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+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 65,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 140,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated pick demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/pick_cube/0068/20260521_230750.json b/robot_trajectories/with_distraction/pick_cube/0068/20260521_230750.json
new file mode 100644
index 0000000000000000000000000000000000000000..18b47e67993e6b680ff622cc8e5454162e81e41d
--- /dev/null
+++ b/robot_trajectories/with_distraction/pick_cube/0068/20260521_230750.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "PickCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 69,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 133,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated pick demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/pick_cube/0078/20260521_230944.json b/robot_trajectories/with_distraction/pick_cube/0078/20260521_230944.json
new file mode 100644
index 0000000000000000000000000000000000000000..3d3908b754af76d288eda06ee73295a449253b1b
--- /dev/null
+++ b/robot_trajectories/with_distraction/pick_cube/0078/20260521_230944.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "PickCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 79,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 126,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated pick demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/pick_cube/0079/20260521_230955.json b/robot_trajectories/with_distraction/pick_cube/0079/20260521_230955.json
new file mode 100644
index 0000000000000000000000000000000000000000..d6f934850f0d0a089ddaeba4a148011447aa0e92
--- /dev/null
+++ b/robot_trajectories/with_distraction/pick_cube/0079/20260521_230955.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "PickCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 80,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 141,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated pick demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/pick_cube/0093/20260521_231237.json b/robot_trajectories/with_distraction/pick_cube/0093/20260521_231237.json
new file mode 100644
index 0000000000000000000000000000000000000000..80501f52aecd68f92a00f684fcbda00dce1e3a8a
--- /dev/null
+++ b/robot_trajectories/with_distraction/pick_cube/0093/20260521_231237.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "PickCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 94,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 124,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated pick demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/pick_cube/0098/20260521_231336.json b/robot_trajectories/with_distraction/pick_cube/0098/20260521_231336.json
new file mode 100644
index 0000000000000000000000000000000000000000..8f947a8513626b71e09576b3f998857649fbb0fc
--- /dev/null
+++ b/robot_trajectories/with_distraction/pick_cube/0098/20260521_231336.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "PickCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 99,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 128,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated pick demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/push_cube/0000/20260521_033739.json b/robot_trajectories/with_distraction/push_cube/0000/20260521_033739.json
new file mode 100644
index 0000000000000000000000000000000000000000..b6a6c771f1541d97334a80b26107c5a06fc022d2
--- /dev/null
+++ b/robot_trajectories/with_distraction/push_cube/0000/20260521_033739.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "PushCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 1,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 138,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated simple push demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/push_cube/0001/20260521_033743.json b/robot_trajectories/with_distraction/push_cube/0001/20260521_033743.json
new file mode 100644
index 0000000000000000000000000000000000000000..95d998078c6d58a08f6829d026fd5a32ea4d258d
--- /dev/null
+++ b/robot_trajectories/with_distraction/push_cube/0001/20260521_033743.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "PushCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 2,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 136,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated simple push demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/push_cube/0002/20260521_033746.json b/robot_trajectories/with_distraction/push_cube/0002/20260521_033746.json
new file mode 100644
index 0000000000000000000000000000000000000000..6c16855dcc29d0b256bfd84aa3ff3ff6fda7f231
--- /dev/null
+++ b/robot_trajectories/with_distraction/push_cube/0002/20260521_033746.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "PushCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 3,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 125,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated simple push demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/push_cube/0003/20260521_033749.json b/robot_trajectories/with_distraction/push_cube/0003/20260521_033749.json
new file mode 100644
index 0000000000000000000000000000000000000000..55d9611c825578f368096a5f6b8abc8f9e716e86
--- /dev/null
+++ b/robot_trajectories/with_distraction/push_cube/0003/20260521_033749.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "PushCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 4,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 130,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated simple push demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/push_cube/0004/20260521_033753.json b/robot_trajectories/with_distraction/push_cube/0004/20260521_033753.json
new file mode 100644
index 0000000000000000000000000000000000000000..49c7b96e9ff3bd6332bd6972abf3339142ff725a
--- /dev/null
+++ b/robot_trajectories/with_distraction/push_cube/0004/20260521_033753.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "PushCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 5,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 142,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated simple push demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/push_cube/0005/20260521_033757.json b/robot_trajectories/with_distraction/push_cube/0005/20260521_033757.json
new file mode 100644
index 0000000000000000000000000000000000000000..32d2bbdb83de4a0b4be376d537047da83402d994
--- /dev/null
+++ b/robot_trajectories/with_distraction/push_cube/0005/20260521_033757.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "PushCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 7,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 130,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated simple push demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/push_cube/0006/20260521_033800.json b/robot_trajectories/with_distraction/push_cube/0006/20260521_033800.json
new file mode 100644
index 0000000000000000000000000000000000000000..fb66db7d298d8ee8df14dd9c2876f41eb318a773
--- /dev/null
+++ b/robot_trajectories/with_distraction/push_cube/0006/20260521_033800.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "PushCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 8,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 137,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated simple push demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/push_cube/0007/20260521_033803.json b/robot_trajectories/with_distraction/push_cube/0007/20260521_033803.json
new file mode 100644
index 0000000000000000000000000000000000000000..0e736398c0204c5d95171572a6abdfcbeb13fc4e
--- /dev/null
+++ b/robot_trajectories/with_distraction/push_cube/0007/20260521_033803.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "PushCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 9,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 134,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated simple push demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/push_cube/0008/20260521_033806.json b/robot_trajectories/with_distraction/push_cube/0008/20260521_033806.json
new file mode 100644
index 0000000000000000000000000000000000000000..86cd40b8aa508f993e0002d52869f25b7ab1cd2f
--- /dev/null
+++ b/robot_trajectories/with_distraction/push_cube/0008/20260521_033806.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "PushCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 10,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 131,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated simple push demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/push_cube/0009/20260521_033810.json b/robot_trajectories/with_distraction/push_cube/0009/20260521_033810.json
new file mode 100644
index 0000000000000000000000000000000000000000..0d64d5951672287534c36e9efe5ebed472d53297
--- /dev/null
+++ b/robot_trajectories/with_distraction/push_cube/0009/20260521_033810.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "PushCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 11,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 139,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated simple push demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/push_cube/0010/20260521_033813.json b/robot_trajectories/with_distraction/push_cube/0010/20260521_033813.json
new file mode 100644
index 0000000000000000000000000000000000000000..60be6a4d954619f231c9ccdff338089daa703ca3
--- /dev/null
+++ b/robot_trajectories/with_distraction/push_cube/0010/20260521_033813.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "PushCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 12,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 129,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated simple push demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/push_cube/0011/20260521_033816.json b/robot_trajectories/with_distraction/push_cube/0011/20260521_033816.json
new file mode 100644
index 0000000000000000000000000000000000000000..8846b7bec4119ede313bc8c01d853271eb70c657
--- /dev/null
+++ b/robot_trajectories/with_distraction/push_cube/0011/20260521_033816.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "PushCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 13,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 131,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated simple push demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/push_cube/0012/20260521_033819.json b/robot_trajectories/with_distraction/push_cube/0012/20260521_033819.json
new file mode 100644
index 0000000000000000000000000000000000000000..83b4314820233141dbff712ed770d184c69ecb9d
--- /dev/null
+++ b/robot_trajectories/with_distraction/push_cube/0012/20260521_033819.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "PushCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 14,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 144,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated simple push demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/push_cube/0013/20260521_033823.json b/robot_trajectories/with_distraction/push_cube/0013/20260521_033823.json
new file mode 100644
index 0000000000000000000000000000000000000000..646719a979377b425bd7c8201a1316cf52191737
--- /dev/null
+++ b/robot_trajectories/with_distraction/push_cube/0013/20260521_033823.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "PushCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 15,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 134,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated simple push demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/push_cube/0014/20260521_033826.json b/robot_trajectories/with_distraction/push_cube/0014/20260521_033826.json
new file mode 100644
index 0000000000000000000000000000000000000000..05fa38235d899d3037baa9041a930783cac90653
--- /dev/null
+++ b/robot_trajectories/with_distraction/push_cube/0014/20260521_033826.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "PushCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 16,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 138,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated simple push demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/push_cube/0015/20260521_033830.json b/robot_trajectories/with_distraction/push_cube/0015/20260521_033830.json
new file mode 100644
index 0000000000000000000000000000000000000000..12bfe75d4186e665b989f3fc82c05a29a8aaf9c7
--- /dev/null
+++ b/robot_trajectories/with_distraction/push_cube/0015/20260521_033830.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "PushCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 17,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 131,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated simple push demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/push_cube/0016/20260521_033833.json b/robot_trajectories/with_distraction/push_cube/0016/20260521_033833.json
new file mode 100644
index 0000000000000000000000000000000000000000..e6b6b5861cda1aec310fecb67a8cf4877941e097
--- /dev/null
+++ b/robot_trajectories/with_distraction/push_cube/0016/20260521_033833.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "PushCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 18,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 130,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated simple push demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/push_cube/0017/20260521_033836.json b/robot_trajectories/with_distraction/push_cube/0017/20260521_033836.json
new file mode 100644
index 0000000000000000000000000000000000000000..8605366006f4e591d59c75490e6be2d5f48866dd
--- /dev/null
+++ b/robot_trajectories/with_distraction/push_cube/0017/20260521_033836.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "PushCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 19,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 150,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated simple push demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/push_cube/0018/20260521_033840.json b/robot_trajectories/with_distraction/push_cube/0018/20260521_033840.json
new file mode 100644
index 0000000000000000000000000000000000000000..23d619cf1ff5ecd211ea676d074ad3eed7512000
--- /dev/null
+++ b/robot_trajectories/with_distraction/push_cube/0018/20260521_033840.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "PushCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 20,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 138,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated simple push demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/push_cube/0019/20260521_033843.json b/robot_trajectories/with_distraction/push_cube/0019/20260521_033843.json
new file mode 100644
index 0000000000000000000000000000000000000000..3ccb2bb003146ed046c859dcadae198f661a8226
--- /dev/null
+++ b/robot_trajectories/with_distraction/push_cube/0019/20260521_033843.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "PushCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 21,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 130,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated simple push demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/push_cube/0020/20260521_033846.json b/robot_trajectories/with_distraction/push_cube/0020/20260521_033846.json
new file mode 100644
index 0000000000000000000000000000000000000000..d107c563aceebe8775f035418d7dc06bfb24f53b
--- /dev/null
+++ b/robot_trajectories/with_distraction/push_cube/0020/20260521_033846.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "PushCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 22,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 131,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated simple push demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/push_cube/0021/20260521_033850.json b/robot_trajectories/with_distraction/push_cube/0021/20260521_033850.json
new file mode 100644
index 0000000000000000000000000000000000000000..9420d4d184c9b7ac80bb08d00b95b8115f9f2f6b
--- /dev/null
+++ b/robot_trajectories/with_distraction/push_cube/0021/20260521_033850.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "PushCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 23,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 130,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated simple push demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/push_cube/0022/20260521_033853.json b/robot_trajectories/with_distraction/push_cube/0022/20260521_033853.json
new file mode 100644
index 0000000000000000000000000000000000000000..c7c5863a99a48056cb72ac391e81016032b5da99
--- /dev/null
+++ b/robot_trajectories/with_distraction/push_cube/0022/20260521_033853.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "PushCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 24,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 139,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated simple push demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/push_cube/0023/20260521_033857.json b/robot_trajectories/with_distraction/push_cube/0023/20260521_033857.json
new file mode 100644
index 0000000000000000000000000000000000000000..a073ad1b48c6322dbb3122d522676a3366710b4b
--- /dev/null
+++ b/robot_trajectories/with_distraction/push_cube/0023/20260521_033857.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "PushCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 25,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 137,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated simple push demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/push_cube/0024/20260521_033900.json b/robot_trajectories/with_distraction/push_cube/0024/20260521_033900.json
new file mode 100644
index 0000000000000000000000000000000000000000..079b08bfb6d07931853fb7b75992a1db35cd97a4
--- /dev/null
+++ b/robot_trajectories/with_distraction/push_cube/0024/20260521_033900.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "PushCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 26,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 142,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated simple push demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/push_cube/0025/20260521_033904.json b/robot_trajectories/with_distraction/push_cube/0025/20260521_033904.json
new file mode 100644
index 0000000000000000000000000000000000000000..3992eeed38b0a38ff0e82e890a748b087576a05c
--- /dev/null
+++ b/robot_trajectories/with_distraction/push_cube/0025/20260521_033904.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "PushCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 27,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 144,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated simple push demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/push_cube/0026/20260521_033907.json b/robot_trajectories/with_distraction/push_cube/0026/20260521_033907.json
new file mode 100644
index 0000000000000000000000000000000000000000..c9355d7bdadc02c55273f085a39d7bae88291ffc
--- /dev/null
+++ b/robot_trajectories/with_distraction/push_cube/0026/20260521_033907.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "PushCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 28,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 135,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated simple push demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/push_cube/0027/20260521_033911.json b/robot_trajectories/with_distraction/push_cube/0027/20260521_033911.json
new file mode 100644
index 0000000000000000000000000000000000000000..b68f5df7264b008537e97e508bcff790caf63793
--- /dev/null
+++ b/robot_trajectories/with_distraction/push_cube/0027/20260521_033911.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "PushCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 29,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 133,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated simple push demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/push_cube/0028/20260521_033915.json b/robot_trajectories/with_distraction/push_cube/0028/20260521_033915.json
new file mode 100644
index 0000000000000000000000000000000000000000..82036e6ca1234b2fc09327840339dd987e88dc11
--- /dev/null
+++ b/robot_trajectories/with_distraction/push_cube/0028/20260521_033915.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "PushCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 30,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 139,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated simple push demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/push_cube/0029/20260521_033918.json b/robot_trajectories/with_distraction/push_cube/0029/20260521_033918.json
new file mode 100644
index 0000000000000000000000000000000000000000..d712ce0c70298c5fe5ca631c73fc77039f402f0b
--- /dev/null
+++ b/robot_trajectories/with_distraction/push_cube/0029/20260521_033918.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "PushCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
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+      "episode_seed": 31,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 137,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated simple push demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/push_cube/0030/20260521_033922.json b/robot_trajectories/with_distraction/push_cube/0030/20260521_033922.json
new file mode 100644
index 0000000000000000000000000000000000000000..3387cad6957f1ce7354f9df7a626723a41b7a25c
--- /dev/null
+++ b/robot_trajectories/with_distraction/push_cube/0030/20260521_033922.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "PushCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 32,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 138,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated simple push demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/push_cube/0031/20260521_033926.json b/robot_trajectories/with_distraction/push_cube/0031/20260521_033926.json
new file mode 100644
index 0000000000000000000000000000000000000000..08ec97e93f910efb09d2b7949dd036f0cc04526c
--- /dev/null
+++ b/robot_trajectories/with_distraction/push_cube/0031/20260521_033926.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "PushCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 33,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 136,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated simple push demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/push_cube/0032/20260521_033930.json b/robot_trajectories/with_distraction/push_cube/0032/20260521_033930.json
new file mode 100644
index 0000000000000000000000000000000000000000..55d96d594379eb1d8a34e26d268b12a9ba49b7a6
--- /dev/null
+++ b/robot_trajectories/with_distraction/push_cube/0032/20260521_033930.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "PushCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 34,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 139,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated simple push demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/push_cube/0033/20260521_033934.json b/robot_trajectories/with_distraction/push_cube/0033/20260521_033934.json
new file mode 100644
index 0000000000000000000000000000000000000000..553c51ffc3c4c727a324c4a2806084ebc78ad936
--- /dev/null
+++ b/robot_trajectories/with_distraction/push_cube/0033/20260521_033934.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "PushCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 35,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 131,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated simple push demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/push_cube/0034/20260521_033937.json b/robot_trajectories/with_distraction/push_cube/0034/20260521_033937.json
new file mode 100644
index 0000000000000000000000000000000000000000..c9eab1ed6fa0cd923c32ee8a9c42e12d021b6caf
--- /dev/null
+++ b/robot_trajectories/with_distraction/push_cube/0034/20260521_033937.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "PushCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 36,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 130,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated simple push demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/push_cube/0035/20260521_033940.json b/robot_trajectories/with_distraction/push_cube/0035/20260521_033940.json
new file mode 100644
index 0000000000000000000000000000000000000000..de068bdbc700b0d4e2173830a5b859cdc8bb6282
--- /dev/null
+++ b/robot_trajectories/with_distraction/push_cube/0035/20260521_033940.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "PushCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 37,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 137,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated simple push demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/push_cube/0036/20260521_033944.json b/robot_trajectories/with_distraction/push_cube/0036/20260521_033944.json
new file mode 100644
index 0000000000000000000000000000000000000000..80c2db8c19bb18a1d35d6ab7e820bbe8fdcdd6cc
--- /dev/null
+++ b/robot_trajectories/with_distraction/push_cube/0036/20260521_033944.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "PushCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 38,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 130,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated simple push demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/push_cube/0037/20260521_033947.json b/robot_trajectories/with_distraction/push_cube/0037/20260521_033947.json
new file mode 100644
index 0000000000000000000000000000000000000000..5d9a7e9637df143b32f18283e0b78b3aeffa0c1b
--- /dev/null
+++ b/robot_trajectories/with_distraction/push_cube/0037/20260521_033947.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "PushCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 39,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 129,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated simple push demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/push_cube/0038/20260521_033950.json b/robot_trajectories/with_distraction/push_cube/0038/20260521_033950.json
new file mode 100644
index 0000000000000000000000000000000000000000..bf5b443423e6f5f1b79be04dcba77aee33d4ee4b
--- /dev/null
+++ b/robot_trajectories/with_distraction/push_cube/0038/20260521_033950.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "PushCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 40,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 128,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated simple push demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/push_cube/0039/20260521_033953.json b/robot_trajectories/with_distraction/push_cube/0039/20260521_033953.json
new file mode 100644
index 0000000000000000000000000000000000000000..634b3e2fea0006f9527ea8f79d485dc641dd425b
--- /dev/null
+++ b/robot_trajectories/with_distraction/push_cube/0039/20260521_033953.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "PushCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 41,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 134,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated simple push demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/push_cube/0040/20260521_033957.json b/robot_trajectories/with_distraction/push_cube/0040/20260521_033957.json
new file mode 100644
index 0000000000000000000000000000000000000000..5b556e89444cd770be0d0aef099f382358631a86
--- /dev/null
+++ b/robot_trajectories/with_distraction/push_cube/0040/20260521_033957.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "PushCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 42,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 146,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated simple push demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/push_cube/0041/20260521_034000.json b/robot_trajectories/with_distraction/push_cube/0041/20260521_034000.json
new file mode 100644
index 0000000000000000000000000000000000000000..23ed0b3b423340e87c53053cefbcec8a886faf0c
--- /dev/null
+++ b/robot_trajectories/with_distraction/push_cube/0041/20260521_034000.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "PushCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 43,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 129,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated simple push demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/push_cube/0042/20260521_034004.json b/robot_trajectories/with_distraction/push_cube/0042/20260521_034004.json
new file mode 100644
index 0000000000000000000000000000000000000000..d08a9ebe4186cdf1e43664fc5e14f3912eb99251
--- /dev/null
+++ b/robot_trajectories/with_distraction/push_cube/0042/20260521_034004.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "PushCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 44,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 139,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated simple push demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/push_cube/0043/20260521_034007.json b/robot_trajectories/with_distraction/push_cube/0043/20260521_034007.json
new file mode 100644
index 0000000000000000000000000000000000000000..2ce9e25266a07d3d4eccf329596cec1d7344d269
--- /dev/null
+++ b/robot_trajectories/with_distraction/push_cube/0043/20260521_034007.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "PushCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 45,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 132,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated simple push demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/push_cube/0044/20260521_034010.json b/robot_trajectories/with_distraction/push_cube/0044/20260521_034010.json
new file mode 100644
index 0000000000000000000000000000000000000000..0332e9a6b86d05a315b77ec8f386b33003e371db
--- /dev/null
+++ b/robot_trajectories/with_distraction/push_cube/0044/20260521_034010.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "PushCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 46,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 140,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated simple push demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/push_cube/0045/20260521_034014.json b/robot_trajectories/with_distraction/push_cube/0045/20260521_034014.json
new file mode 100644
index 0000000000000000000000000000000000000000..b9bd6354a59980ff380e1bd4bbc884c09263172b
--- /dev/null
+++ b/robot_trajectories/with_distraction/push_cube/0045/20260521_034014.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "PushCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 47,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 125,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated simple push demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/push_cube/0046/20260521_034017.json b/robot_trajectories/with_distraction/push_cube/0046/20260521_034017.json
new file mode 100644
index 0000000000000000000000000000000000000000..10db0bb79c9a3214dffb440877b2eb3ccb712fb1
--- /dev/null
+++ b/robot_trajectories/with_distraction/push_cube/0046/20260521_034017.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "PushCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 48,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 130,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated simple push demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/push_cube/0047/20260521_034020.json b/robot_trajectories/with_distraction/push_cube/0047/20260521_034020.json
new file mode 100644
index 0000000000000000000000000000000000000000..bcd7bcde6a31e81c2209710412c53bc9b734a678
--- /dev/null
+++ b/robot_trajectories/with_distraction/push_cube/0047/20260521_034020.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "PushCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 49,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 128,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated simple push demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/push_cube/0048/20260521_034024.json b/robot_trajectories/with_distraction/push_cube/0048/20260521_034024.json
new file mode 100644
index 0000000000000000000000000000000000000000..53deceac1d8558aa74f4d47319e227a2b0941dce
--- /dev/null
+++ b/robot_trajectories/with_distraction/push_cube/0048/20260521_034024.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "PushCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 50,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 143,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated simple push demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/push_cube/0049/20260521_034027.json b/robot_trajectories/with_distraction/push_cube/0049/20260521_034027.json
new file mode 100644
index 0000000000000000000000000000000000000000..6f38eb8b5a64d47df7429376a4dd258438cec839
--- /dev/null
+++ b/robot_trajectories/with_distraction/push_cube/0049/20260521_034027.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "PushCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 51,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 146,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated simple push demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/push_cube/0050/20260521_034030.json b/robot_trajectories/with_distraction/push_cube/0050/20260521_034030.json
new file mode 100644
index 0000000000000000000000000000000000000000..5a28362d55262983d66697f777448cd46148ae1f
--- /dev/null
+++ b/robot_trajectories/with_distraction/push_cube/0050/20260521_034030.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "PushCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 52,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 138,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated simple push demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/push_cube/0051/20260521_034034.json b/robot_trajectories/with_distraction/push_cube/0051/20260521_034034.json
new file mode 100644
index 0000000000000000000000000000000000000000..c8cec6341c1f4bd568635a70317972ba8b25e2ff
--- /dev/null
+++ b/robot_trajectories/with_distraction/push_cube/0051/20260521_034034.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "PushCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 53,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 137,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated simple push demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/push_cube/0052/20260521_034037.json b/robot_trajectories/with_distraction/push_cube/0052/20260521_034037.json
new file mode 100644
index 0000000000000000000000000000000000000000..5dc30e899af5e1a466db3565f9452e8398cee703
--- /dev/null
+++ b/robot_trajectories/with_distraction/push_cube/0052/20260521_034037.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "PushCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 55,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 140,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated simple push demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/push_cube/0053/20260521_034041.json b/robot_trajectories/with_distraction/push_cube/0053/20260521_034041.json
new file mode 100644
index 0000000000000000000000000000000000000000..6b7a8826c8e85622a678c928d28d2db91bfe221c
--- /dev/null
+++ b/robot_trajectories/with_distraction/push_cube/0053/20260521_034041.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "PushCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 56,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 146,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated simple push demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/push_cube/0054/20260521_034044.json b/robot_trajectories/with_distraction/push_cube/0054/20260521_034044.json
new file mode 100644
index 0000000000000000000000000000000000000000..10a3a8ad41601ba18076c90f538f9a7f217621ce
--- /dev/null
+++ b/robot_trajectories/with_distraction/push_cube/0054/20260521_034044.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "PushCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 57,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 132,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated simple push demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/push_cube/0055/20260521_034048.json b/robot_trajectories/with_distraction/push_cube/0055/20260521_034048.json
new file mode 100644
index 0000000000000000000000000000000000000000..49dfe34cd1f343389c6898e01d62e214cfb5d4f7
--- /dev/null
+++ b/robot_trajectories/with_distraction/push_cube/0055/20260521_034048.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "PushCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 58,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 130,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated simple push demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/push_cube/0056/20260521_034051.json b/robot_trajectories/with_distraction/push_cube/0056/20260521_034051.json
new file mode 100644
index 0000000000000000000000000000000000000000..f4fc0073a7e0c17dd9da0ecbf5e412ba14e493c4
--- /dev/null
+++ b/robot_trajectories/with_distraction/push_cube/0056/20260521_034051.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "PushCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 59,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 138,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated simple push demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/push_cube/0057/20260521_034054.json b/robot_trajectories/with_distraction/push_cube/0057/20260521_034054.json
new file mode 100644
index 0000000000000000000000000000000000000000..7290b069094050480918366519a66236e009c9a8
--- /dev/null
+++ b/robot_trajectories/with_distraction/push_cube/0057/20260521_034054.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "PushCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 60,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 128,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated simple push demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/push_cube/0058/20260521_034057.json b/robot_trajectories/with_distraction/push_cube/0058/20260521_034057.json
new file mode 100644
index 0000000000000000000000000000000000000000..a24c18c82559e2d6ee2c48a502022e1bd3000066
--- /dev/null
+++ b/robot_trajectories/with_distraction/push_cube/0058/20260521_034057.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "PushCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 61,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 127,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated simple push demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/push_cube/0059/20260521_034101.json b/robot_trajectories/with_distraction/push_cube/0059/20260521_034101.json
new file mode 100644
index 0000000000000000000000000000000000000000..6f55d1688d05ebe52be81dd2a8f92ef7a25128c8
--- /dev/null
+++ b/robot_trajectories/with_distraction/push_cube/0059/20260521_034101.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "PushCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 62,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 135,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated simple push demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/push_cube/0060/20260521_034104.json b/robot_trajectories/with_distraction/push_cube/0060/20260521_034104.json
new file mode 100644
index 0000000000000000000000000000000000000000..17cf409cbae4e6005dae4b8f7e23a789238e14f5
--- /dev/null
+++ b/robot_trajectories/with_distraction/push_cube/0060/20260521_034104.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "PushCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 63,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 136,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated simple push demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/push_cube/0061/20260521_034107.json b/robot_trajectories/with_distraction/push_cube/0061/20260521_034107.json
new file mode 100644
index 0000000000000000000000000000000000000000..93f9a085060eb7969c9ac410d0f64a7c65a977b2
--- /dev/null
+++ b/robot_trajectories/with_distraction/push_cube/0061/20260521_034107.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "PushCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 64,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 129,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated simple push demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/push_cube/0062/20260521_034111.json b/robot_trajectories/with_distraction/push_cube/0062/20260521_034111.json
new file mode 100644
index 0000000000000000000000000000000000000000..ce23704df33cb695639d5b0e2987c1477dbec90f
--- /dev/null
+++ b/robot_trajectories/with_distraction/push_cube/0062/20260521_034111.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "PushCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 65,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 154,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated simple push demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/push_cube/0063/20260521_034115.json b/robot_trajectories/with_distraction/push_cube/0063/20260521_034115.json
new file mode 100644
index 0000000000000000000000000000000000000000..f89532db060854f33388827f44ad21eadeb32c67
--- /dev/null
+++ b/robot_trajectories/with_distraction/push_cube/0063/20260521_034115.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "PushCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 66,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 130,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated simple push demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/push_cube/0064/20260521_034118.json b/robot_trajectories/with_distraction/push_cube/0064/20260521_034118.json
new file mode 100644
index 0000000000000000000000000000000000000000..ce04845422236a00e0a6f6c17c6dfede029c384c
--- /dev/null
+++ b/robot_trajectories/with_distraction/push_cube/0064/20260521_034118.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "PushCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 67,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 139,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated simple push demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/push_cube/0065/20260521_034122.json b/robot_trajectories/with_distraction/push_cube/0065/20260521_034122.json
new file mode 100644
index 0000000000000000000000000000000000000000..7b265ea047739136f73b8ed975b839734245bea2
--- /dev/null
+++ b/robot_trajectories/with_distraction/push_cube/0065/20260521_034122.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "PushCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 68,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 132,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated simple push demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/push_cube/0066/20260521_034126.json b/robot_trajectories/with_distraction/push_cube/0066/20260521_034126.json
new file mode 100644
index 0000000000000000000000000000000000000000..dd235ede60dd21c2fcd9c2fdba5ccd00a1c14d9d
--- /dev/null
+++ b/robot_trajectories/with_distraction/push_cube/0066/20260521_034126.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "PushCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 69,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 141,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated simple push demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/push_cube/0067/20260521_034129.json b/robot_trajectories/with_distraction/push_cube/0067/20260521_034129.json
new file mode 100644
index 0000000000000000000000000000000000000000..c523ca960bdeeb55d47e5267c2347b83d541de14
--- /dev/null
+++ b/robot_trajectories/with_distraction/push_cube/0067/20260521_034129.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "PushCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 70,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 130,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated simple push demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/push_cube/0068/20260521_034132.json b/robot_trajectories/with_distraction/push_cube/0068/20260521_034132.json
new file mode 100644
index 0000000000000000000000000000000000000000..2d01d14c96a281596798cab3fbd15e21313e4bd2
--- /dev/null
+++ b/robot_trajectories/with_distraction/push_cube/0068/20260521_034132.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "PushCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 71,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 130,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated simple push demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/push_cube/0069/20260521_034136.json b/robot_trajectories/with_distraction/push_cube/0069/20260521_034136.json
new file mode 100644
index 0000000000000000000000000000000000000000..119983ed7364d0e5b8a519f6874d3ca73250d90c
--- /dev/null
+++ b/robot_trajectories/with_distraction/push_cube/0069/20260521_034136.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "PushCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 72,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 133,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated simple push demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/push_cube/0070/20260521_034139.json b/robot_trajectories/with_distraction/push_cube/0070/20260521_034139.json
new file mode 100644
index 0000000000000000000000000000000000000000..7a39b060f4c0bef3444d7991a9581f9e2bf6926e
--- /dev/null
+++ b/robot_trajectories/with_distraction/push_cube/0070/20260521_034139.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "PushCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 73,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 130,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated simple push demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/push_cube/0071/20260521_034142.json b/robot_trajectories/with_distraction/push_cube/0071/20260521_034142.json
new file mode 100644
index 0000000000000000000000000000000000000000..ef781a06f3790834c3cfc61f6235ec63e6970abb
--- /dev/null
+++ b/robot_trajectories/with_distraction/push_cube/0071/20260521_034142.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "PushCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 74,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 138,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated simple push demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/push_cube/0072/20260521_034146.json b/robot_trajectories/with_distraction/push_cube/0072/20260521_034146.json
new file mode 100644
index 0000000000000000000000000000000000000000..ba120935ba5c6e11d4825d5f44051c6343e56479
--- /dev/null
+++ b/robot_trajectories/with_distraction/push_cube/0072/20260521_034146.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "PushCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 75,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 135,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated simple push demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/push_cube/0073/20260521_034149.json b/robot_trajectories/with_distraction/push_cube/0073/20260521_034149.json
new file mode 100644
index 0000000000000000000000000000000000000000..d4c3062ff035b17f25bd438ea84a9f96cff366fa
--- /dev/null
+++ b/robot_trajectories/with_distraction/push_cube/0073/20260521_034149.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "PushCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 76,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 138,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated simple push demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/push_cube/0074/20260521_034153.json b/robot_trajectories/with_distraction/push_cube/0074/20260521_034153.json
new file mode 100644
index 0000000000000000000000000000000000000000..b7131f4de4e65949ce07918477b662fec5ad4067
--- /dev/null
+++ b/robot_trajectories/with_distraction/push_cube/0074/20260521_034153.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "PushCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 77,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 134,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated simple push demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/push_cube/0075/20260521_034156.json b/robot_trajectories/with_distraction/push_cube/0075/20260521_034156.json
new file mode 100644
index 0000000000000000000000000000000000000000..94a8a35d02c54b29e40a7dfd8c2acdfdd36f9c3d
--- /dev/null
+++ b/robot_trajectories/with_distraction/push_cube/0075/20260521_034156.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "PushCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 78,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 129,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated simple push demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/push_cube/0076/20260521_034159.json b/robot_trajectories/with_distraction/push_cube/0076/20260521_034159.json
new file mode 100644
index 0000000000000000000000000000000000000000..4a655dd44cf7c0de5a71e881de7bfb62cf603d6c
--- /dev/null
+++ b/robot_trajectories/with_distraction/push_cube/0076/20260521_034159.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "PushCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 79,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 135,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated simple push demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/push_cube/0077/20260521_034203.json b/robot_trajectories/with_distraction/push_cube/0077/20260521_034203.json
new file mode 100644
index 0000000000000000000000000000000000000000..75cf96465add2e4b8445aafe7896131d920df274
--- /dev/null
+++ b/robot_trajectories/with_distraction/push_cube/0077/20260521_034203.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "PushCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 80,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 136,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated simple push demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/push_cube/0078/20260521_034207.json b/robot_trajectories/with_distraction/push_cube/0078/20260521_034207.json
new file mode 100644
index 0000000000000000000000000000000000000000..87fc20d133ce966ce0870706173b05e6a053dc4b
--- /dev/null
+++ b/robot_trajectories/with_distraction/push_cube/0078/20260521_034207.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "PushCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 81,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 144,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated simple push demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/push_cube/0079/20260521_034211.json b/robot_trajectories/with_distraction/push_cube/0079/20260521_034211.json
new file mode 100644
index 0000000000000000000000000000000000000000..6bf28df7aae19e171d76675e4a17e922394b2436
--- /dev/null
+++ b/robot_trajectories/with_distraction/push_cube/0079/20260521_034211.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "PushCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 82,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 131,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated simple push demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/push_cube/0080/20260521_034214.json b/robot_trajectories/with_distraction/push_cube/0080/20260521_034214.json
new file mode 100644
index 0000000000000000000000000000000000000000..2789823cd0ff6ba2dad295d6ea81d7b6d55e439a
--- /dev/null
+++ b/robot_trajectories/with_distraction/push_cube/0080/20260521_034214.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "PushCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 83,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 143,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated simple push demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/push_cube/0081/20260521_034218.json b/robot_trajectories/with_distraction/push_cube/0081/20260521_034218.json
new file mode 100644
index 0000000000000000000000000000000000000000..04688b2420da4fcab33d4598b9f6f69b3a89314f
--- /dev/null
+++ b/robot_trajectories/with_distraction/push_cube/0081/20260521_034218.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "PushCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 84,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 137,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated simple push demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/push_cube/0082/20260521_034222.json b/robot_trajectories/with_distraction/push_cube/0082/20260521_034222.json
new file mode 100644
index 0000000000000000000000000000000000000000..c050a6c07e8625311e012aa59847d8957e10b28c
--- /dev/null
+++ b/robot_trajectories/with_distraction/push_cube/0082/20260521_034222.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "PushCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 85,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 144,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated simple push demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/push_cube/0083/20260521_034225.json b/robot_trajectories/with_distraction/push_cube/0083/20260521_034225.json
new file mode 100644
index 0000000000000000000000000000000000000000..2175c080fee209ee6af39c7f664d6d02298bcce1
--- /dev/null
+++ b/robot_trajectories/with_distraction/push_cube/0083/20260521_034225.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "PushCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 86,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 139,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated simple push demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/push_cube/0084/20260521_034229.json b/robot_trajectories/with_distraction/push_cube/0084/20260521_034229.json
new file mode 100644
index 0000000000000000000000000000000000000000..8fc688269ba8d9a173ea7a10699b4b6d4e772dad
--- /dev/null
+++ b/robot_trajectories/with_distraction/push_cube/0084/20260521_034229.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "PushCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 87,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 125,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated simple push demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/push_cube/0085/20260521_034232.json b/robot_trajectories/with_distraction/push_cube/0085/20260521_034232.json
new file mode 100644
index 0000000000000000000000000000000000000000..402a1c873ef497dd79d8f8a26f134e23bce53191
--- /dev/null
+++ b/robot_trajectories/with_distraction/push_cube/0085/20260521_034232.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "PushCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 88,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 138,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated simple push demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/push_cube/0086/20260521_034235.json b/robot_trajectories/with_distraction/push_cube/0086/20260521_034235.json
new file mode 100644
index 0000000000000000000000000000000000000000..4e3bf7dcaed21957f180e72ec20f3bbdd0fada70
--- /dev/null
+++ b/robot_trajectories/with_distraction/push_cube/0086/20260521_034235.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "PushCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 89,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 139,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated simple push demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/push_cube/0087/20260521_034239.json b/robot_trajectories/with_distraction/push_cube/0087/20260521_034239.json
new file mode 100644
index 0000000000000000000000000000000000000000..c5c7f2a1b5016d09d40bfe546c0450de82b21661
--- /dev/null
+++ b/robot_trajectories/with_distraction/push_cube/0087/20260521_034239.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "PushCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 90,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 136,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated simple push demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/push_cube/0088/20260521_034242.json b/robot_trajectories/with_distraction/push_cube/0088/20260521_034242.json
new file mode 100644
index 0000000000000000000000000000000000000000..a3810441c4cf075a6bf7c981ba509a995d7d951c
--- /dev/null
+++ b/robot_trajectories/with_distraction/push_cube/0088/20260521_034242.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "PushCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 91,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 130,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated simple push demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/push_cube/0089/20260521_034245.json b/robot_trajectories/with_distraction/push_cube/0089/20260521_034245.json
new file mode 100644
index 0000000000000000000000000000000000000000..5291f8a36f31aa56ee90c64b7e694fda57602b26
--- /dev/null
+++ b/robot_trajectories/with_distraction/push_cube/0089/20260521_034245.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "PushCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 92,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 143,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated simple push demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/push_cube/0090/20260521_034249.json b/robot_trajectories/with_distraction/push_cube/0090/20260521_034249.json
new file mode 100644
index 0000000000000000000000000000000000000000..e04af99429ae4489dca322ab34eb066c6980f461
--- /dev/null
+++ b/robot_trajectories/with_distraction/push_cube/0090/20260521_034249.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "PushCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 93,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 135,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated simple push demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/push_cube/0091/20260521_034252.json b/robot_trajectories/with_distraction/push_cube/0091/20260521_034252.json
new file mode 100644
index 0000000000000000000000000000000000000000..0bba40d53f9c577a04103b9adee0b998d199e014
--- /dev/null
+++ b/robot_trajectories/with_distraction/push_cube/0091/20260521_034252.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "PushCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 94,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 132,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated simple push demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/push_cube/0092/20260521_034255.json b/robot_trajectories/with_distraction/push_cube/0092/20260521_034255.json
new file mode 100644
index 0000000000000000000000000000000000000000..53d085d9cfe86f90e827c1dd5db3844a1844a0ce
--- /dev/null
+++ b/robot_trajectories/with_distraction/push_cube/0092/20260521_034255.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "PushCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 95,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 138,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated simple push demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/push_cube/0093/20260521_034259.json b/robot_trajectories/with_distraction/push_cube/0093/20260521_034259.json
new file mode 100644
index 0000000000000000000000000000000000000000..3b6e649d9e349518ae748427a1f771d7b86eb39a
--- /dev/null
+++ b/robot_trajectories/with_distraction/push_cube/0093/20260521_034259.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "PushCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 96,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 145,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated simple push demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/push_cube/0094/20260521_034302.json b/robot_trajectories/with_distraction/push_cube/0094/20260521_034302.json
new file mode 100644
index 0000000000000000000000000000000000000000..3368e91b79974f4f5c1eed74bb847bc05ffb7506
--- /dev/null
+++ b/robot_trajectories/with_distraction/push_cube/0094/20260521_034302.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "PushCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 97,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 136,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated simple push demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/push_cube/0095/20260521_034306.json b/robot_trajectories/with_distraction/push_cube/0095/20260521_034306.json
new file mode 100644
index 0000000000000000000000000000000000000000..1f419179bc283734b98f8591ca6f3f69bf06145e
--- /dev/null
+++ b/robot_trajectories/with_distraction/push_cube/0095/20260521_034306.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "PushCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 98,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 129,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated simple push demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/push_cube/0096/20260521_034309.json b/robot_trajectories/with_distraction/push_cube/0096/20260521_034309.json
new file mode 100644
index 0000000000000000000000000000000000000000..929555d64f1a7694225f3db68fb8a83d4de83fda
--- /dev/null
+++ b/robot_trajectories/with_distraction/push_cube/0096/20260521_034309.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "PushCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 99,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 133,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated simple push demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/push_cube/0097/20260521_034312.json b/robot_trajectories/with_distraction/push_cube/0097/20260521_034312.json
new file mode 100644
index 0000000000000000000000000000000000000000..35948ad1e2f2d01073c2ffc529626c04f9390cf8
--- /dev/null
+++ b/robot_trajectories/with_distraction/push_cube/0097/20260521_034312.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "PushCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 100,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 134,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated simple push demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/push_cube/0098/20260521_034315.json b/robot_trajectories/with_distraction/push_cube/0098/20260521_034315.json
new file mode 100644
index 0000000000000000000000000000000000000000..52260b53b9a2d40ffa2c61d0c108557ed8fee748
--- /dev/null
+++ b/robot_trajectories/with_distraction/push_cube/0098/20260521_034315.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "PushCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 101,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 138,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated simple push demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/push_cube/0099/20260521_034319.json b/robot_trajectories/with_distraction/push_cube/0099/20260521_034319.json
new file mode 100644
index 0000000000000000000000000000000000000000..fc3f34604cdd04989053f70dffb37ed4f92ff9c4
--- /dev/null
+++ b/robot_trajectories/with_distraction/push_cube/0099/20260521_034319.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "PushCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 102,
+      "control_mode": "pd_joint_pos",
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+      "success": false
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+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated simple push demonstration"
+}
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