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+++ b/robot_trajectories/no_distraction/stack_cups/0013/20260512_223531.json
@@ -0,0 +1,28 @@
+{
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+    "env_id": "StackCups-v1",
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+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
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+  },
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+      "reset_kwargs": {
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+    }
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+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/stack_cups/0014/20260512_223616.json b/robot_trajectories/no_distraction/stack_cups/0014/20260512_223616.json
new file mode 100644
index 0000000000000000000000000000000000000000..464a2dc886ba879123bcb3b1b3a6bf6ec9161c8f
--- /dev/null
+++ b/robot_trajectories/no_distraction/stack_cups/0014/20260512_223616.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "StackCups-v1",
+    "env_kwargs": {
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+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
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+      "control_mode": "pd_joint_pos",
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+      "reset_kwargs": {
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+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated stack-cups demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/stack_cups/0016/20260512_223751.json b/robot_trajectories/no_distraction/stack_cups/0016/20260512_223751.json
new file mode 100644
index 0000000000000000000000000000000000000000..b00c78cae1b556037f2e7ca232aec424f4f6949d
--- /dev/null
+++ b/robot_trajectories/no_distraction/stack_cups/0016/20260512_223751.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "StackCups-v1",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
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+      "episode_seed": 44,
+      "control_mode": "pd_joint_pos",
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+      "reset_kwargs": {
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+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated stack-cups demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/stack_cups/0020/20260512_224655.json b/robot_trajectories/no_distraction/stack_cups/0020/20260512_224655.json
new file mode 100644
index 0000000000000000000000000000000000000000..e7203a603587305164bfb3fdb85b94d5c2e4375f
--- /dev/null
+++ b/robot_trajectories/no_distraction/stack_cups/0020/20260512_224655.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "StackCups-v1",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
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+      "episode_seed": 66,
+      "control_mode": "pd_joint_pos",
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+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated stack-cups demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/stack_cups/0022/20260512_224903.json b/robot_trajectories/no_distraction/stack_cups/0022/20260512_224903.json
new file mode 100644
index 0000000000000000000000000000000000000000..d795f77ec4b45220be0888d67e24d1e1d0b2233e
--- /dev/null
+++ b/robot_trajectories/no_distraction/stack_cups/0022/20260512_224903.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "StackCups-v1",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
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+      "episode_seed": 71,
+      "control_mode": "pd_joint_pos",
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+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated stack-cups demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/stack_cups/0023/20260512_224929.json b/robot_trajectories/no_distraction/stack_cups/0023/20260512_224929.json
new file mode 100644
index 0000000000000000000000000000000000000000..227b0cd855909f95073b7915925a9a2da1926a5e
--- /dev/null
+++ b/robot_trajectories/no_distraction/stack_cups/0023/20260512_224929.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "StackCups-v1",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
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+      "episode_seed": 72,
+      "control_mode": "pd_joint_pos",
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+      "reset_kwargs": {
+        "options": null
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+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated stack-cups demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/stack_cups/0025/20260512_225106.json b/robot_trajectories/no_distraction/stack_cups/0025/20260512_225106.json
new file mode 100644
index 0000000000000000000000000000000000000000..7f8f95902cb8eb4a03cc13a4ac6a84ac7ee107f3
--- /dev/null
+++ b/robot_trajectories/no_distraction/stack_cups/0025/20260512_225106.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "StackCups-v1",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
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+      "episode_seed": 76,
+      "control_mode": "pd_joint_pos",
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+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated stack-cups demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/stack_cups/0026/20260512_225343.json b/robot_trajectories/no_distraction/stack_cups/0026/20260512_225343.json
new file mode 100644
index 0000000000000000000000000000000000000000..e858ed88fd10439b5d973c8d91326e7a27d8d515
--- /dev/null
+++ b/robot_trajectories/no_distraction/stack_cups/0026/20260512_225343.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "StackCups-v1",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
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+      "episode_seed": 82,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 551,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated stack-cups demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/stack_cups/0027/20260512_225501.json b/robot_trajectories/no_distraction/stack_cups/0027/20260512_225501.json
new file mode 100644
index 0000000000000000000000000000000000000000..57a32e8cce35e60bbe1f5fc5934d779f359d7b6a
--- /dev/null
+++ b/robot_trajectories/no_distraction/stack_cups/0027/20260512_225501.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "StackCups-v1",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
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+      "episode_seed": 85,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 494,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated stack-cups demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/stack_cups/0028/20260512_225527.json b/robot_trajectories/no_distraction/stack_cups/0028/20260512_225527.json
new file mode 100644
index 0000000000000000000000000000000000000000..6d8ce6bde2b3e3663ba17dd4c12c0de71886f9d5
--- /dev/null
+++ b/robot_trajectories/no_distraction/stack_cups/0028/20260512_225527.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "StackCups-v1",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
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+      "episode_seed": 86,
+      "control_mode": "pd_joint_pos",
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+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated stack-cups demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/stack_cups/0029/20260512_225736.json b/robot_trajectories/no_distraction/stack_cups/0029/20260512_225736.json
new file mode 100644
index 0000000000000000000000000000000000000000..97c105c2dc90693f0fc905fb7da7cf5246bd12e2
--- /dev/null
+++ b/robot_trajectories/no_distraction/stack_cups/0029/20260512_225736.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "StackCups-v1",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
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+      "episode_seed": 91,
+      "control_mode": "pd_joint_pos",
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+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated stack-cups demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/stack_cups/0032/20260512_230134.json b/robot_trajectories/no_distraction/stack_cups/0032/20260512_230134.json
new file mode 100644
index 0000000000000000000000000000000000000000..7b75109e892e4bfee6d4f62e716c1475a04f8180
--- /dev/null
+++ b/robot_trajectories/no_distraction/stack_cups/0032/20260512_230134.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "StackCups-v1",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
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+      "episode_seed": 100,
+      "control_mode": "pd_joint_pos",
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+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated stack-cups demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/stack_cups/0034/20260512_230632.json b/robot_trajectories/no_distraction/stack_cups/0034/20260512_230632.json
new file mode 100644
index 0000000000000000000000000000000000000000..baba5ec71972097f8db2c77ae8940adcaefafa9a
--- /dev/null
+++ b/robot_trajectories/no_distraction/stack_cups/0034/20260512_230632.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "StackCups-v1",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
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+      "episode_seed": 113,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 518,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated stack-cups demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/stack_cups/0035/20260512_230657.json b/robot_trajectories/no_distraction/stack_cups/0035/20260512_230657.json
new file mode 100644
index 0000000000000000000000000000000000000000..982a1fd23e8fb459c9dca26f1d4283ae859f1c2d
--- /dev/null
+++ b/robot_trajectories/no_distraction/stack_cups/0035/20260512_230657.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "StackCups-v1",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
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+      "episode_seed": 114,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 509,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated stack-cups demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/stack_cups/0039/20260512_231249.json b/robot_trajectories/no_distraction/stack_cups/0039/20260512_231249.json
new file mode 100644
index 0000000000000000000000000000000000000000..80ff90293856b8b351cd96540503add59d531ca9
--- /dev/null
+++ b/robot_trajectories/no_distraction/stack_cups/0039/20260512_231249.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "StackCups-v1",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
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+      "episode_seed": 127,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 466,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated stack-cups demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/stack_cups/0040/20260512_231431.json b/robot_trajectories/no_distraction/stack_cups/0040/20260512_231431.json
new file mode 100644
index 0000000000000000000000000000000000000000..1ae7345d3a835d8f8055ac504ec6cfb9c2adba3e
--- /dev/null
+++ b/robot_trajectories/no_distraction/stack_cups/0040/20260512_231431.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "StackCups-v1",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 131,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 509,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated stack-cups demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/stack_cups/0041/20260512_231520.json b/robot_trajectories/no_distraction/stack_cups/0041/20260512_231520.json
new file mode 100644
index 0000000000000000000000000000000000000000..17a86189e9433e84d79bd830f531aea0f8e06d4a
--- /dev/null
+++ b/robot_trajectories/no_distraction/stack_cups/0041/20260512_231520.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "StackCups-v1",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 133,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 525,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated stack-cups demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/stack_cups/0042/20260512_231546.json b/robot_trajectories/no_distraction/stack_cups/0042/20260512_231546.json
new file mode 100644
index 0000000000000000000000000000000000000000..de0b9133ef0179f756a4bbf8c057f321d2e109aa
--- /dev/null
+++ b/robot_trajectories/no_distraction/stack_cups/0042/20260512_231546.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "StackCups-v1",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
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+      "episode_seed": 134,
+      "control_mode": "pd_joint_pos",
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+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated stack-cups demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/stack_cups/0043/20260512_231712.json b/robot_trajectories/no_distraction/stack_cups/0043/20260512_231712.json
new file mode 100644
index 0000000000000000000000000000000000000000..6c9f33becb6ab5597ac076b83f72e8548d13380f
--- /dev/null
+++ b/robot_trajectories/no_distraction/stack_cups/0043/20260512_231712.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "StackCups-v1",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
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+      "episode_seed": 138,
+      "control_mode": "pd_joint_pos",
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+      "reset_kwargs": {
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+      },
+      "success": true
+    }
+  ],
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+  "source_desc": "Automated stack-cups demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/stack_cups/0044/20260512_231812.json b/robot_trajectories/no_distraction/stack_cups/0044/20260512_231812.json
new file mode 100644
index 0000000000000000000000000000000000000000..615ed8948d6847dcfc37061fbfa1ab0f7376bed0
--- /dev/null
+++ b/robot_trajectories/no_distraction/stack_cups/0044/20260512_231812.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "StackCups-v1",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
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+      "control_mode": "pd_joint_pos",
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+      "reset_kwargs": {
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+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated stack-cups demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/stack_cups/0046/20260512_232209.json b/robot_trajectories/no_distraction/stack_cups/0046/20260512_232209.json
new file mode 100644
index 0000000000000000000000000000000000000000..089c6ba618c439008a49ae928eba70c5643d15ee
--- /dev/null
+++ b/robot_trajectories/no_distraction/stack_cups/0046/20260512_232209.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "StackCups-v1",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
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+      "control_mode": "pd_joint_pos",
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+      "reset_kwargs": {
+        "options": null
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+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated stack-cups demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/stack_cups/0047/20260512_232234.json b/robot_trajectories/no_distraction/stack_cups/0047/20260512_232234.json
new file mode 100644
index 0000000000000000000000000000000000000000..ff7af21fe1ccff57e50d04a4669ac88f52215e3b
--- /dev/null
+++ b/robot_trajectories/no_distraction/stack_cups/0047/20260512_232234.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "StackCups-v1",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
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+      "episode_seed": 151,
+      "control_mode": "pd_joint_pos",
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+      "reset_kwargs": {
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+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated stack-cups demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/stack_cups/0048/20260512_232316.json b/robot_trajectories/no_distraction/stack_cups/0048/20260512_232316.json
new file mode 100644
index 0000000000000000000000000000000000000000..3a03819524c1fc80849bc2f385f71529ec13eeab
--- /dev/null
+++ b/robot_trajectories/no_distraction/stack_cups/0048/20260512_232316.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "StackCups-v1",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
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+      "episode_seed": 153,
+      "control_mode": "pd_joint_pos",
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+      "reset_kwargs": {
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+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated stack-cups demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/stack_cups/0051/20260512_232854.json b/robot_trajectories/no_distraction/stack_cups/0051/20260512_232854.json
new file mode 100644
index 0000000000000000000000000000000000000000..d84e08fedb1db3a4f8a9eba3d3b133fe30df8e33
--- /dev/null
+++ b/robot_trajectories/no_distraction/stack_cups/0051/20260512_232854.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "StackCups-v1",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
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+      "control_mode": "pd_joint_pos",
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+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated stack-cups demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/stack_cups/0052/20260512_233015.json b/robot_trajectories/no_distraction/stack_cups/0052/20260512_233015.json
new file mode 100644
index 0000000000000000000000000000000000000000..4f3bfe461d7e9850ac8b5a4edfc16fc87007aebc
--- /dev/null
+++ b/robot_trajectories/no_distraction/stack_cups/0052/20260512_233015.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "StackCups-v1",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
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+      "episode_seed": 171,
+      "control_mode": "pd_joint_pos",
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+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated stack-cups demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/stack_cups/0054/20260512_233308.json b/robot_trajectories/no_distraction/stack_cups/0054/20260512_233308.json
new file mode 100644
index 0000000000000000000000000000000000000000..a9c7c5ecf24410fafeac514f91276536000aa66d
--- /dev/null
+++ b/robot_trajectories/no_distraction/stack_cups/0054/20260512_233308.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "StackCups-v1",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
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+      "episode_seed": 178,
+      "control_mode": "pd_joint_pos",
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+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated stack-cups demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/stack_cups/0055/20260512_233415.json b/robot_trajectories/no_distraction/stack_cups/0055/20260512_233415.json
new file mode 100644
index 0000000000000000000000000000000000000000..0abd403c3ac0c4186e7125999008b2970c35a362
--- /dev/null
+++ b/robot_trajectories/no_distraction/stack_cups/0055/20260512_233415.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "StackCups-v1",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
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+      "episode_seed": 181,
+      "control_mode": "pd_joint_pos",
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+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated stack-cups demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/stack_cups/0056/20260512_233459.json b/robot_trajectories/no_distraction/stack_cups/0056/20260512_233459.json
new file mode 100644
index 0000000000000000000000000000000000000000..490973dcc6374fc206162939b21ce7cdd164e610
--- /dev/null
+++ b/robot_trajectories/no_distraction/stack_cups/0056/20260512_233459.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "StackCups-v1",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
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+      "episode_seed": 183,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 461,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated stack-cups demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/stack_cups/0059/20260512_233645.json b/robot_trajectories/no_distraction/stack_cups/0059/20260512_233645.json
new file mode 100644
index 0000000000000000000000000000000000000000..209b8418ff73e5ca7d6bdfd7c58180d47930a4d6
--- /dev/null
+++ b/robot_trajectories/no_distraction/stack_cups/0059/20260512_233645.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "StackCups-v1",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
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+      "episode_seed": 187,
+      "control_mode": "pd_joint_pos",
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+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated stack-cups demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/stack_cups/0061/20260512_234003.json b/robot_trajectories/no_distraction/stack_cups/0061/20260512_234003.json
new file mode 100644
index 0000000000000000000000000000000000000000..8b7aa1a0c531ed34568bed4fbcabb7cae9d4f63e
--- /dev/null
+++ b/robot_trajectories/no_distraction/stack_cups/0061/20260512_234003.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "StackCups-v1",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
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+      "episode_seed": 195,
+      "control_mode": "pd_joint_pos",
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+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated stack-cups demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/stack_cups/0062/20260512_234443.json b/robot_trajectories/no_distraction/stack_cups/0062/20260512_234443.json
new file mode 100644
index 0000000000000000000000000000000000000000..e465f30c2206dbe9b6d6098d772ab9b820b57faa
--- /dev/null
+++ b/robot_trajectories/no_distraction/stack_cups/0062/20260512_234443.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "StackCups-v1",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
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+      "episode_seed": 206,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 522,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated stack-cups demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/stack_cups/0064/20260512_234647.json b/robot_trajectories/no_distraction/stack_cups/0064/20260512_234647.json
new file mode 100644
index 0000000000000000000000000000000000000000..968bcc7cf1f31572c28a382949c855faa1e5b958
--- /dev/null
+++ b/robot_trajectories/no_distraction/stack_cups/0064/20260512_234647.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "StackCups-v1",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
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+      "episode_seed": 211,
+      "control_mode": "pd_joint_pos",
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+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated stack-cups demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/stack_cups/0065/20260512_234713.json b/robot_trajectories/no_distraction/stack_cups/0065/20260512_234713.json
new file mode 100644
index 0000000000000000000000000000000000000000..b0f94bf250b4b185e3e5c784848b8e85efc1f57e
--- /dev/null
+++ b/robot_trajectories/no_distraction/stack_cups/0065/20260512_234713.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "StackCups-v1",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
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+      "control_mode": "pd_joint_pos",
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+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated stack-cups demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/stack_cups/0068/20260512_235108.json b/robot_trajectories/no_distraction/stack_cups/0068/20260512_235108.json
new file mode 100644
index 0000000000000000000000000000000000000000..3fc9ff22335ff2c325268dd7769d70e6a0ca914f
--- /dev/null
+++ b/robot_trajectories/no_distraction/stack_cups/0068/20260512_235108.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "StackCups-v1",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
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+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 533,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated stack-cups demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/stack_cups/0070/20260512_235241.json b/robot_trajectories/no_distraction/stack_cups/0070/20260512_235241.json
new file mode 100644
index 0000000000000000000000000000000000000000..38c87268b8adc8c0812430b3613cbe9bfc792185
--- /dev/null
+++ b/robot_trajectories/no_distraction/stack_cups/0070/20260512_235241.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "StackCups-v1",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
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+      "episode_seed": 226,
+      "control_mode": "pd_joint_pos",
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+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated stack-cups demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/stack_cups/0073/20260512_235640.json b/robot_trajectories/no_distraction/stack_cups/0073/20260512_235640.json
new file mode 100644
index 0000000000000000000000000000000000000000..1ee255aa2346426bf24f6779d1d0422b9c8102ef
--- /dev/null
+++ b/robot_trajectories/no_distraction/stack_cups/0073/20260512_235640.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "StackCups-v1",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
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+      "episode_seed": 236,
+      "control_mode": "pd_joint_pos",
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+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated stack-cups demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/stack_cups/0076/20260513_000207.json b/robot_trajectories/no_distraction/stack_cups/0076/20260513_000207.json
new file mode 100644
index 0000000000000000000000000000000000000000..e0ed51225baae413948b5c29ee7136e0d40ca5d0
--- /dev/null
+++ b/robot_trajectories/no_distraction/stack_cups/0076/20260513_000207.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "StackCups-v1",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 249,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 644,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated stack-cups demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/stack_cups/0078/20260513_000412.json b/robot_trajectories/no_distraction/stack_cups/0078/20260513_000412.json
new file mode 100644
index 0000000000000000000000000000000000000000..89c6b30680978438519a18f8b8422cbb1b753303
--- /dev/null
+++ b/robot_trajectories/no_distraction/stack_cups/0078/20260513_000412.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "StackCups-v1",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 254,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 500,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated stack-cups demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/stack_cups/0079/20260513_000438.json b/robot_trajectories/no_distraction/stack_cups/0079/20260513_000438.json
new file mode 100644
index 0000000000000000000000000000000000000000..7518db05a932c4739e6ef29f8af08cdbc8b9a1c2
--- /dev/null
+++ b/robot_trajectories/no_distraction/stack_cups/0079/20260513_000438.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "StackCups-v1",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 255,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 494,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated stack-cups demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/stack_cups/0093/20260513_001919.json b/robot_trajectories/no_distraction/stack_cups/0093/20260513_001919.json
new file mode 100644
index 0000000000000000000000000000000000000000..ae6a17f2d3592c7365bd016b5936e29868eb5eec
--- /dev/null
+++ b/robot_trajectories/no_distraction/stack_cups/0093/20260513_001919.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "StackCups-v1",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 289,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 523,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated stack-cups demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/stack_cups/0094/20260513_002046.json b/robot_trajectories/no_distraction/stack_cups/0094/20260513_002046.json
new file mode 100644
index 0000000000000000000000000000000000000000..9d745176bf219f1762edb33b267918950ed973e6
--- /dev/null
+++ b/robot_trajectories/no_distraction/stack_cups/0094/20260513_002046.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "StackCups-v1",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 293,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 473,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated stack-cups demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/stack_cups/0095/20260513_002115.json b/robot_trajectories/no_distraction/stack_cups/0095/20260513_002115.json
new file mode 100644
index 0000000000000000000000000000000000000000..ed5d6ec2956cc7db45e3a1b74931c2f99a8ddd05
--- /dev/null
+++ b/robot_trajectories/no_distraction/stack_cups/0095/20260513_002115.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "StackCups-v1",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 294,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 651,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated stack-cups demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/stack_cups/0098/20260513_002352.json b/robot_trajectories/no_distraction/stack_cups/0098/20260513_002352.json
new file mode 100644
index 0000000000000000000000000000000000000000..9658aa2525120553ceea56bb20ced2e241d1d312
--- /dev/null
+++ b/robot_trajectories/no_distraction/stack_cups/0098/20260513_002352.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "StackCups-v1",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 300,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 508,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated stack-cups demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/stack_cups/0099/20260513_002510.json b/robot_trajectories/no_distraction/stack_cups/0099/20260513_002510.json
new file mode 100644
index 0000000000000000000000000000000000000000..a66fcb1eac34d5dd08faf2931339156192ec095a
--- /dev/null
+++ b/robot_trajectories/no_distraction/stack_cups/0099/20260513_002510.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "StackCups-v1",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 303,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 499,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated stack-cups demonstration"
+}
\ No newline at end of file