed_states/grasp_and_pour_mug_60/smoothed/grasp_and_pour_mug_60__smoothed__trajectory_145130__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145144/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145144/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..d184067b32c494d496c3466c5f84d0add6998ee1
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145144/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_145144/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145144/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145144/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_145144/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145144/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..30c6090ed3f054ede2b42cad6458894e52b07988
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145144/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 145144,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_145144.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_145144__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145153/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145153/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..b3f27c5fecfae3b75bc651ad57c2d5feffc8fbdf
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145153/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_145153/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145153/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145153/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_145153/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145153/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..4c398e6faf6abe560cf699f51a83e54b8b24dd21
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145153/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 145153,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_145153.json",
+  "total_steps": 767,
+  "status": "passed",
+  "finish_step": 767,
+  "first_success_step": null,
+  "reason": "state_replay_complete_without_checker",
+  "render_index": 0,
+  "num_per_demo": 1,
+  "save_dir": null,
+  "video_path": null,
+  "state_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/checker_validation_smoothed_states/grasp_and_pour_mug_60/smoothed/grasp_and_pour_mug_60__smoothed__trajectory_145153__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145166/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145166/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..b9f91155ae66a24e34ab463bf5386e43006ffe98
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145166/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_145166/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145166/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145166/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_145166/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145166/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..a1948df6cd19c44a124ea14ed27d79d90527a10c
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145166/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 145166,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_145166.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_145166__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145170/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145170/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..73464323c1f79b351cc97f50b25186b12555407f
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145170/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_145170/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145170/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145170/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_145170/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145170/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..49a07ee37060398d94883274838b928d3327be77
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145170/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 145170,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_145170.json",
+  "total_steps": 764,
+  "status": "passed",
+  "finish_step": 764,
+  "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_145170__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145214/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145214/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..c41c32fb070e921b73cc6b27da0e9f833a81098e
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145214/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_145214/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145214/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145214/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_145214/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145214/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..a95ec692ff99ec73aabf30d070f5328131a073b8
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145214/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 145214,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_145214.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_145214__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145226/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145226/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..9f22eb9896be3a01a172b329b49b360240bb87e9
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145226/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_145226/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145226/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145226/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_145226/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145226/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..a6573b8585121b5b6574f1fb0652df85290868e1
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145226/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 145226,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_145226.json",
+  "total_steps": 787,
+  "status": "passed",
+  "finish_step": 787,
+  "first_success_step": null,
+  "reason": "state_replay_complete_without_checker",
+  "render_index": 0,
+  "num_per_demo": 1,
+  "save_dir": null,
+  "video_path": null,
+  "state_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/checker_validation_smoothed_states/grasp_and_pour_mug_60/smoothed/grasp_and_pour_mug_60__smoothed__trajectory_145226__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145232/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145232/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..cce6c935247c8a2dfbcb9f9bf82d7bfecf8263a4
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145232/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_145232/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145232/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145232/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_145232/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145232/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..0731628dde368639ca1b03beabf1f8f1b775842a
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145232/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 145232,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_145232.json",
+  "total_steps": 787,
+  "status": "passed",
+  "finish_step": 787,
+  "first_success_step": null,
+  "reason": "state_replay_complete_without_checker",
+  "render_index": 0,
+  "num_per_demo": 1,
+  "save_dir": null,
+  "video_path": null,
+  "state_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/checker_validation_smoothed_states/grasp_and_pour_mug_60/smoothed/grasp_and_pour_mug_60__smoothed__trajectory_145232__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145247/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145247/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..e3d4e29ac1bc40cd87ac03f5339b83fb97d106a4
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145247/metadata.json
@@ -0,0 +1 @@
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-2.466010332107544, 0.0051607354544103146, 1.4254231452941895, 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_145247/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145247/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145247/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_145247/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145247/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..0241f8f00bae2469c7007b0a4734fda55889908b
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145247/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 145247,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_145247.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_145247__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145253/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145253/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..30e1fa4664af60f69111cbbd366cf1107c57bd9a
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145253/metadata.json
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[0.21980634331703186, -0.04848894476890564, 0.9883394241333008, -2.4762938022613525, 0.006429665256291628, 1.425308108329773, 0.0], [0.219760924577713, -0.0486300066113472, 0.9883480072021484, -2.4714035987854004, 0.006544013973325491, 1.4250277280807495, 0.0], [0.21972545981407166, -0.04873078316450119, 0.9883283972740173, -2.4664270877838135, 0.0066690389066934586, 1.4246926307678223, 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_145253/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145253/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145253/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_145253/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145253/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..4f769d674c6ce7519c38981ca50f3d8829609e16
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145253/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 145253,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_145253.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_145253__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145261/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145261/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..98fc493af1c44ae17c7b6afb156e00fa2606c899
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145261/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_145261/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145261/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145261/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_145261/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145261/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..6248e3e791fab59f7c8fe66b3e21bcc5642acbe4
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145261/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 145261,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_145261.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_145261__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145265/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145265/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..252c47735acfdd0a24ba900b375365e046d24d71
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145265/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_145265/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145265/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145265/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_145265/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145265/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..0fab95f444d47f8f5b283f5c01b0fff5f99a9a59
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145265/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 145265,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_145265.json",
+  "total_steps": 56,
+  "status": "passed",
+  "finish_step": 56,
+  "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_145265__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145269/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145269/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..92c575a85e4e345a9a771a7b6c451f1283821a09
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145269/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_145269/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145269/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145269/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_145269/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145269/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..d14107361eb8383217aabc3c15a2f6e0e8412200
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145269/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 145269,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_145269.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_145269__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145274/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145274/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..935a9faf6acf8c6c795dba438eafa4673c2ce3d7
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145274/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_145274/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145274/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145274/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_145274/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145274/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..1f73ed497b1ac3767e38609d619c86f9f70793fc
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145274/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 145274,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_145274.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_145274__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145277/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145277/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..91c57b9d811cfec00af15ae030e5fc8a80d782fd
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145277/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_145277/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145277/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145277/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_145277/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145277/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..0fbc822be905837d2be613dfefbc9487fa3e7faa
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145277/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 145277,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_145277.json",
+  "total_steps": 771,
+  "status": "passed",
+  "finish_step": 771,
+  "first_success_step": null,
+  "reason": "state_replay_complete_without_checker",
+  "render_index": 0,
+  "num_per_demo": 1,
+  "save_dir": null,
+  "video_path": null,
+  "state_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/checker_validation_smoothed_states/grasp_and_pour_mug_60/smoothed/grasp_and_pour_mug_60__smoothed__trajectory_145277__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145322/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145322/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..cf934622848364bb1c7d3245020386486424412e
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145322/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_145322/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145322/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145322/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_145322/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145322/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..574fcfafb1fbfd3bb994d977b65ad2e36220ed4a
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145322/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 145322,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_145322.json",
+  "total_steps": 762,
+  "status": "passed",
+  "finish_step": 762,
+  "first_success_step": null,
+  "reason": "state_replay_complete_without_checker",
+  "render_index": 0,
+  "num_per_demo": 1,
+  "save_dir": null,
+  "video_path": null,
+  "state_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/checker_validation_smoothed_states/grasp_and_pour_mug_60/smoothed/grasp_and_pour_mug_60__smoothed__trajectory_145322__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145331/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145331/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..b27a0930468bcdcdabea3caa82cba4834173bde2
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145331/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_145331/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145331/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145331/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_145331/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145331/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..3267eb41cf986f25c0848d6f0d81502f9971ee82
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145331/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 145331,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_145331.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_145331__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145340/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145340/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..dea4d87a63556f576a91f7d803e81ce6517b48d7
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145340/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_145340/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145340/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145340/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_145340/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145340/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..acece542be0ee34984b204578d86b681a5482740
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145340/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 145340,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_145340.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_145340__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145352/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145352/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..4f5f7dc33dc8a60fe4d42e7175d83e94b6fda745
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145352/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_145352/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145352/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145352/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_145352/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145352/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..f1858d0b792d368548c2fb35810dcda796ae5819
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145352/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 145352,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_145352.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_145352__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145358/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145358/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..ce9da29f8879fcc9b5fe46b58297f8965bfc38b5
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145358/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_145358/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145358/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145358/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_145358/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145358/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..996ee379607398cc3e380ecb3a883371c934e2bc
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145358/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 145358,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_145358.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_145358__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145374/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145374/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..1b3697497a245d15cb3901f796304a2e89ad98b1
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145374/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_145374/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145374/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145374/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_145374/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145374/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..fe013f61e149ae3dc176c66e4df78c9f9cad9174
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145374/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 145374,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_145374.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_145374__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145376/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145376/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..b9659cacfe3b3f425ad1f78faecc4570081c4ecb
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145376/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_145376/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145376/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145376/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_145376/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145376/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..52288e493cd9d2d37de081d783c18597a93356ba
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145376/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 145376,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_145376.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_145376__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145394/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145394/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..50335b765198cc775a554554258bc398cd7b56c2
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145394/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_145394/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145394/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145394/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_145394/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145394/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..6ebcc1e87550bd8ca6ff750fe30c86824e26b525
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145394/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 145394,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_145394.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_145394__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145415/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145415/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..c5cef33fb03d17b9cda832a8994f85d622b5f9b3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145415/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_145415/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145415/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145415/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_145415/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145415/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..9d84c90d47ede0a6a5e9ad9878ffb0535394cc8c
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145415/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 145415,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_145415.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_145415__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145441/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145441/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..c9d150652a2be3a96f7f79752701a598f4f77aa5
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145441/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_145441/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145441/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145441/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_145441/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145441/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..106a5204ad2d63a757e50daf7e2a4ffa7a02cd48
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145441/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 145441,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_145441.json",
+  "total_steps": 771,
+  "status": "passed",
+  "finish_step": 771,
+  "first_success_step": null,
+  "reason": "state_replay_complete_without_checker",
+  "render_index": 0,
+  "num_per_demo": 1,
+  "save_dir": null,
+  "video_path": null,
+  "state_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/checker_validation_smoothed_states/grasp_and_pour_mug_60/smoothed/grasp_and_pour_mug_60__smoothed__trajectory_145441__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145453/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145453/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..7a216f9ddb6861606c55de36fd9d538ecd1fdef5
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145453/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_145453/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145453/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145453/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_145453/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145453/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..bb93cfee4519c70f4d6f890f5ee9210e7f2f35fe
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145453/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 145453,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_145453.json",
+  "total_steps": 766,
+  "status": "passed",
+  "finish_step": 766,
+  "first_success_step": null,
+  "reason": "state_replay_complete_without_checker",
+  "render_index": 0,
+  "num_per_demo": 1,
+  "save_dir": null,
+  "video_path": null,
+  "state_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/checker_validation_smoothed_states/grasp_and_pour_mug_60/smoothed/grasp_and_pour_mug_60__smoothed__trajectory_145453__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145471/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145471/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..21fc489b96bae50a69a818ff7a7a6335c5f69da4
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145471/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_145471/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145471/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145471/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_145471/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145471/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..6e1d9c39251132b037876a02af9e28ed6a41da35
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145471/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 145471,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_145471.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_145471__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145486/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145486/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..297a5aeb17f9a1f43ab3d0bbade15b428df7fdb8
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145486/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_145486/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145486/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145486/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_145486/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145486/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..1e997ee6d5c902fbf4fecd8e126192e93e83e10d
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145486/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 145486,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_145486.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_145486__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145512/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145512/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..0e0822bc65a78723b8d40c767fbe645d4e5bed79
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145512/metadata.json
@@ -0,0 +1 @@
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0.006167399697005749, 1.4251513481140137, 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_145512/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145512/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145512/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_145512/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145512/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..96f1f1c09b6a9853f5beec5d589f2be13ab267c0
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145512/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 145512,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_145512.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_145512__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145534/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145534/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..4ae3a8678647cccf28953950e10ed76d4b5a52fb
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145534/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_145534/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145534/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145534/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_145534/trajectory_info.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145534/trajectory_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..8e16f52dd6bf7ee0271e5dacd50e51666132779c
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145534/trajectory_info.json
@@ -0,0 +1,14 @@
+{
+  "trajectory_id": 145534,
+  "source_path": "/home/shmqd/rv_taskgen/RoboVerse/roboverse_data/trajs/webdata/grasp_and_pour_mug_60/smoothed/trajectory_145534.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_145534__passed.states.json.gz"
+}
diff --git a/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145547/metadata.json b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145547/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..4fa07c8624b7723c040b3fc5c72af0e9024c7c33
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145547/metadata.json
@@ -0,0 +1 @@
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[0.21543022990226746, -0.0005943885771557689, 0.9544351696968079, 3.1373753547668457, 0.025635022670030594, -1.648208737373352, 0.0], [0.21530620753765106, -0.0005027141887694597, 0.9599842429161072, 3.137485980987549, 0.025820255279541016, -1.6479648351669312, 0.0], [0.21517904102802277, -0.00038990186294540763, 0.9656612873077393, 3.1376118659973145, 0.026059916242957115, -1.6477097272872925, 0.0], [0.21504785120487213, -0.0002582018496468663, 0.9714658260345459, 3.1377432346343994, 0.02634074166417122, -1.6474425792694092, 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_145547/status.txt b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145547/status.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c913d55e1f59308f828d3bb3c56cecdddabb3
--- /dev/null
+++ b/grasp_and_pour_mug_60-smoothed/robot-franka/success/demo_145547/status.txt
@@ -0,0 +1 @@
+success
\ No newline at end of file