diff --git a/robot_trajectories/with_distraction/empty_basket/0013/20260521_054226.json b/robot_trajectories/with_distraction/empty_basket/0013/20260521_054226.json
new file mode 100644
index 0000000000000000000000000000000000000000..d545e2c911ff4cbd84374ab1986e011783cb7c57
--- /dev/null
+++ b/robot_trajectories/with_distraction/empty_basket/0013/20260521_054226.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "EmptyBasket-v1",
+    "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": 537,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated empty-basket demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/empty_basket/0014/20260521_054253.json b/robot_trajectories/with_distraction/empty_basket/0014/20260521_054253.json
new file mode 100644
index 0000000000000000000000000000000000000000..2c74430968baa172710ee17c6bcb02c7d3939a5a
--- /dev/null
+++ b/robot_trajectories/with_distraction/empty_basket/0014/20260521_054253.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "EmptyBasket-v1",
+    "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": 500,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated empty-basket demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/empty_basket/0029/20260521_055327.json b/robot_trajectories/with_distraction/empty_basket/0029/20260521_055327.json
new file mode 100644
index 0000000000000000000000000000000000000000..b5b7f2e37020e502a026a8a8f5ebeee2ce90a398
--- /dev/null
+++ b/robot_trajectories/with_distraction/empty_basket/0029/20260521_055327.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "EmptyBasket-v1",
+    "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": 467,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated empty-basket demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/empty_basket/0035/20260521_055716.json b/robot_trajectories/with_distraction/empty_basket/0035/20260521_055716.json
new file mode 100644
index 0000000000000000000000000000000000000000..ece9428136a32d75b966d5affad16874cea0cdcd
--- /dev/null
+++ b/robot_trajectories/with_distraction/empty_basket/0035/20260521_055716.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "EmptyBasket-v1",
+    "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": 431,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated empty-basket demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/empty_basket/0044/20260521_060226.json b/robot_trajectories/with_distraction/empty_basket/0044/20260521_060226.json
new file mode 100644
index 0000000000000000000000000000000000000000..a8d3c8d39757d7638dd2e2fbb3378b47ba86c9e5
--- /dev/null
+++ b/robot_trajectories/with_distraction/empty_basket/0044/20260521_060226.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "EmptyBasket-v1",
+    "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": 477,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated empty-basket demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/empty_basket/0054/20260521_060706.json b/robot_trajectories/with_distraction/empty_basket/0054/20260521_060706.json
new file mode 100644
index 0000000000000000000000000000000000000000..36d3dd807bc9deaa07b5b11db60c6de0a81427ae
--- /dev/null
+++ b/robot_trajectories/with_distraction/empty_basket/0054/20260521_060706.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "EmptyBasket-v1",
+    "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": 479,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated empty-basket demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/empty_basket/0062/20260521_061100.json b/robot_trajectories/with_distraction/empty_basket/0062/20260521_061100.json
new file mode 100644
index 0000000000000000000000000000000000000000..9252a424af2a92b79fb1ce48cc36df505ab16489
--- /dev/null
+++ b/robot_trajectories/with_distraction/empty_basket/0062/20260521_061100.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "EmptyBasket-v1",
+    "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": 736,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated empty-basket demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/empty_basket/0064/20260521_061152.json b/robot_trajectories/with_distraction/empty_basket/0064/20260521_061152.json
new file mode 100644
index 0000000000000000000000000000000000000000..0e48af141caebc92491e3b789b09657e7322ca44
--- /dev/null
+++ b/robot_trajectories/with_distraction/empty_basket/0064/20260521_061152.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "EmptyBasket-v1",
+    "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": 512,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated empty-basket demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/empty_basket/0068/20260521_061354.json b/robot_trajectories/with_distraction/empty_basket/0068/20260521_061354.json
new file mode 100644
index 0000000000000000000000000000000000000000..a31f57e96d06a6dc5f963d957806c59879a2c833
--- /dev/null
+++ b/robot_trajectories/with_distraction/empty_basket/0068/20260521_061354.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "EmptyBasket-v1",
+    "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": 509,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated empty-basket demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/empty_basket/0078/20260521_061922.json b/robot_trajectories/with_distraction/empty_basket/0078/20260521_061922.json
new file mode 100644
index 0000000000000000000000000000000000000000..a2d6d9e312375e74bb7018613b74a82b966eac08
--- /dev/null
+++ b/robot_trajectories/with_distraction/empty_basket/0078/20260521_061922.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "EmptyBasket-v1",
+    "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": 113,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 628,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated empty-basket demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/empty_basket/0093/20260521_062816.json b/robot_trajectories/with_distraction/empty_basket/0093/20260521_062816.json
new file mode 100644
index 0000000000000000000000000000000000000000..fc04cb4f5a0e5b5e80be45224329f261a59242cc
--- /dev/null
+++ b/robot_trajectories/with_distraction/empty_basket/0093/20260521_062816.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "EmptyBasket-v1",
+    "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": 136,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 535,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated empty-basket demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/open_lid/0001/0.mp4 b/robot_trajectories/with_distraction/open_lid/0001/0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..22d2b57d3d2b540c1bb9c9d51c17fe62c308d37f
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0001/0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c04af8f431d51db09ca43f3bcdb6ae79f779d049ed19dba1e2fff6487527c7be
+size 301444
diff --git a/robot_trajectories/with_distraction/open_lid/0001/20260521_043517.h5 b/robot_trajectories/with_distraction/open_lid/0001/20260521_043517.h5
new file mode 100644
index 0000000000000000000000000000000000000000..43d1d2ffbf8f7bf86a15c4ea72b422583456b76e
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0001/20260521_043517.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4524539004c72ca486b3213ab970c859a1e36b61c2ce5a42bfde51749ba84a33
+size 130185
diff --git a/robot_trajectories/with_distraction/open_lid/0001/base_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0001/base_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a562e69c27b7427843e4524ca84749c5a4f832fb
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0001/base_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ba64d6f3999aaab790e96f14f9f51b46365e22f4d14df536f1e5fd0e4bd471bd
+size 313309
diff --git a/robot_trajectories/with_distraction/open_lid/0001/hand_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0001/hand_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..fddacc8ba5d28a2608c07dc77de2bc3a216e9c19
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0001/hand_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:66a8f883b4815fe2e0636b88e0266ed5d32059ab089f0f2d6875858049864879
+size 713975
diff --git a/robot_trajectories/with_distraction/open_lid/0001/left_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0001/left_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c9025513e6189c1305464fa0971f9274f74cd08b
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0001/left_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8a311dc7e4aa01a2e106539bccc2a3e622baace7b43c87c1784dafc883afa772
+size 359265
diff --git a/robot_trajectories/with_distraction/open_lid/0001/overhead_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0001/overhead_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b7103ee8d9be62969835f4ac9d52a81bb58d506c
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0001/overhead_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:366c12e818824242db57b724bac05259d5b39967e7cda7035d03ac4d27a33ceb
+size 451642
diff --git a/robot_trajectories/with_distraction/open_lid/0001/right_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0001/right_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3bf642f41bfad6f46498c4a61807878b2f0e50c9
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0001/right_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f7ce7b4cdf094a0dbf8452bfbf8343d487bd24b9da37108c50f78e836739f2e6
+size 365065
diff --git a/robot_trajectories/with_distraction/open_lid/0005/0.mp4 b/robot_trajectories/with_distraction/open_lid/0005/0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e5e776e65babe00c00eabba607048dd6072ffc7c
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0005/0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7bc7bf0131be915c417bdf8e2dac1e70cfc6c0a589ed2f5a2648cf0c86e5b152
+size 309310
diff --git a/robot_trajectories/with_distraction/open_lid/0005/20260521_043541.h5 b/robot_trajectories/with_distraction/open_lid/0005/20260521_043541.h5
new file mode 100644
index 0000000000000000000000000000000000000000..b3a7fb018bd051c9e9c499eae9e3fc4bf2bc1fe4
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0005/20260521_043541.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ebc1e83914485989fd852b5088bb148cc1f263e06f9092dd130c47922f6ebdc8
+size 131604
diff --git a/robot_trajectories/with_distraction/open_lid/0005/base_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0005/base_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8d3189a902188bb5850c714ecab56d48c2054a1e
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0005/base_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:016353c942f1edf10527b7f2b33c07e3f43f8bd62e6be3033bfd5ad670b7bda5
+size 321551
diff --git a/robot_trajectories/with_distraction/open_lid/0005/hand_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0005/hand_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..bbf7a6602d14d0bc116784c1e07432a17ad194f1
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0005/hand_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9dbe3c274ebb5dc65c16e8a7d5b6ddba92ed2e1844b66838105ae43502b43aac
+size 769818
diff --git a/robot_trajectories/with_distraction/open_lid/0005/left_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0005/left_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..25866e0a2d7b85a2a6459efda96a6eaa12cac26e
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0005/left_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:51d4007f7c8b961e1092dd563d5d692112bbf04e2662aaed7ea661622f17b242
+size 367755
diff --git a/robot_trajectories/with_distraction/open_lid/0005/overhead_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0005/overhead_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..60fc394e6f34b508698a95a1a00461c106b1aa65
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0005/overhead_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5918ad545c65845384651a4816047b65e7b46de0a74d3338086f9e986f2abc5c
+size 475267
diff --git a/robot_trajectories/with_distraction/open_lid/0005/right_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0005/right_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..122a80440b79ca9a9b34b22fe94bd8b76c94ae89
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0005/right_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:899ceae36c1340f16a6c9bd6e16ca7cd00b5739b57ed9350616f5e6949d3825c
+size 373693
diff --git a/robot_trajectories/with_distraction/open_lid/0006/0.mp4 b/robot_trajectories/with_distraction/open_lid/0006/0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1d6329da5f90905fc636502d3c7ad471d10145ee
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0006/0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:75301f5e365ef984ea1f5baa6acb86cecdb247d07c0fa53578c8139235be0475
+size 321642
diff --git a/robot_trajectories/with_distraction/open_lid/0006/20260521_043547.h5 b/robot_trajectories/with_distraction/open_lid/0006/20260521_043547.h5
new file mode 100644
index 0000000000000000000000000000000000000000..f21bb9cafa4204871d0f1bbfe9ef142d913f963b
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0006/20260521_043547.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7b039ff5cc14f41ea72c8de4c2089ef1beab3c4d43efb22b95dc58cd5c320034
+size 134915
diff --git a/robot_trajectories/with_distraction/open_lid/0006/base_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0006/base_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..14c91571d10b3ab521b764aaedead96df413b740
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0006/base_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:630099cae0029ff236583391214490ce13249322c0805dc3109710f9501688fa
+size 338173
diff --git a/robot_trajectories/with_distraction/open_lid/0006/hand_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0006/hand_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f77065c3db28fbf88c04cd30be922fc42b219935
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0006/hand_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:211e56292525099dc6e5b06a53ceae3ac3476d1668905edc407636a1048dcf5a
+size 703091
diff --git a/robot_trajectories/with_distraction/open_lid/0006/left_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0006/left_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..bcf7329d4f6b6010149034b8892e8dfcd1b8ac10
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0006/left_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:86da08a5ad4b0c050a23bb17aad77d3e11683c3f3e569b44c67ca9702bbba02b
+size 392052
diff --git a/robot_trajectories/with_distraction/open_lid/0006/overhead_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0006/overhead_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..951f818280274eab58716eb3396261e4b20b0d4b
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0006/overhead_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1570a36ffab6d32d1de3829a1180d3f7c8d57bec819073ecbe91612ff604a8c9
+size 488755
diff --git a/robot_trajectories/with_distraction/open_lid/0006/right_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0006/right_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e420c4187c1ec6895b01a4ebbd113fb23c739e75
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0006/right_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bd464425250e8c5a958f58aadc56023cea63c7628c63dcc7da316c38bfd8371b
+size 374808
diff --git a/robot_trajectories/with_distraction/open_lid/0008/0.mp4 b/robot_trajectories/with_distraction/open_lid/0008/0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8ce74e1b1659fe8f9f6c156f5106e9eba0c99cfa
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0008/0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5db042d36850630e1a79cb1fe539ff390e01e88fb6f545b88f14a24401ba32b4
+size 330342
diff --git a/robot_trajectories/with_distraction/open_lid/0008/20260521_043600.h5 b/robot_trajectories/with_distraction/open_lid/0008/20260521_043600.h5
new file mode 100644
index 0000000000000000000000000000000000000000..51675b133f8eb688ac635ba76e8bf7279305dfca
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0008/20260521_043600.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:20fc31f9deea2e125f006bb1d741ad5e9d6acda711d30ba5826ec16f8b936e06
+size 151476
diff --git a/robot_trajectories/with_distraction/open_lid/0008/base_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0008/base_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d147f0729924fb31c7f7dd51234264493309ccff
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0008/base_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cf5d734ba714829cfbd7b46c5dcf121ade584a61b016e8e9f83823253b4d73cf
+size 352608
diff --git a/robot_trajectories/with_distraction/open_lid/0008/hand_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0008/hand_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..eaf578ab62cc52cc5afabdbd0f16287549b8fca5
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0008/hand_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:84aba8f05767cd8dd38a64cb4c5af30914241e64e8f6d89a0db7f2b44b12a456
+size 727672
diff --git a/robot_trajectories/with_distraction/open_lid/0008/left_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0008/left_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9d725ca4cf5a6b907435a9661a36e2e87f136c6e
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0008/left_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:886aaa4e01154823555b0ff9ac46cb8b859f4fccf598b5ba0375a707ea01f401
+size 394333
diff --git a/robot_trajectories/with_distraction/open_lid/0008/overhead_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0008/overhead_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3000814d8300ef738fbb07aaf56aa268319d5d16
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0008/overhead_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6c2edd86bb10a99dcc55278e445d951d71d47978af913c06b92f8254a4ecb717
+size 499660
diff --git a/robot_trajectories/with_distraction/open_lid/0008/right_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0008/right_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..adff395a64dd2bdbb16323308892710638a7d013
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0008/right_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:02ce81f14c3c76270226bc3e6479216c8e71021ca25d99d77bb60ee5695a57e9
+size 390347
diff --git a/robot_trajectories/with_distraction/open_lid/0009/0.mp4 b/robot_trajectories/with_distraction/open_lid/0009/0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..acf65397bb0d505e6a9ea94d4558e7d9190f2e3f
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0009/0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e686d07536edca97e08264b7441b68e467ffe95a3f2477ef7a68966f9f1c63a6
+size 329310
diff --git a/robot_trajectories/with_distraction/open_lid/0009/20260521_043606.h5 b/robot_trajectories/with_distraction/open_lid/0009/20260521_043606.h5
new file mode 100644
index 0000000000000000000000000000000000000000..b5f96a31a2f6c21b983176a03a79dce9d1dd8b74
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0009/20260521_043606.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4a6bf7e700a6751bc83bb5943430fbcbbe8506b9fdf72dacb338ca329fd3bcaf
+size 136334
diff --git a/robot_trajectories/with_distraction/open_lid/0009/base_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0009/base_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..787a1a57e785699c57e7ae4fed725febe93ee3dd
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0009/base_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a8be5d8bff58f691268e8bc127a10ceaf01ae8be0392fd3f77bdad015e156ad0
+size 350931
diff --git a/robot_trajectories/with_distraction/open_lid/0009/hand_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0009/hand_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..96e1237da6256001d7fdca215ed2fb25d9ec93f2
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0009/hand_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c88bac91da6388b394d4ec256b4fb036c41ab7617b04f409b9a3d0d0397217f0
+size 725044
diff --git a/robot_trajectories/with_distraction/open_lid/0009/left_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0009/left_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..39779ea50e6c56ad932e7314002da662e1de64ab
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0009/left_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fca99be8bfa9ed68a277ff770896a3ee0099ec7f7e92271aa9b95ff7a0001af0
+size 391869
diff --git a/robot_trajectories/with_distraction/open_lid/0009/overhead_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0009/overhead_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b4bdf347208d0c41d63d0307a7337178ac17dd87
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0009/overhead_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:99fa7076ab2949a7b7ea9d5e9a358762b0d472f64c9fbd1e435a74e328c1d727
+size 456995
diff --git a/robot_trajectories/with_distraction/open_lid/0009/right_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0009/right_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..73f0157758fefcff140e696b2228ed0a6e1101f7
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0009/right_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:67b4e914dc08067e7b9c9580d68f2ffe17a5fea3c5506fddf241f625a5215260
+size 393169
diff --git a/robot_trajectories/with_distraction/open_lid/0011/0.mp4 b/robot_trajectories/with_distraction/open_lid/0011/0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..02f215e4a8e130f35e85ce5d6833ab1ed2dc13da
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0011/0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b116bbb316f330ffc13d7d83164ff88ec777da0a26dcb808d91a67f7e289f196
+size 307562
diff --git a/robot_trajectories/with_distraction/open_lid/0011/20260521_043618.h5 b/robot_trajectories/with_distraction/open_lid/0011/20260521_043618.h5
new file mode 100644
index 0000000000000000000000000000000000000000..03df90022d076bd5ce404f0891d05a0e3998f525
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0011/20260521_043618.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:157881185e31fb30d03624108fd9e0daad19b58588d9b24f8769316f00b23610
+size 133496
diff --git a/robot_trajectories/with_distraction/open_lid/0011/base_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0011/base_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..72824fde61cdf629fa9867c1226437afef66e5e6
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0011/base_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8335cc734079cb9cb34554a172ec91b0858cd9611dc187c27241297bde5dcd3a
+size 310132
diff --git a/robot_trajectories/with_distraction/open_lid/0011/hand_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0011/hand_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..19232d4c8a1999aee3ac4af746e7b6d7c87dcf18
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0011/hand_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eacf058b73de28421d492e32b6054191f9d1af24540a5cf4826e5090da463f50
+size 707091
diff --git a/robot_trajectories/with_distraction/open_lid/0011/left_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0011/left_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c2e31151683f925a95b6d8f7baf5f955e52fa134
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0011/left_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fb7fdeccc17ff12bb20cf7be868059857426706a9893fe4b46ea594ee033a079
+size 363592
diff --git a/robot_trajectories/with_distraction/open_lid/0011/overhead_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0011/overhead_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3339b7db0b41555c9e327dfa8e37cf3716d38f34
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0011/overhead_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:90d5ecf0973ab8e0dc994d5695f698e24038bc5e451a2ad5b77778b6bb1d1792
+size 440932
diff --git a/robot_trajectories/with_distraction/open_lid/0011/right_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0011/right_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..86d50689d3959bd8fb1044724f68c39277c88a0f
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0011/right_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f57c5567ab4d971ec18d5b8a4d367d8ed649cc2f9d6666c7d21c00460c7fe6f3
+size 371958
diff --git a/robot_trajectories/with_distraction/open_lid/0015/0.mp4 b/robot_trajectories/with_distraction/open_lid/0015/0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..58eca09fbf854d54751df32e420aa64272204f0b
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0015/0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6703ece6fd314854e871c3b0b6754f2cb321e74c53a2b22083cd120182defc59
+size 321051
diff --git a/robot_trajectories/with_distraction/open_lid/0015/20260521_043642.h5 b/robot_trajectories/with_distraction/open_lid/0015/20260521_043642.h5
new file mode 100644
index 0000000000000000000000000000000000000000..9a95e007caee1234fbd5c5df8668a457be372597
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0015/20260521_043642.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fa225f1bc2ba8241074a4f63308b9ef49f706605f9ab44b53d502a16e6d67ed7
+size 148851
diff --git a/robot_trajectories/with_distraction/open_lid/0015/base_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0015/base_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b4010e0ab8e1cf26fce48b366f8bfdf9d814341c
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0015/base_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f969c1b83fb0639cf1c2165d1f6fb0bc54ed6e9b92ddb7289c668d3ea2c06506
+size 336397
diff --git a/robot_trajectories/with_distraction/open_lid/0015/hand_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0015/hand_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..943c09853c30e998ad17766c47957f2506390481
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0015/hand_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:86e9507c6016438fb7beb21dc21170dac70e9000bfcf12d77fce0e9bc34945ec
+size 734783
diff --git a/robot_trajectories/with_distraction/open_lid/0015/left_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0015/left_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a8483343b1b33346b29b8384198b3df740a360a8
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0015/left_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7581b678424f8efed391088d07d1a7011ace230b420cd352eb83fe3a598875f3
+size 383901
diff --git a/robot_trajectories/with_distraction/open_lid/0015/overhead_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0015/overhead_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8909c61da9ba5f82f3e8dd51d5f1c3ca91e146b4
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0015/overhead_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0524184ae5cae5652cb74f16fcf3331c2e38b7d22db92ea5d17c048afe7221e1
+size 467660
diff --git a/robot_trajectories/with_distraction/open_lid/0015/right_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0015/right_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0a135403965919f575af2f38c620835a8efba99f
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0015/right_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:076dfdbc1c17f8aaeba6508a6dbf4c009f47246cfbcf9b7173b7d394adabe505
+size 382819
diff --git a/robot_trajectories/with_distraction/open_lid/0016/0.mp4 b/robot_trajectories/with_distraction/open_lid/0016/0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e1cbcccc0d35101bb0751f9e15df66397cf8dc14
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0016/0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6fac9f16e7e0e93416fcde0e4d223ba2eaba00f061f1a1f00a94ab108ca4e0bf
+size 322266
diff --git a/robot_trajectories/with_distraction/open_lid/0016/20260521_043648.h5 b/robot_trajectories/with_distraction/open_lid/0016/20260521_043648.h5
new file mode 100644
index 0000000000000000000000000000000000000000..015f85ebe36431681acb7ea2a5088fbf7f55f3e7
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0016/20260521_043648.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bdf87b03caeebcce029da7618d479a10eb6332d62a9cf3e87eaef9cc6db920ed
+size 148326
diff --git a/robot_trajectories/with_distraction/open_lid/0016/base_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0016/base_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0a9e5bdf3069c819983bcbff0509783526d977b6
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0016/base_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cb34e4cae296510da1492e8e0eeffb4570b89204ab2a04c68cfbad4cbb055c83
+size 338003
diff --git a/robot_trajectories/with_distraction/open_lid/0016/hand_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0016/hand_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..cd42a3343fa842bed685fb9846eebceeb8c11c52
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0016/hand_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6d2775541166eb2b5082c66d254b540c045f77ee55025ba02bcd1dae79e05d98
+size 728502
diff --git a/robot_trajectories/with_distraction/open_lid/0016/left_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0016/left_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..39b827dad050302fa51963edb503800f47ca7d3d
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0016/left_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:725389958f66e5d2616e13ca34afb57badbec9f861a2eb535bc8698ae5c5c609
+size 379044
diff --git a/robot_trajectories/with_distraction/open_lid/0016/overhead_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0016/overhead_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e526986f70b69a52a30ab901f30b12a717d8e737
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0016/overhead_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:61a558186bed19261e258c5a8d18c16ba8dc5610927b5f8e975ab56b738a8e04
+size 475256
diff --git a/robot_trajectories/with_distraction/open_lid/0016/right_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0016/right_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7c8f1a66f3dc8808ce3d13cf12ccffac9d0bec02
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0016/right_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d717752ed7d99fbf1af1107d7b16877893e904443d086b5941f0e45deaecfa6f
+size 383255
diff --git a/robot_trajectories/with_distraction/open_lid/0017/0.mp4 b/robot_trajectories/with_distraction/open_lid/0017/0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1f44410f22a948254b9e749555eecdf259af9022
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0017/0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4812f231e1528734d2dbf42a66d38b97cccef65b570ed8b1a202c0f0ab110729
+size 331157
diff --git a/robot_trajectories/with_distraction/open_lid/0017/20260521_043654.h5 b/robot_trajectories/with_distraction/open_lid/0017/20260521_043654.h5
new file mode 100644
index 0000000000000000000000000000000000000000..7030db87fc28896b5a050a751c9eaf70731d017d
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0017/20260521_043654.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:815d4fce0ab2ed0881e8b1d234fee5950c8c184a63e6ffe60a5d5b8f85756574
+size 146226
diff --git a/robot_trajectories/with_distraction/open_lid/0017/base_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0017/base_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..aa95be6aa50a93ae38c08c1eb7e940806b1ccc40
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0017/base_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:151efd4bee6708ad10ae6bac5de43686ef0a7c3e1178c8c043982dc7c53a26c1
+size 356882
diff --git a/robot_trajectories/with_distraction/open_lid/0017/hand_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0017/hand_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a92ee9bd47e0d48e1017c6ea7608c9d15433ac56
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0017/hand_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:046b2adaeb8919745a0e961120e0c86c64b8531ffff13e90f8ee456b36ceacc8
+size 767163
diff --git a/robot_trajectories/with_distraction/open_lid/0017/left_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0017/left_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a1165b36caea4341d287af5f7f8f83b1696c8159
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0017/left_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f00f5d64f4d850c8fdd8fc315c396dc62875e563feda155eb6221cd97cc2536e
+size 397411
diff --git a/robot_trajectories/with_distraction/open_lid/0017/overhead_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0017/overhead_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..81e32f301337767d85df8e9fa244f9f97002e391
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0017/overhead_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b41f37138eebe0d896b620e32aada7b2e39003d22f6bff4769a7435bbcba378b
+size 517096
diff --git a/robot_trajectories/with_distraction/open_lid/0017/right_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0017/right_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..41cd997545446d12e7a0cffef5b05844d941a565
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0017/right_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e2937600344df3dffb650ce8d6679e210e56be5316b7cb3386fb66b383d853ef
+size 378456
diff --git a/robot_trajectories/with_distraction/open_lid/0018/0.mp4 b/robot_trajectories/with_distraction/open_lid/0018/0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c176c490b560cf8e6db5dc8f84498f7540737f78
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0018/0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4d819a416c37175cfc6c35da50df7b3041a52659a0acbf911cce517206cc406f
+size 307251
diff --git a/robot_trajectories/with_distraction/open_lid/0018/20260521_043701.h5 b/robot_trajectories/with_distraction/open_lid/0018/20260521_043701.h5
new file mode 100644
index 0000000000000000000000000000000000000000..ff17304d683112b7303a11c87eccb8b788c74167
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0018/20260521_043701.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3f2653b5805cc25206c7ad9e5fa6a10c3c61acf590e5374de6993dab6722d1e3
+size 131604
diff --git a/robot_trajectories/with_distraction/open_lid/0018/base_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0018/base_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ca25011a1fa864b5956f8d2fd366c8e816cc3720
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0018/base_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:68d03b22195ce58a0c3a1cd567bb5ede622fb5c59b693d96d9ae588880031eeb
+size 312314
diff --git a/robot_trajectories/with_distraction/open_lid/0018/hand_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0018/hand_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d2319482e859fa60a8a07a555ce51bb78a678848
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0018/hand_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a9acb707200dacc072b79181d949bb8374f833a7f10556867152ab057c55db15
+size 747194
diff --git a/robot_trajectories/with_distraction/open_lid/0018/left_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0018/left_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4d6c4305847fbfc0c1a97924f30c13372b390309
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0018/left_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1449f72275000c1bae846ecbb19c1c7bb0fed880ebcb2e2e9fdad2c4768e4d10
+size 366326
diff --git a/robot_trajectories/with_distraction/open_lid/0018/overhead_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0018/overhead_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3b8eb17805fd3d4d5f7ece518267536ec18d9c42
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0018/overhead_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f34e4ad807ea77060340ec0d018b029a89295d21d2b310d960b1227217bdeadd
+size 486530
diff --git a/robot_trajectories/with_distraction/open_lid/0018/right_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0018/right_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d2524434fcca330506e082a1dc049bead40f3c8f
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0018/right_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:249b4dfede9fa0cb47097418b9f3050c1bb67a20283c3d5cc7220ff94c48d213
+size 362289
diff --git a/robot_trajectories/with_distraction/open_lid/0019/0.mp4 b/robot_trajectories/with_distraction/open_lid/0019/0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6b189f017a3fb8a4378540f5f0202fd3fb74cd0a
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0019/0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:881b560e68b86fa88dfd6125d9520db068c0639b104c6fd64d17c42fe4bf84e9
+size 333792
diff --git a/robot_trajectories/with_distraction/open_lid/0019/20260521_043707.h5 b/robot_trajectories/with_distraction/open_lid/0019/20260521_043707.h5
new file mode 100644
index 0000000000000000000000000000000000000000..996b2200150ddf265cd43b3e8f62982e54b98a50
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0019/20260521_043707.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6a3965e2b1e7607e4cbdb02e223928f1d159e3e8534e303c9b2703ff249c3667
+size 150951
diff --git a/robot_trajectories/with_distraction/open_lid/0019/base_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0019/base_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..af68c6443e734438fde474f1da151533b72858de
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0019/base_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a00ec08581d7ca462b16978e40aa3a50a23a7e74854c61e3f9e8b8526db9daf6
+size 362868
diff --git a/robot_trajectories/with_distraction/open_lid/0019/hand_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0019/hand_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..82d6b46ec9cd2e524103b42666685ff5de047253
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0019/hand_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b2db7bec502e0436b5d1a6b79530ec558fc5455972def3615f785148ae31a8fa
+size 763941
diff --git a/robot_trajectories/with_distraction/open_lid/0019/left_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0019/left_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..cf532fd352acb8a93f3706aab89113cb4c4b2122
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0019/left_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:916b55d1bafd6b20c4f4c82638fcb5c0935d1f50fcda9be547e4de898567ad44
+size 400594
diff --git a/robot_trajectories/with_distraction/open_lid/0019/overhead_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0019/overhead_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6d923553599d6d3cac8373b41d2924525b8fc239
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0019/overhead_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:71ea13b87930439210856f4dcbd5373d3d6f09ae9a29c8d42ef42f445febc8e0
+size 482814
diff --git a/robot_trajectories/with_distraction/open_lid/0019/right_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0019/right_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..88242288e6165e780cf6af37100f47e637a129d1
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0019/right_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eee8e314e84543844b0de9d26e3d46d64b11cd29a210961747a20664be2a053a
+size 398688
diff --git a/robot_trajectories/with_distraction/open_lid/0021/0.mp4 b/robot_trajectories/with_distraction/open_lid/0021/0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6183f3fea4dd59a3caa44f3cde17a9db69f76f16
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0021/0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c5ba5bb4fa13535e46e4b1c7b895fdd3fd49f4353518fab84838f9452769b236
+size 319994
diff --git a/robot_trajectories/with_distraction/open_lid/0021/20260521_043719.h5 b/robot_trajectories/with_distraction/open_lid/0021/20260521_043719.h5
new file mode 100644
index 0000000000000000000000000000000000000000..24a18b90b32087ce74eabf8ccaaee376a1a11e88
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0021/20260521_043719.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7bbc15bff21ebb835215d93a5ce8021a356ecae4466498d6bbc4257fa81b1584
+size 133969
diff --git a/robot_trajectories/with_distraction/open_lid/0021/base_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0021/base_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..282a5b147d60ea89bc2586d5dea731ea9bd61276
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0021/base_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d4df1ada50554224091e5440e57cb9dca85cab6fedabaaf69092b86410ac6613
+size 330908
diff --git a/robot_trajectories/with_distraction/open_lid/0021/hand_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0021/hand_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7a7ac866fdce023d1f3677a8912391025a4e9b3d
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0021/hand_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b4673bc831c3c4c5644e26ba1ac6e3c8b7bf63a07ae57c35fc2b74cdd88ff398
+size 750874
diff --git a/robot_trajectories/with_distraction/open_lid/0021/left_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0021/left_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..096539a36765c00a9de2807abfe7e9442fc2bbfa
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0021/left_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1f3fd652335da381354d867a5e0d48be0b035fce0374e423622607e5868ae249
+size 378252
diff --git a/robot_trajectories/with_distraction/open_lid/0021/overhead_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0021/overhead_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e1dd7780d4e334bd7e23def7cb4db6ffeb234cd1
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0021/overhead_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bbfd1d54a8a1fde5a43789e34ca05a650739f61e409342bae4bc6c8e5ec93e47
+size 489883
diff --git a/robot_trajectories/with_distraction/open_lid/0021/right_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0021/right_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..255ce7232545dc0b4bb99a22573d5488093c25dd
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0021/right_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c7c50c52861e026d64755e322b086ae72daa8cd4bb597f0461a6928bf315b6d3
+size 379141
diff --git a/robot_trajectories/with_distraction/open_lid/0022/0.mp4 b/robot_trajectories/with_distraction/open_lid/0022/0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..003ef0d8e642fe8f0105745c1ebe70df8e3a141d
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0022/0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:165633dc05d74e2f2485c065842402a27972638d5068c788335ae7d649cca513
+size 320926
diff --git a/robot_trajectories/with_distraction/open_lid/0022/20260521_043725.h5 b/robot_trajectories/with_distraction/open_lid/0022/20260521_043725.h5
new file mode 100644
index 0000000000000000000000000000000000000000..9dc4d31ebcf7638cfec04e042e35fb6fb2f529ec
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0022/20260521_043725.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2777bb79f50b641ee35a7097d442dff5bad25b978b2c96827c2a007e79f2baf6
+size 137280
diff --git a/robot_trajectories/with_distraction/open_lid/0022/base_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0022/base_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1dde0d84b6ea87003a396e0221da9a95882ce6a1
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0022/base_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cc55626ab4b4c33b91d15224d74bd67b1c87cf29cd31fed7a0d3cc7a0ab04694
+size 333048
diff --git a/robot_trajectories/with_distraction/open_lid/0022/hand_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0022/hand_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0b65f01d6d09b3e5a6cd4e9b7136082b50deb540
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0022/hand_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:12075cfc0427930df6ddab52c523ecb71aa58271c5ae1f3a83b0685bbf2ad045
+size 747046
diff --git a/robot_trajectories/with_distraction/open_lid/0022/left_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0022/left_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3fc333b943a9b08782ac7b04833388700d13c6d7
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0022/left_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5e2f090fa6e7484d5bd27dcf875b40011c76955003795cbd6eed9623c3b2f705
+size 381558
diff --git a/robot_trajectories/with_distraction/open_lid/0022/overhead_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0022/overhead_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8ebd2a3ba5e14938dfec02724946c05fea92b0ba
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0022/overhead_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aca086ec2b8ffcc2a268e4d95c8227a082a3f5164c944cafc71252594c364969
+size 480543
diff --git a/robot_trajectories/with_distraction/open_lid/0022/right_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0022/right_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e676d809b226e40963b51676219c7a36dfea3380
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0022/right_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fe60adbce8a8fed983ca9eca9661dc49619fd8233e6acfc9b56f4a43a5c658db
+size 384741
diff --git a/robot_trajectories/with_distraction/open_lid/0023/hand_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0023/hand_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..bd19168b16a40161fea3b412c7fd49563a623aee
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0023/hand_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d3033d9054186c7d6ff61fad177c7f646cb352a71542b378b955ce7b65f9d8b9
+size 745157
diff --git a/robot_trajectories/with_distraction/open_lid/0024/0.mp4 b/robot_trajectories/with_distraction/open_lid/0024/0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..da8307c16821784273d3cfec210ce9203666bba0
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0024/0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:20796ac5a36f2df3050bdc2cbdd3f255a8f72795eee89b75dfb7855354dcfb99
+size 313871
diff --git a/robot_trajectories/with_distraction/open_lid/0024/20260521_043738.h5 b/robot_trajectories/with_distraction/open_lid/0024/20260521_043738.h5
new file mode 100644
index 0000000000000000000000000000000000000000..e7189a2fa1c17c0c583d9592c49ea4f0dcc57c05
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0024/20260521_043738.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1f4eac88b62fef88305f829928e65878c8232b57e9f51b3a7dd6bc1773de598e
+size 133023
diff --git a/robot_trajectories/with_distraction/open_lid/0024/base_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0024/base_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b6ef48f277dd9a0ee92da51977de316c559bfa7d
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0024/base_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3d899817add7907ec3c0fd9babefeddbe021684b5a23bc75a40dd28006f4580c
+size 328200
diff --git a/robot_trajectories/with_distraction/open_lid/0024/hand_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0024/hand_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2434bbafb676e89c03fc6bcbaded9d680c458de7
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0024/hand_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b5e56219ef2ac4dc96f03a5ff7c869fbb708a2a7e4b2299b3fca4cfbe3e0a1d0
+size 714135
diff --git a/robot_trajectories/with_distraction/open_lid/0024/left_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0024/left_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2b26df01beaec02b4978d977ba00c380f03339f0
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0024/left_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:75e0b5e4dff37c1b32dac1bd4024a015d57415e4cb1332668e428b4723a7f960
+size 370182
diff --git a/robot_trajectories/with_distraction/open_lid/0024/overhead_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0024/overhead_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3814c6b5758b56b870b452a71effd1671c4aa149
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0024/overhead_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a04b23fc086cbab671df73211b1235c7666556651492eef790d447ecf0ab88b5
+size 460797
diff --git a/robot_trajectories/with_distraction/open_lid/0024/right_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0024/right_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..03643b6803d9ecb15e651068e56354ff4581bd24
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0024/right_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ddc853ebf2bb4657c635ba2f7d603844ed2290dfdde7bade47d658169893cc3b
+size 373784
diff --git a/robot_trajectories/with_distraction/open_lid/0026/0.mp4 b/robot_trajectories/with_distraction/open_lid/0026/0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..75d00a1c085ff26c5bcc806f2950b0cde456c28c
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0026/0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:61953f08dd03253d67527c945748541c6445b7f32481f9c0cfb607e169b8e403
+size 333670
diff --git a/robot_trajectories/with_distraction/open_lid/0026/20260521_043750.h5 b/robot_trajectories/with_distraction/open_lid/0026/20260521_043750.h5
new file mode 100644
index 0000000000000000000000000000000000000000..c2de38cdc56b0acc3f78cb8937dcf3b817df86e2
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0026/20260521_043750.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e2e17abf38b424cf70a178438a07f77f8d6d742be1d08d1227f427cadd9a14e7
+size 151476
diff --git a/robot_trajectories/with_distraction/open_lid/0026/base_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0026/base_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9d24f8b74da5fbf1bcad657d308c5917e6209085
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0026/base_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ea8389a2d4ee5d95ec9bb6d9e3d3b27287a4ec78d2c564707006d0bda80ce78a
+size 366272
diff --git a/robot_trajectories/with_distraction/open_lid/0026/hand_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0026/hand_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2a4676d2d3c6670049a51221290a77a5f17c9bd9
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0026/hand_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:54ef708f5afbb39b4f410f05048d69cca9b6ec6ee47c1bbe90e7e39e1400af2e
+size 787442
diff --git a/robot_trajectories/with_distraction/open_lid/0026/left_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0026/left_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1bc036e606a809478ff01bfeecff6a61ac78576d
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0026/left_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7bacb7ff257cc421a775bc25ab47ded4056d0c5fe86f8e6f5af9d56b338b862a
+size 404112
diff --git a/robot_trajectories/with_distraction/open_lid/0026/overhead_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0026/overhead_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8064b743c94c3222733dc89ae788708fa1094ce7
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0026/overhead_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8b0ea8c4cde38093f18fb590d6c674dca43fd7f7fe56a59b66c98bd0c628c2c5
+size 487077
diff --git a/robot_trajectories/with_distraction/open_lid/0026/right_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0026/right_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f7f847c7a156c764668848215ad6ebc354da7ef2
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0026/right_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9064e21135bc47206920aaaada96e5bbd9f9df155ec578647a264cab5577695a
+size 395235
diff --git a/robot_trajectories/with_distraction/open_lid/0028/0.mp4 b/robot_trajectories/with_distraction/open_lid/0028/0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8766acb25e1ba50bee386c075563549c0f218c19
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0028/0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:21553f469688e7d71a6036578e7bce701a3a8f402e2fbb194254c3ebdbae1022
+size 310997
diff --git a/robot_trajectories/with_distraction/open_lid/0028/20260521_043803.h5 b/robot_trajectories/with_distraction/open_lid/0028/20260521_043803.h5
new file mode 100644
index 0000000000000000000000000000000000000000..9c04bbd011d3b622c7ad72b5819743f45ee5798b
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0028/20260521_043803.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:36eb5ce8e68de025eeb9c4027b3f0d686aa3c674e5bf7c93c147737a009fade7
+size 145701
diff --git a/robot_trajectories/with_distraction/open_lid/0028/base_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0028/base_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..efb8c7f958278563fa79009c4947050a59ccb82e
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0028/base_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7dca74f9e818625ece7a81f4e0cb6614ececd156301eba694fc6d0f8fa2b9d32
+size 331759
diff --git a/robot_trajectories/with_distraction/open_lid/0028/hand_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0028/hand_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9bb9980fbf99a24995539eabed7406a7dd881baa
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0028/hand_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:331a57d77bcedde109d904bfdf9438213dd521c04a8e54c75d8164eeed86f279
+size 693142
diff --git a/robot_trajectories/with_distraction/open_lid/0028/left_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0028/left_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ae125b00bb36700f17b2036009191e12426c7d97
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0028/left_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6052b17f07205a1dbc2176fa3b16fb90c32862e7eb5d34b78da4197dc9980554
+size 375062
diff --git a/robot_trajectories/with_distraction/open_lid/0028/overhead_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0028/overhead_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5392d0804dfd7535cb0c53b8dc26a506ae49235d
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0028/overhead_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:740446269a4894f186ac50c9fa1438cb56940771e67460258801dee6f35b1f13
+size 490067
diff --git a/robot_trajectories/with_distraction/open_lid/0028/right_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0028/right_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..170fa2945c44b3b3d296d540415ad70f2fdf9e6d
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0028/right_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:46b2d72b263c5e6520817a3d187e32a2e7d1289c5d30f5627fe8876d3e6d2ce6
+size 382871
diff --git a/robot_trajectories/with_distraction/open_lid/0030/0.mp4 b/robot_trajectories/with_distraction/open_lid/0030/0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5745d0b73fe2041dd1db31e8ee8a36d8a6e7d2dd
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0030/0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:70ee822bd51618cc53ad55eff24f5775cfe0b3a9f53a48e1c101b38d3506a5c9
+size 326465
diff --git a/robot_trajectories/with_distraction/open_lid/0030/20260521_043815.h5 b/robot_trajectories/with_distraction/open_lid/0030/20260521_043815.h5
new file mode 100644
index 0000000000000000000000000000000000000000..4a5186039e87ac57cc5bd0090224ec1cf2ef79c6
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0030/20260521_043815.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f61ccc99d85b6fa2d36c371a620c2d4b588d53f68abb9e1d0e3cb73ebcf1216e
+size 150951
diff --git a/robot_trajectories/with_distraction/open_lid/0030/base_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0030/base_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9193652483c1c79091e4a520dd2a5cc3996805eb
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0030/base_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1b1c2e4ee2f51cc907e2bae2159610110f239aa83bedbe1e0e435cec2858010a
+size 344633
diff --git a/robot_trajectories/with_distraction/open_lid/0030/hand_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0030/hand_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b85b520e7ec582807fd47d056ce015bb36ba9b59
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0030/hand_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cefeac818e4ff6a923a5c040d8c9714f9ec2fffdc0e324bf5099a8d3b10ce852
+size 771129
diff --git a/robot_trajectories/with_distraction/open_lid/0030/left_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0030/left_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..17466b20592ef95f52357a515851eb2d88e8ff97
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0030/left_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a22e72e611a8fa7b4b539735a2ad6cb38d71444b301f08d2cc4404dc2abb6872
+size 396285
diff --git a/robot_trajectories/with_distraction/open_lid/0030/overhead_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0030/overhead_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..68139a0706c899dd1e14f203e49617e39910c3e5
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0030/overhead_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2179182a13adb58605c16ba44716ee1d656a16009204eba05759fef25c636afa
+size 514110
diff --git a/robot_trajectories/with_distraction/open_lid/0030/right_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0030/right_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e163cc47ac6960a301e98a5794bcf50ff27a175e
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0030/right_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e6ded9396aa3119d2313edf8f36335b15b2af4e8e99869c1b8ba498af8d776f4
+size 383436
diff --git a/robot_trajectories/with_distraction/open_lid/0031/0.mp4 b/robot_trajectories/with_distraction/open_lid/0031/0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..61171abd0fc908d1f457617542573ec69d49f004
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0031/0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3ba9971a2526c174433d0c78e3e39c9153196462410a15faf1d002b88f3d4274
+size 317596
diff --git a/robot_trajectories/with_distraction/open_lid/0031/20260521_043821.h5 b/robot_trajectories/with_distraction/open_lid/0031/20260521_043821.h5
new file mode 100644
index 0000000000000000000000000000000000000000..a49fd3e6f700e244068f4fbe3e5433ae2001bf8c
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0031/20260521_043821.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4d776d3c1d3b32541cf09a0886153c759491a11dd5707059107873009ae55b0b
+size 148326
diff --git a/robot_trajectories/with_distraction/open_lid/0031/base_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0031/base_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ac89838e9ac0e157583cff3436f6cfef71529673
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0031/base_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4f2f0c8ee66050ea141f0eaf5bc9a2b289594620ca6159682f3b88df4f51f0d9
+size 334191
diff --git a/robot_trajectories/with_distraction/open_lid/0031/hand_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0031/hand_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a4392dcdbeecb1316f9384b76aab04314030a150
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0031/hand_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b9704cb248c2b5dba725c6cf7773733cf61ef2dea7f6c86e5edc6a4397a0cb73
+size 768692
diff --git a/robot_trajectories/with_distraction/open_lid/0031/left_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0031/left_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8604e57c730e8e5db4f10ffc9054ab6e79e7e33f
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0031/left_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b21c62d3c0bda8ce1d828ac8b2f7f77f4da4fe50496c6b05b57dfdb4cd5294db
+size 382247
diff --git a/robot_trajectories/with_distraction/open_lid/0031/overhead_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0031/overhead_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ce1bf9af8c4f7747597779da4fb1d3301871748c
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0031/overhead_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:188f83387ae6f2da921b7eb7a66c17a65c5bc2afc90d8301716cf53adc4ca39d
+size 478170
diff --git a/robot_trajectories/with_distraction/open_lid/0031/right_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0031/right_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..963dde26016ab92b4580a7dae16f668162b60531
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0031/right_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:44314e96595ce5359ac887b884c7fa8f1e32477e673cbac1ddf5c2b331334a0d
+size 379197
diff --git a/robot_trajectories/with_distraction/open_lid/0032/0.mp4 b/robot_trajectories/with_distraction/open_lid/0032/0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8dda3bd30ba6abff97b98251208938d7e40eb697
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0032/0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dcbde718419b0ce2181cf3b2800cf8a94324406816e3c662c383571999fda9ba
+size 316228
diff --git a/robot_trajectories/with_distraction/open_lid/0032/20260521_043827.h5 b/robot_trajectories/with_distraction/open_lid/0032/20260521_043827.h5
new file mode 100644
index 0000000000000000000000000000000000000000..8541114bcd2e9f6afb90d725c3f0fd9015c05b77
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0032/20260521_043827.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1eef63ddfb533c907a6201415331e85c4132df5edc2fda24af35cb38d6679b34
+size 149901
diff --git a/robot_trajectories/with_distraction/open_lid/0032/base_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0032/base_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..46e55f3a0a71fbf238e1e87063220f4538e16997
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0032/base_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b60507c10e1cfba673caa63b6f29212cb6811d43d1e147e0eb2f86c042a4cd5b
+size 325237
diff --git a/robot_trajectories/with_distraction/open_lid/0032/hand_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0032/hand_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c89080bc159fde4c5058828da4b99cf65f0888c0
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0032/hand_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:002ca1a0a924987ae5de2884e7b7b2442eafb8898b96b735299a95380c73239b
+size 732534
diff --git a/robot_trajectories/with_distraction/open_lid/0032/left_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0032/left_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c506af4800687768d95b47874ee2d3d29ba0f249
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0032/left_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:49ffc992f319ea14da1c3f1ee49f36aba6d46c18510ddb8f007e3d2834c652d8
+size 375638
diff --git a/robot_trajectories/with_distraction/open_lid/0032/overhead_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0032/overhead_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..673fd3adc8613ac9681655af53bb34b6a19a7c4d
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0032/overhead_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e9f01bd848db170e970e2b2fd97936da552356a4bfec673ed64f67c003e81d44
+size 486031
diff --git a/robot_trajectories/with_distraction/open_lid/0032/right_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0032/right_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..cf7398590a9f73231492858c716e1caf0401a8c4
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0032/right_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8081241a0fc671fa30dcfb1e13e87bd0887e278dc9a934730cd0050319397cab
+size 380507
diff --git a/robot_trajectories/with_distraction/open_lid/0033/0.mp4 b/robot_trajectories/with_distraction/open_lid/0033/0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1403b22a744c3fcb396cec97f4aec4f55c470fa8
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0033/0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d6de2a597946e5402809f17d644eae3a966ac86c333f2300c50a634985d8327c
+size 338497
diff --git a/robot_trajectories/with_distraction/open_lid/0033/20260521_043834.h5 b/robot_trajectories/with_distraction/open_lid/0033/20260521_043834.h5
new file mode 100644
index 0000000000000000000000000000000000000000..7188c571572629c670f3154b80681ccfa65013b0
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0033/20260521_043834.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9d08d84a207f335dc32594c2451689a353e3419cae901d527956a39f9d920dea
+size 155151
diff --git a/robot_trajectories/with_distraction/open_lid/0033/base_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0033/base_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..12aadf276b7cdbf656e0b9519f72bdca748457ab
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0033/base_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3b72111fd52ef0ee9f965a86b8f30b3b8908560040619bd9383acfd0cdd23886
+size 372557
diff --git a/robot_trajectories/with_distraction/open_lid/0033/hand_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0033/hand_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0cf3bfa53b1135365845ff0e1c79df2f7d39fbfd
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0033/hand_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:63442738d60487a1a97589b8fbb2ceb3185261f31d4470d4ef78d33117420e93
+size 752490
diff --git a/robot_trajectories/with_distraction/open_lid/0033/left_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0033/left_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b4c74a622e7ee831d8a8428045f80356f3f1ef6a
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0033/left_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8bd2114cc1e649e643657b9504263a4a73bf5871c7a03cc27ad2369e0f27baa1
+size 409482
diff --git a/robot_trajectories/with_distraction/open_lid/0033/overhead_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0033/overhead_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..116159d636dafee21b812ce4c224b89877bb48e3
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0033/overhead_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:423f3e4834282565159b36760b7de58d40c260f65f4720605fa58b4f7739d0c4
+size 511362
diff --git a/robot_trajectories/with_distraction/open_lid/0033/right_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0033/right_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8677d0d9684e1d8dbc6905e98ca79bdca38ab6b9
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0033/right_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7abcf437bf89cf9bfd8873f26e030e90ef1e6e114dcd03e09e82dd92c2bba913
+size 410248
diff --git a/robot_trajectories/with_distraction/open_lid/0036/0.mp4 b/robot_trajectories/with_distraction/open_lid/0036/0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..609eb37cec5f5936b31495983190caca1ba05a0a
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0036/0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5c34841400d68205c52debb1bb98eb15ce763b5b894bca551c6d80f5d22b09e7
+size 326534
diff --git a/robot_trajectories/with_distraction/open_lid/0036/20260521_043852.h5 b/robot_trajectories/with_distraction/open_lid/0036/20260521_043852.h5
new file mode 100644
index 0000000000000000000000000000000000000000..91ccf4693c9b3a2ee17fd83fa814c8df835d79a9
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0036/20260521_043852.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:635c32ddecd4a3d8c492686edb59ff8080c72f4a71178c45163837162902d52b
+size 136334
diff --git a/robot_trajectories/with_distraction/open_lid/0036/base_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0036/base_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9dd2e96e3dda90e306bec4546882b3101231b38a
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0036/base_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8df7901f8c98f8fa5add208842d9bebd18ab3a44948fc4c5f7e9dcc91e517799
+size 351599
diff --git a/robot_trajectories/with_distraction/open_lid/0036/hand_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0036/hand_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ec1b362484c4f7fad9378a7ab1f6bcd103ca8d47
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0036/hand_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:53d942b8c71616834d884ef6ddad42e4b988d0bce5e13d9b4308650471505db6
+size 744531
diff --git a/robot_trajectories/with_distraction/open_lid/0036/left_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0036/left_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e2f0216f781cf5701bc10af68843e294479042fd
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0036/left_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:849bbd354ab1008b887a893b7558d842fa2686e456db7a6d3bbf9052bdeec8b4
+size 392102
diff --git a/robot_trajectories/with_distraction/open_lid/0036/overhead_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0036/overhead_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e366c1e6952f67759e4bf029f79252ea0d44c861
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0036/overhead_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a6bda2ac37c5847c04e13fe42efdd45d167676f3bf79ea7b737ac96a90d99b3e
+size 482924
diff --git a/robot_trajectories/with_distraction/open_lid/0036/right_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0036/right_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7cf2f45dcea1c0e798b9860a7d636a6ca41f85f5
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0036/right_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c4a44ea8f7da44338b5a4ec33132fd0d8e8b31ed8b9ecf0ea60c0f5410f5aa86
+size 393874
diff --git a/robot_trajectories/with_distraction/open_lid/0037/0.mp4 b/robot_trajectories/with_distraction/open_lid/0037/0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2016b8c37ce0a6d9ec2f051a22e63bf96fa9b5ac
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0037/0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:91476a73ea92de629dea6413a18d1b1975b41b1968b8021a3467038390d4696c
+size 318506
diff --git a/robot_trajectories/with_distraction/open_lid/0037/20260521_043859.h5 b/robot_trajectories/with_distraction/open_lid/0037/20260521_043859.h5
new file mode 100644
index 0000000000000000000000000000000000000000..d4987d495bfbd3456ff32a756cec52009b7ec4b2
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0037/20260521_043859.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0ca18c49b58e419d4b8ab3fcf56cc9448c91c47e21142bd72f743cfa23098eaa
+size 134442
diff --git a/robot_trajectories/with_distraction/open_lid/0037/base_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0037/base_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..73b6d28cc40c414295619b1a7655cfd2d7d9a1ff
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0037/base_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8793d272da418942d3b5795b5a59a53c5c27cae4eb1d50ad41218fcd2e92aeb4
+size 335505
diff --git a/robot_trajectories/with_distraction/open_lid/0037/hand_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0037/hand_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..49cf74a9fff6b100bb1992f09b6ad0e2030e76db
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0037/hand_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:03bbc9378105e361612450bc05773d7368119caf798768f27d94f1e917c0af82
+size 770752
diff --git a/robot_trajectories/with_distraction/open_lid/0037/left_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0037/left_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c6280ae5a847d8e95b07f51157b20be0a08d2dfe
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0037/left_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7a639716a0ae28f3b68ea73076ab076bba1b3ad243839a88213baae6104d6820
+size 378130
diff --git a/robot_trajectories/with_distraction/open_lid/0037/overhead_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0037/overhead_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..fb09fff121ec0f8f3e1947bf2050cfb7bd250eb7
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0037/overhead_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e256492c749010f26ea981e4e5b37fc2aaddf8e180cfbbc019d610f942f315f7
+size 471408
diff --git a/robot_trajectories/with_distraction/open_lid/0037/right_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0037/right_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..afd0927210a2090c994f261f41f7ce02eef2ae19
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0037/right_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c67e1dee7fc6f43d15324028ebcb5a1903d2222265bced4f7e6414a810980d0d
+size 379404
diff --git a/robot_trajectories/with_distraction/open_lid/0038/0.mp4 b/robot_trajectories/with_distraction/open_lid/0038/0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9adf24f9a80b54b7e2bd7028d8aeb2d7663e14f3
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0038/0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a0ee2f6b835f6604e9dae701e217bddc86d6b215df92eaa265fe4d6d0d16f340
+size 315948
diff --git a/robot_trajectories/with_distraction/open_lid/0038/20260521_043905.h5 b/robot_trajectories/with_distraction/open_lid/0038/20260521_043905.h5
new file mode 100644
index 0000000000000000000000000000000000000000..bc6e09bfde7024e90107a92c7f72af23bf244397
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0038/20260521_043905.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3e9bddf37b3ac58197c8e74ee48616a22d818c971ef793cec976c431eb05e3e0
+size 133496
diff --git a/robot_trajectories/with_distraction/open_lid/0038/base_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0038/base_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c08f7a752007ac5e4b6b24f63a2c5de0953372c0
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0038/base_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e8e911aa480f04ef0347c1e3ab3abe30cdc4a62905b7287d35566da8336de734
+size 339203
diff --git a/robot_trajectories/with_distraction/open_lid/0038/hand_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0038/hand_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..578255fae374bd96ed3351540fc116a99a49a63a
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0038/hand_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7f8dcf771076abb156584604fc7da1ef94fdb580b787fa6c0355f28ad8a3de9b
+size 703859
diff --git a/robot_trajectories/with_distraction/open_lid/0038/left_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0038/left_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..49657c0f6269c5c4fdc31428e232fe4bec4704e3
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0038/left_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cf488e3cd1f4633abd08a7635a4c0dc8941b8ebe7799c7cd3e1f3b99e660d15a
+size 379944
diff --git a/robot_trajectories/with_distraction/open_lid/0038/overhead_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0038/overhead_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..23245382fab858149e44b0ddef40d09f3be99d48
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0038/overhead_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f8fb6b40c4076774afef1cf6b6f7ac3539990d7844ecdc1d9490c5ea53207ef9
+size 506500
diff --git a/robot_trajectories/with_distraction/open_lid/0038/right_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0038/right_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ba296e005009b7679dece44016fa3807c02ab7ac
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0038/right_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:20e129d4317a637b5ec70e6c8e012e401f565676b0d68f3eb2992fd7397972e0
+size 386636
diff --git a/robot_trajectories/with_distraction/open_lid/0039/0.mp4 b/robot_trajectories/with_distraction/open_lid/0039/0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c156caa89a10b6e7857d9792ade6e349f55a5f81
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0039/0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5533b5528a78858bc8a101eb28e58e075797920ef7fa95ff4ae3f4a707ce90e1
+size 324346
diff --git a/robot_trajectories/with_distraction/open_lid/0039/20260521_043911.h5 b/robot_trajectories/with_distraction/open_lid/0039/20260521_043911.h5
new file mode 100644
index 0000000000000000000000000000000000000000..7d7a4bc48129275d0520b8b9b69c8eade742e069
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0039/20260521_043911.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:07670b6a5de2d38fa0e94159720940f87e058d747a056a0a51d9eb0e03eb1fca
+size 149901
diff --git a/robot_trajectories/with_distraction/open_lid/0039/base_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0039/base_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b3de1d7d1f125cbfb92e3940f610cb2fbc1f9bed
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0039/base_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5516e63f48739fa6354566ba010d6305b145677c2c582bd11e1b43f7233d0b23
+size 343272
diff --git a/robot_trajectories/with_distraction/open_lid/0039/hand_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0039/hand_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..91a2be8f6006b9855092a9b45afaac2f9398836f
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0039/hand_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:53266846aadf8fd2454edfce2ffdd3f59d97216a66253efc89e5e31eb9ebce5e
+size 739098
diff --git a/robot_trajectories/with_distraction/open_lid/0039/left_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0039/left_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..09a6411a6186dc7e4cecd5d632cc48489bea1618
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0039/left_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6dc9b47a937bfdcd459891ccad47fba477dd050544b9426afdefb4a84ed73568
+size 390223
diff --git a/robot_trajectories/with_distraction/open_lid/0039/overhead_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0039/overhead_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..fa1c7f81024e9bcbea9c6466d0b540cc9992c061
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0039/overhead_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:14cd796bb31d5503dae203ad0be60f0ceb28deb8fc83934f8c88e71fa9831311
+size 456280
diff --git a/robot_trajectories/with_distraction/open_lid/0039/right_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0039/right_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9b1c01559bbc0b5d969a8603c941ee53d2b878a3
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0039/right_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:50441b32f5b215d79d209ed5c1e2e458664176eee05042a4fb3eb3cfdac5b1eb
+size 391708
diff --git a/robot_trajectories/with_distraction/open_lid/0042/0.mp4 b/robot_trajectories/with_distraction/open_lid/0042/0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a47cebb10cd89ef684bcf34703b9052f8f25d8ae
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0042/0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d41f5de4f5cf728e71357eabe7b68ebee02ea5d2d33d193a86020765dbe980ed
+size 321903
diff --git a/robot_trajectories/with_distraction/open_lid/0042/20260521_043930.h5 b/robot_trajectories/with_distraction/open_lid/0042/20260521_043930.h5
new file mode 100644
index 0000000000000000000000000000000000000000..d115f806c6eb45e824688515d166e669e08b1bc0
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0042/20260521_043930.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:75054304b92791b5bda38448197cac1ea5656b507b7a2451738e585fb6f24726
+size 151476
diff --git a/robot_trajectories/with_distraction/open_lid/0042/base_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0042/base_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c5ca5ab1f8622a27806201045ee0243ee09fe294
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0042/base_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e84070d64c12d7d7878dce49ad8e2aa271f3e010dcbe8d79b124c15d25a89d07
+size 330023
diff --git a/robot_trajectories/with_distraction/open_lid/0042/hand_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0042/hand_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..52676139228768a800bfb8660f6acf53c46b4d01
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0042/hand_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f64bf7ee78716544ed25e65a123506be20045d460c33054c6dcaf85802d51eb2
+size 723687
diff --git a/robot_trajectories/with_distraction/open_lid/0042/left_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0042/left_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..62b8c864420b8cdfbbdbbf6f36ca647541114b2e
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0042/left_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8b13f8b13c040acc070f3d819a4129e7474e27d01975ea0374e47d7696f4ae82
+size 383182
diff --git a/robot_trajectories/with_distraction/open_lid/0042/overhead_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0042/overhead_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b18f186f646bcb441723267e0ed3b61c49f9badb
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0042/overhead_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:defe755c8d520819f511e06d9ea1cae7398c2d00f2ee4c781374b858734bc0f0
+size 470974
diff --git a/robot_trajectories/with_distraction/open_lid/0042/right_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0042/right_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7f5c796ba1ae8bae15153ce8fdedf24686c82983
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0042/right_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:afb8ac5055849662b04de86eb14e2abff3595ebf459a35a57821803adf5fed91
+size 385433
diff --git a/robot_trajectories/with_distraction/open_lid/0045/0.mp4 b/robot_trajectories/with_distraction/open_lid/0045/0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9eebdbb3247627e5d11127fad46db9bf4cf63e3b
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0045/0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5529be1902ed17d4a410a6d1d31d0551bd859d57946d34f8881087678479468b
+size 330264
diff --git a/robot_trajectories/with_distraction/open_lid/0045/20260521_043948.h5 b/robot_trajectories/with_distraction/open_lid/0045/20260521_043948.h5
new file mode 100644
index 0000000000000000000000000000000000000000..5e91dac33fb48f1791f99ce158351b8d0d966ca7
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0045/20260521_043948.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:93cb831e42bda423064726d7be34da82174aab90bb6b4b0226bffc9724e291c9
+size 150951
diff --git a/robot_trajectories/with_distraction/open_lid/0045/base_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0045/base_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..baf775838183b0514b303102721dc1b14f8ec36b
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0045/base_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8bf0821b3291e62a78a2657bcd907ad958587890fc4514e35be29de8263a850e
+size 352190
diff --git a/robot_trajectories/with_distraction/open_lid/0045/hand_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0045/hand_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a1c580cec1f8019703e88660103e6bd74c2423d6
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0045/hand_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:623689d6a71afcdfcb5b1745143f60f697888352f77e2e2ea5e17c2f58bf1ba1
+size 775212
diff --git a/robot_trajectories/with_distraction/open_lid/0045/left_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0045/left_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..762222d5086c9c444d8942df2217ebe7f0bf50be
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0045/left_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3ec35f47eda166d2f02e4c144bfce04e14e18710ca97abf95415b2973ae1454b
+size 392721
diff --git a/robot_trajectories/with_distraction/open_lid/0045/overhead_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0045/overhead_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3838d88bc84229858389cf1649e32ccc94353d09
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0045/overhead_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1b776128f247b552477f98232e286192298920ab6b36145b46cd9a0f28ac7d66
+size 476547
diff --git a/robot_trajectories/with_distraction/open_lid/0045/right_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0045/right_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..46ef508445d2a8a69d27bf76fbcd4dde574e8d7b
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0045/right_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d35d06f48c341e8e70db6e6d88daa219227003da15b5e29024ae4074311f5f5c
+size 390307
diff --git a/robot_trajectories/with_distraction/open_lid/0047/0.mp4 b/robot_trajectories/with_distraction/open_lid/0047/0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3f392a7140093b948b5c869b074a9ee62b490761
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0047/0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8e680e61e0ac3c286361282317091369a13d733d03d017c0a427867a89a12192
+size 308963
diff --git a/robot_trajectories/with_distraction/open_lid/0047/20260521_044001.h5 b/robot_trajectories/with_distraction/open_lid/0047/20260521_044001.h5
new file mode 100644
index 0000000000000000000000000000000000000000..114888a7af5c9468b7a8f9fad6ff823fffa8bd53
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0047/20260521_044001.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3103050bebae2e0f1ef213b90c2fcdf1012f0db35deb5513254e352404616e55
+size 145176
diff --git a/robot_trajectories/with_distraction/open_lid/0047/base_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0047/base_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..62bd80b5bab19dd99403dd927bd203bbf6f9cc61
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0047/base_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a1e772cf80869c81d5386169f045dbfceb413cd135c86d952260fc5b0a22ad84
+size 318717
diff --git a/robot_trajectories/with_distraction/open_lid/0047/hand_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0047/hand_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f69da410dc5fe20415a829a36432e2d6e18f3512
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0047/hand_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:92188aa3700477b533cd9ab798af066cb22538661276459dfef859dea429a015
+size 735302
diff --git a/robot_trajectories/with_distraction/open_lid/0047/left_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0047/left_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5cd60d70950361245b0c8b2dd1054454ed5d45c0
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0047/left_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:68c2114acf18b69c97151e52c8750a237db4d5e07dd8e67fe909a27569a6d7d5
+size 365936
diff --git a/robot_trajectories/with_distraction/open_lid/0047/overhead_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0047/overhead_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6440343b81566e68ca6a106fc81a6160e78ef1ba
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0047/overhead_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d4139a1abe7a95922c7ca0d7da871c612499bedaabe1d4ef86b812edcb24cbb9
+size 470255
diff --git a/robot_trajectories/with_distraction/open_lid/0047/right_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0047/right_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1c9aad93ddde7c6f3ce70dd8d32b3e8866438cf3
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0047/right_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f17bb7ae39980be38d6ee3d666f3cebf5041feb3d5a119386906b2508f533cfc
+size 370678
diff --git a/robot_trajectories/with_distraction/open_lid/0049/0.mp4 b/robot_trajectories/with_distraction/open_lid/0049/0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9ba9e4a76425ae23b782a2b3563c4434d05cd67a
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0049/0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:69fe46ce004d945933a1b4417eb08414c3571347be02afbf054298aedac9dc05
+size 327486
diff --git a/robot_trajectories/with_distraction/open_lid/0049/20260521_044013.h5 b/robot_trajectories/with_distraction/open_lid/0049/20260521_044013.h5
new file mode 100644
index 0000000000000000000000000000000000000000..b1686c4f944d8a1f37761f91f4758b3c03b157d5
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0049/20260521_044013.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:767a84314ea484d7f4a180ec46319f125a01bbc01a1455c5375642abd142fe07
+size 136334
diff --git a/robot_trajectories/with_distraction/open_lid/0049/base_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0049/base_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..22cf7f2784af0bb1a3d405296e9da9c8e3075d25
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0049/base_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:96e14101952fc6ea75a98a45cd051f56f92e210d99efa0d88c55d619675bb659
+size 347167
diff --git a/robot_trajectories/with_distraction/open_lid/0049/hand_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0049/hand_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..864a388ddd26f436979bd56360a21993a18f96bf
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0049/hand_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ee77e16f3b70e611cb2361df48e9de383f6dd9d0112ab4c7dbf0518ab9deecca
+size 751991
diff --git a/robot_trajectories/with_distraction/open_lid/0049/left_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0049/left_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c950718f2653d925c850df698e51339ca47cbbd7
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0049/left_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e1cbe78738d3f2d8b6a36748b934bdb386b72cf58b57cd63e9204f3aabef5141
+size 391633
diff --git a/robot_trajectories/with_distraction/open_lid/0049/overhead_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0049/overhead_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9c740f2e5bb26b15bc0d62a380c2d39be840af92
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0049/overhead_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c1562f398496adbac2ebb9b9f2758739de82cbc1bf9928debf08f596784cdcf5
+size 467502
diff --git a/robot_trajectories/with_distraction/open_lid/0049/right_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0049/right_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0fe136acf3c8323de36f56de379c991650d20d51
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0049/right_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a5370efd550a0406d06954a5261ce086fa5813e38b4eecd49b6a0837cb23694a
+size 394451
diff --git a/robot_trajectories/with_distraction/open_lid/0050/0.mp4 b/robot_trajectories/with_distraction/open_lid/0050/0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d7c237ca5a1065d4d47712afcf0baa263b610851
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0050/0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e3db26bc7704654659f8a25abc5eac83a3c85ed23338ad129066b70a480382a0
+size 312561
diff --git a/robot_trajectories/with_distraction/open_lid/0050/20260521_044019.h5 b/robot_trajectories/with_distraction/open_lid/0050/20260521_044019.h5
new file mode 100644
index 0000000000000000000000000000000000000000..76b9eb42ab8bcdeaeb701aca0dbfee6de5afa99d
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0050/20260521_044019.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bacad048674cb4a74110a3e09a88db14e2fd7f4689eb76cedd0bfa88bb011bef
+size 134442
diff --git a/robot_trajectories/with_distraction/open_lid/0050/base_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0050/base_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..75d575b21451d75ca59e981be2b498d2be014080
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0050/base_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:946e3d8046846aa5894e241a2a416ae8f325aa810dcd670f491d3641467f23fb
+size 316417
diff --git a/robot_trajectories/with_distraction/open_lid/0050/hand_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0050/hand_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ad58187ad4f2324240f56b20b35cb23d236850d1
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0050/hand_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2960842cbdc4d77e51ba57c18b03c8367de042fc089e6a52460ddd2e3a7c523b
+size 740123
diff --git a/robot_trajectories/with_distraction/open_lid/0050/left_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0050/left_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..cf2ef2e74f7d0d37c5c5272738d4250dedd9a5f3
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0050/left_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2aa8ff962665400ac3f5f9aa4589a51dfbc5c19678c5bc69006698021d971935
+size 370555
diff --git a/robot_trajectories/with_distraction/open_lid/0050/overhead_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0050/overhead_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..852e6142a2373fe57337760adc4fa349640bd5e9
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0050/overhead_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5da0d9a230971c888d60741be8d5cdb819387954759069807a36ea2a311bee53
+size 459902
diff --git a/robot_trajectories/with_distraction/open_lid/0050/right_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0050/right_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4f9ebb44fe3705780d3026225abc368ae59f9cee
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0050/right_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cb7a7982aaa883c014a57f743ee3720e4ae5cc08ed6f28190ad8fc05d4cfc466
+size 373471
diff --git a/robot_trajectories/with_distraction/open_lid/0051/0.mp4 b/robot_trajectories/with_distraction/open_lid/0051/0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..15aa72389b9340b06cececab831f98b7f7ae3216
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0051/0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8f1944f4b3eaf96d3c643fb8f7d08362b22708568119f3c05b853db2acdd407d
+size 321265
diff --git a/robot_trajectories/with_distraction/open_lid/0051/20260521_044025.h5 b/robot_trajectories/with_distraction/open_lid/0051/20260521_044025.h5
new file mode 100644
index 0000000000000000000000000000000000000000..6a734f48585ff7ad96bdba2564930f83fe004c99
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0051/20260521_044025.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ea659e4189546fc1f51f428f4fba1c0c9a879bd30f856337390ce49a8ce2b543
+size 148851
diff --git a/robot_trajectories/with_distraction/open_lid/0051/base_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0051/base_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..da8ea28d898f95951c8d18c38ff5866bcce59c9c
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0051/base_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:597bf6a8a02d89438d0d2f647d2b35e104f71426edef7741f54d0bce19e0eae7
+size 337182
diff --git a/robot_trajectories/with_distraction/open_lid/0051/hand_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0051/hand_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5800c2b90f6a3767cfac738e3c33f12d5569bddb
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0051/hand_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:58fffbfda62fd4e1d54d1235e170fe896df9a0d8f489b09a6b9050e307e1c929
+size 786001
diff --git a/robot_trajectories/with_distraction/open_lid/0051/left_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0051/left_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f47df0daec925e902f8b670ab99e3f02f93ebadb
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0051/left_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ea061f23975c8d880444cbd2e2db9033404eed54b923f840ea5566b291d2fab3
+size 382819
diff --git a/robot_trajectories/with_distraction/open_lid/0051/overhead_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0051/overhead_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f7c52492a266ea9fb5cc5e8ff9a8d79aebdd6bf8
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0051/overhead_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:05a5b14b0eda25c39cccebf00a6ffbb3577cc2d80d5f2ce03dad027fc4d178cf
+size 469126
diff --git a/robot_trajectories/with_distraction/open_lid/0051/right_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0051/right_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3f0e28ff9d07ae5d1c51b72c305ae1fa7f45ab47
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0051/right_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:574f70d615928a83c9af050e66c4f64c1b9588cc5c6078b15bede1494ea765d8
+size 382876
diff --git a/robot_trajectories/with_distraction/open_lid/0052/0.mp4 b/robot_trajectories/with_distraction/open_lid/0052/0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7f4b0e8b4e31fd69d228a89dbf184953ba97cf58
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0052/0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:736708b87efa10c801f9d36fe81edaff76b50bd7ad66e8765918af35b7153092
+size 345827
diff --git a/robot_trajectories/with_distraction/open_lid/0052/20260521_044031.h5 b/robot_trajectories/with_distraction/open_lid/0052/20260521_044031.h5
new file mode 100644
index 0000000000000000000000000000000000000000..71b44dc3c4763447d44e55a305719d8d02d44cf3
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0052/20260521_044031.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1b0567998e44db997a4875fd6b7192644bdbd28a1aa6d2cfd1afbeee71cb9e2f
+size 153576
diff --git a/robot_trajectories/with_distraction/open_lid/0052/base_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0052/base_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..eab5fd22221de9dbd6a9cff282f8d79be978adb2
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0052/base_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7fc5b4ac2e4a53a7712effae3e5f1a6cd053328d10623a251fe97718fef77847
+size 373535
diff --git a/robot_trajectories/with_distraction/open_lid/0052/hand_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0052/hand_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..eb905d9ee40a9348854117cfd3fa54078fd107b8
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0052/hand_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:016741b3e6dabb7377b2522bec8ec968dd3f3829f18895072f1337adf6252e19
+size 762278
diff --git a/robot_trajectories/with_distraction/open_lid/0052/left_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0052/left_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b63131f4d40af3bde580b4705bba6382adb9ab41
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0052/left_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:79537534e45f04c778a654033a98b99c2a8f746a555e26576c9ade1d4054ec46
+size 418178
diff --git a/robot_trajectories/with_distraction/open_lid/0052/overhead_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0052/overhead_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e3b7cb7482d516611e48b5825af7fb05b14df441
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0052/overhead_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e354bd03fa629624547d1cba87210744ea08c45c471c3bdeb9adca75f56346ce
+size 532209
diff --git a/robot_trajectories/with_distraction/open_lid/0052/right_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0052/right_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c6d68e47736cfaca055a993b5e08e07530ceec2a
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0052/right_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7f88f9b2f8befcd06b058aebd7b8d514f6c7947d0f0aa4c7c646386ee587cbe5
+size 397996
diff --git a/robot_trajectories/with_distraction/open_lid/0053/0.mp4 b/robot_trajectories/with_distraction/open_lid/0053/0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..31537909423f071c47f5797d6e1efd66c11d4e8b
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0053/0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5684afa76abcabaf7cc1ea6969ddedddf044812e67221ddf03fa0e1e7b19d532
+size 335193
diff --git a/robot_trajectories/with_distraction/open_lid/0053/20260521_044038.h5 b/robot_trajectories/with_distraction/open_lid/0053/20260521_044038.h5
new file mode 100644
index 0000000000000000000000000000000000000000..d92a5db75dfabfc8a7f526605a716ce065f38717
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0053/20260521_044038.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5cd80cac90c0a600f2fb50c231d2d171e04a122704048f5f5007581e6859a48c
+size 135388
diff --git a/robot_trajectories/with_distraction/open_lid/0053/base_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0053/base_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8bb1087511a7c9a8a29242e6bc13efc069b9f625
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0053/base_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:636624d62fe0510e776b8c3059d318ec01e2c1f25e0125b0a7c455cbe890c154
+size 370666
diff --git a/robot_trajectories/with_distraction/open_lid/0053/hand_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0053/hand_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7e3f8c27eae3170c8aaaeba1db5687c95b509890
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0053/hand_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9df02bfb0736e67e9e3b138734fc25bdd478210f095281bb2e167ed2b4524aa6
+size 841150
diff --git a/robot_trajectories/with_distraction/open_lid/0053/left_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0053/left_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..daa7da21a50238c65a2a14384206da824bdc1a9a
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0053/left_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:93bc11b1ea4de9c426ac07198ad6a62213d41eaef59977dc0d4c261e1a2c0e4d
+size 402535
diff --git a/robot_trajectories/with_distraction/open_lid/0053/overhead_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0053/overhead_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7e0f2a213b0f21207d787da1c89a09fa65a2814f
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0053/overhead_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:df4cd35e41eb64be6a67652c5af753dfccb4f7a69b7ca97baa25a7c0406be279
+size 484419
diff --git a/robot_trajectories/with_distraction/open_lid/0053/right_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0053/right_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..bef834151594d51e9cf32fd4543c6e8b64cd87e7
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0053/right_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:742035920c5d0b8d6285ddeed16868c44df79ddf7b2bfddd8dbf2c51ea7166c7
+size 401050
diff --git a/robot_trajectories/with_distraction/open_lid/0055/0.mp4 b/robot_trajectories/with_distraction/open_lid/0055/0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a70a88b36f3b893a5aca8c3e481bcab606b4a347
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0055/0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0ac5d4747e52034ec9d62c3be173fd12b28553bbf3c09413ce22d55a0243ccc3
+size 337530
diff --git a/robot_trajectories/with_distraction/open_lid/0055/20260521_044050.h5 b/robot_trajectories/with_distraction/open_lid/0055/20260521_044050.h5
new file mode 100644
index 0000000000000000000000000000000000000000..6d323260e43027796522e4c6322590de52f8f7ca
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0055/20260521_044050.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:93c5c4ce947817c5273eb16e2de1fb8d54b52f9b4b6adba21d5839c7316b5bef
+size 151476
diff --git a/robot_trajectories/with_distraction/open_lid/0055/base_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0055/base_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d702a1d0a17346d6246a904ded10f2c26a86ca72
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0055/base_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a4b6fff64f09aa41f7bf4c62ef77d4567addb01e52d81f9771cfeed9410793d4
+size 360758
diff --git a/robot_trajectories/with_distraction/open_lid/0055/hand_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0055/hand_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..81a3bb88ad1edc5e821c48cb43ebb6bb463ef67f
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0055/hand_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:485bab79f7bcff7e6b43f5e41827e008463ab9c51e8d11fe7d30f02bcb138b64
+size 769243
diff --git a/robot_trajectories/with_distraction/open_lid/0055/left_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0055/left_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..82cada91e427ccb98f30bbe19bdabdf398b4084c
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0055/left_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:40d520c39886de320969516ef64f5cb428119089d87397bdec2ca6a39dd91635
+size 404858
diff --git a/robot_trajectories/with_distraction/open_lid/0055/overhead_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0055/overhead_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f44d7fce9972731221bf057cba5cb2bdd75d4c7b
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0055/overhead_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3931b9d64b38e92f829780a913d552d06276be3c7933ba7897108c15cf5505e8
+size 520958
diff --git a/robot_trajectories/with_distraction/open_lid/0055/right_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0055/right_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e41f7d3332ae6bce77e142ca904cf1d223ca40ad
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0055/right_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7c056c8226fbb0fdef708d006189e49eb8fa614b19dd5901871a3678cc7837fa
+size 391961
diff --git a/robot_trajectories/with_distraction/open_lid/0057/0.mp4 b/robot_trajectories/with_distraction/open_lid/0057/0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5b423ff5c58390621196e871e13b13188daac02a
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0057/0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6d39ec3b42a10efeef3e8ae9d1dbf9c57a409ad02285c16697f2dcbed8c9a45d
+size 334061
diff --git a/robot_trajectories/with_distraction/open_lid/0057/20260521_044102.h5 b/robot_trajectories/with_distraction/open_lid/0057/20260521_044102.h5
new file mode 100644
index 0000000000000000000000000000000000000000..3e8235561cd20e7f6a2b25e60c4e99a580d852ce
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0057/20260521_044102.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ef5f3ce0125033007292c5190ca3a189b9316eca5c2efc7144c32623e0c94f2a
+size 137753
diff --git a/robot_trajectories/with_distraction/open_lid/0057/base_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0057/base_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..af3f04bc4b892ecc67ee4bc86b559571d5f357d6
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0057/base_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3eb75910953f1b28bd6e05440e520a68e9e5d6d7060046d0e7fa39138402aacf
+size 365941
diff --git a/robot_trajectories/with_distraction/open_lid/0057/hand_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0057/hand_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..34f54a95b98fd5569c96d26beb8829d1758c39af
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0057/hand_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0f836b99740404c3f9e15a9e1cd20155a2036b3b9fc1d4ea5447026b53fca1f5
+size 764404
diff --git a/robot_trajectories/with_distraction/open_lid/0057/left_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0057/left_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c093f1f397891b7fd4df7c89d89647ff204f96f7
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0057/left_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0a2350ab6c3cf105eb863cb5617d87ab556df182ea757d18a03a346c15a602db
+size 397818
diff --git a/robot_trajectories/with_distraction/open_lid/0057/overhead_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0057/overhead_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ba97a77aacffe790068c58604111abaa0dd8286a
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0057/overhead_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cf75de9c9bcc7591ba72ac065bc7d2d5d61ed80474aefe39d25fa30a5babb0c3
+size 496690
diff --git a/robot_trajectories/with_distraction/open_lid/0057/right_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0057/right_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2037bcc94926cc8b86c47a6db3af4051332619b6
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0057/right_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d37b8ba119f4675f87add055a87b00ed649ef94a623b255492066849583b8b16
+size 398162
diff --git a/robot_trajectories/with_distraction/open_lid/0058/0.mp4 b/robot_trajectories/with_distraction/open_lid/0058/0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c6ef98883220d13454a62a38dfd212c8b5cca71c
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0058/0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9a585062fdd8d388803b7828089ed4e97a45215d8cc651dff8a4dd3e50893347
+size 308600
diff --git a/robot_trajectories/with_distraction/open_lid/0058/20260521_044108.h5 b/robot_trajectories/with_distraction/open_lid/0058/20260521_044108.h5
new file mode 100644
index 0000000000000000000000000000000000000000..513370c5c368e83811f36857cba8be8a37343d0f
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0058/20260521_044108.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7f5a03d7bfd9e1d1679c71fe2645f44df5bf70878d5d6da274f189fc28cb99d9
+size 147276
diff --git a/robot_trajectories/with_distraction/open_lid/0058/base_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0058/base_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2949cb71a5cd0e6ac5bc6cd9fb31c3a38d98270b
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0058/base_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2c8f75df80ee06473d80e56a19a85373478879ad994fb2fb7c030efff4ac1c96
+size 311827
diff --git a/robot_trajectories/with_distraction/open_lid/0058/hand_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0058/hand_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..fb61648625d1281e725e43767d047cd1038db752
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0058/hand_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:22cb12a585402306e5f32d033432cb820cc13723d7a29914258c90abf6dfcd96
+size 717233
diff --git a/robot_trajectories/with_distraction/open_lid/0058/left_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0058/left_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..436bda9b5baf6b25c77257033fb6ffbee9bb04eb
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0058/left_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:364c763eb3c88f4bc49dd8a6bc6127b530d409e51352e76ceab194a2142fe4ba
+size 364735
diff --git a/robot_trajectories/with_distraction/open_lid/0058/overhead_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0058/overhead_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e9bfece61d4d354a4b7b67efba53e49616ea683d
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0058/overhead_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c33a6718325555fbcac63a31c547318d53552118d35400aa161eef44cfbe043f
+size 456651
diff --git a/robot_trajectories/with_distraction/open_lid/0058/right_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0058/right_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b9f8c008463ce651de70856f77aa66760ee938bb
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0058/right_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3570c3411bbebc6bd3a8031c1e3b539a0deb2cce0b019ce24abe209a1229744f
+size 371132
diff --git a/robot_trajectories/with_distraction/open_lid/0060/0.mp4 b/robot_trajectories/with_distraction/open_lid/0060/0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..17b8c377f2bbd628c22f07da1bcfa07f22c24c6d
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0060/0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ef7c6fec0121e2022387f84f735627d0ec1895ef0241027c4eb79428ffed5905
+size 340032
diff --git a/robot_trajectories/with_distraction/open_lid/0060/20260521_044121.h5 b/robot_trajectories/with_distraction/open_lid/0060/20260521_044121.h5
new file mode 100644
index 0000000000000000000000000000000000000000..23bd068b9c56dcf08de93b6c162a081d10a859c0
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0060/20260521_044121.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d47bbca58cdafa4681721acf93d58c4407a4e65424db098e059aa04f0dddcbe1
+size 150426
diff --git a/robot_trajectories/with_distraction/open_lid/0060/base_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0060/base_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1dfd55ab570964cf2c075a07323c77fc4c6eaa04
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0060/base_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9172008728fe1fbdefba2d6c845d165a29675cc76ab2c80ae18c4d660237d47a
+size 376639
diff --git a/robot_trajectories/with_distraction/open_lid/0060/hand_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0060/hand_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..cdfe6991bc565b7ecb9ce0129eb26ac809299a6d
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0060/hand_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:de10802452192adb3391a91f7711092d58a840cf842a242e74710dbc71c4b6b0
+size 785004
diff --git a/robot_trajectories/with_distraction/open_lid/0060/left_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0060/left_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e2c1445a41a2e0ca89c79085a90ea7e9624e51f4
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0060/left_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f79f9c874025fa9388dca9e8c65c87a840ab118f3a3b879b58e09072eedce793
+size 406070
diff --git a/robot_trajectories/with_distraction/open_lid/0060/overhead_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0060/overhead_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ee131c867146487258c0ddacd14543f0009d4578
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0060/overhead_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e52319b9202f8fa0943207f3cfa0aea3510c85d3792763bf072457a76a0ed8b5
+size 537759
diff --git a/robot_trajectories/with_distraction/open_lid/0060/right_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0060/right_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..20cd84acb3cdfda86be6ab3a66c335c11c9fb9da
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0060/right_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:314057cc00590bed167e2ff7799218b9f8d4bf99ad7bd4113c457873dcd1201e
+size 401952
diff --git a/robot_trajectories/with_distraction/open_lid/0061/0.mp4 b/robot_trajectories/with_distraction/open_lid/0061/0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c4069fe2a41c2a5fe621ba8b6e78ae9f036ff4c9
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0061/0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c7f7aa61400238e43b3880f3444803eeb98e575d835e3bb03a4803abc459315d
+size 324686
diff --git a/robot_trajectories/with_distraction/open_lid/0061/20260521_044127.h5 b/robot_trajectories/with_distraction/open_lid/0061/20260521_044127.h5
new file mode 100644
index 0000000000000000000000000000000000000000..1677787582d0056e17cc09cd6a91f49a35e9c0de
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0061/20260521_044127.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ce7ae72deac7c51eae3b40044390b27458689ce462316b1cd1c97aa5031ea5b2
+size 148851
diff --git a/robot_trajectories/with_distraction/open_lid/0061/base_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0061/base_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..cc216a789326630d06e44927c6644664af6d0888
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0061/base_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:22eaf60e972d0e277bc3e791662b6ca41087b39f66dbfa25bfa147e6f4d72214
+size 342519
diff --git a/robot_trajectories/with_distraction/open_lid/0061/hand_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0061/hand_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..21289c924eeab6b6b6a4de25efbc5f38bc17b989
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0061/hand_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5388ab6f561152d0ff0333e9234180e94bbe8eebdcbc6f34c278a5463b827877
+size 706136
diff --git a/robot_trajectories/with_distraction/open_lid/0061/left_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0061/left_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d0821bb551f454f787c0e2ddffa82de21e88346f
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0061/left_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aa1dfcd502d32cd65ff223fda42a5498531dd04bb8f2b1bd7802972a8b892bb3
+size 388337
diff --git a/robot_trajectories/with_distraction/open_lid/0061/overhead_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0061/overhead_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d755047780ad830e3c2fb07f678c5cd237cc1f8a
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0061/overhead_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:12bd12ea62346ad257b32a244db0b7accd8e42c1d9d53bd08eb04e0444d6e07e
+size 507996
diff --git a/robot_trajectories/with_distraction/open_lid/0061/right_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0061/right_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..61f429458fa17019bf812c3f5ccf8ae699daf1cd
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0061/right_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:268fec3d8fc0a6b18ce75e630c9340905267c5fe161e03ccb2caef1ab19f2524
+size 379917
diff --git a/robot_trajectories/with_distraction/open_lid/0063/0.mp4 b/robot_trajectories/with_distraction/open_lid/0063/0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..77e8ed08a2783eec07c7a3af1ad4815bfd9cde4b
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0063/0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6ba8ff5867e79baf6fad1652639a956a2500e2ae46112a9a6ee49b289cc077ae
+size 330221
diff --git a/robot_trajectories/with_distraction/open_lid/0063/20260521_044139.h5 b/robot_trajectories/with_distraction/open_lid/0063/20260521_044139.h5
new file mode 100644
index 0000000000000000000000000000000000000000..815c084dd1e247ae51401460c3d6b59d9d2ea355
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0063/20260521_044139.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6b2d32b91105809d0702211d6ea172d236d9e4921430408bdf820203512cb332
+size 151476
diff --git a/robot_trajectories/with_distraction/open_lid/0063/base_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0063/base_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ff112e1f82449fb8bfe023a2c44dac55f27c1e53
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0063/base_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c8400bf7e7e640d648c5fcb1eba793cb0c77162c195117956927d502e5baba01
+size 364607
diff --git a/robot_trajectories/with_distraction/open_lid/0063/hand_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0063/hand_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f5a7d06b328234c4d1bfd2536d43a4cad9f4652c
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0063/hand_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e5198e94e7086eef337dd04b9229b18971a2bf147c2ea77a30355c1b1dfaf070
+size 762793
diff --git a/robot_trajectories/with_distraction/open_lid/0063/left_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0063/left_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7531eceaa7c558e00cd3e363bc14c187c086bef9
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0063/left_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:90419a5aba562476d472dc731a6a17b6404d819ec7c78c6f6ad027bed999e2b2
+size 403020
diff --git a/robot_trajectories/with_distraction/open_lid/0063/overhead_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0063/overhead_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8bf13f829f1b7fa3a5f452df2b758543dd3c2880
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0063/overhead_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:62f61137977931d888920f4c5b92c82a302cb2122d11175b9d8d69755c52e196
+size 483757
diff --git a/robot_trajectories/with_distraction/open_lid/0063/right_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0063/right_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..dce1a59d8fd3b5944b7c995dddb402ff7f8ec38e
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0063/right_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cc5433d9f34b355f4de3588af132eb68fe36c31f8915f1abb977efc82b64f8b7
+size 394717
diff --git a/robot_trajectories/with_distraction/open_lid/0066/0.mp4 b/robot_trajectories/with_distraction/open_lid/0066/0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f76de38e8d395d8613a91c2cf21097a2e828dcc5
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0066/0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b64970c37dfb6f886e2550bfd5ec3259660120bf3f8fa0024ddd7993eb034295
+size 322419
diff --git a/robot_trajectories/with_distraction/open_lid/0066/20260521_044158.h5 b/robot_trajectories/with_distraction/open_lid/0066/20260521_044158.h5
new file mode 100644
index 0000000000000000000000000000000000000000..bd1e431f402770b0245b9f191142efc071957f74
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0066/20260521_044158.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0f8fbdc7f07807736ff990b8774eae39bf2df9ec95008f5e350604406d6fff39
+size 135861
diff --git a/robot_trajectories/with_distraction/open_lid/0066/base_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0066/base_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ec082582a2be07edf6e693756e04592fda68c07b
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0066/base_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5191e193fd36094903fa29d226b7719e32b3638216396a5f004fd9f37a4f1933
+size 352778
diff --git a/robot_trajectories/with_distraction/open_lid/0066/hand_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0066/hand_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..47a07d4d546d9e83d5019d887292c380ff3ae711
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0066/hand_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1cae5c91423c4c8317a9e5d147c36db763ce2e61ecc24eea3f9ba8c9f5333e1b
+size 769995
diff --git a/robot_trajectories/with_distraction/open_lid/0066/left_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0066/left_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9b09e2a305bb45c33e88dead621abe2038e0f3c3
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0066/left_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e9d76e788aef2d482f251236ad254996ca022cf2b5e76d0a5571cb4a0795e68e
+size 391264
diff --git a/robot_trajectories/with_distraction/open_lid/0066/overhead_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0066/overhead_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0f677682565cfdd4a740d227e43419fa754f6067
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0066/overhead_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bac0e23fee444c333c26a62a2ad41dac5c100dd3caf2e6a4090187cddaa14a09
+size 511746
diff --git a/robot_trajectories/with_distraction/open_lid/0066/right_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0066/right_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2cc9216ead2096985709a21e2b151fed76d846e0
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0066/right_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:34ddb34522f2111bab4f82165564492dec96d3834ef1c1fbb3c26bf84ecd76b4
+size 397876
diff --git a/robot_trajectories/with_distraction/open_lid/0067/0.mp4 b/robot_trajectories/with_distraction/open_lid/0067/0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..da793ef6d4dd6c5941259fffbb28bf7e6d7edcd3
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0067/0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:44bae22b69ddf6b659a938e073d8c340534f37afc1acb1602a58b4dfd9616b5c
+size 327088
diff --git a/robot_trajectories/with_distraction/open_lid/0067/20260521_044204.h5 b/robot_trajectories/with_distraction/open_lid/0067/20260521_044204.h5
new file mode 100644
index 0000000000000000000000000000000000000000..7363312f95dd28da5fc2704de8d5066a20c94aa8
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0067/20260521_044204.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0767b114ce2d69c3fa3396fd119bd1f2c67709cb65834e45cd6a1f89c0765c2e
+size 149376
diff --git a/robot_trajectories/with_distraction/open_lid/0067/base_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0067/base_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..71e4e13163c11b3afceeeb854670ed62f0928c20
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0067/base_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3866e8ced02ee290fe6bad2d430cfc327f57e900bc935c4931870d822d4d7965
+size 351536
diff --git a/robot_trajectories/with_distraction/open_lid/0067/hand_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0067/hand_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7e4a25b139b439fdc38d23828283b3a3aeee03f2
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0067/hand_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9c49f8044d25d4e93de77d07df15f376615d6f0d8505fdc4f43b88945e76f630
+size 771168
diff --git a/robot_trajectories/with_distraction/open_lid/0067/left_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0067/left_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..67d2e640a3d7d0d6cc0f415f027a5e2c31f48988
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0067/left_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d69d6365ddeea3fd3b3afd99e25454760770a1e31e5c6b3f4f4bf90f5b945275
+size 390332
diff --git a/robot_trajectories/with_distraction/open_lid/0067/overhead_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0067/overhead_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..aac3e1a716e55e75cc5d60b339b34e9547773543
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0067/overhead_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:837bc36cd3c96f4f5c0d074ed53dc10041c580fa9d7194bac988208b30c0db59
+size 493957
diff --git a/robot_trajectories/with_distraction/open_lid/0067/right_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0067/right_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3df7f3043853e5350f217d177a2aff29e398c3d1
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0067/right_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4c3e6d30ded1779d83be936c64983158c36bba1b3ab58352e78039ab8131d68d
+size 389875
diff --git a/robot_trajectories/with_distraction/open_lid/0069/0.mp4 b/robot_trajectories/with_distraction/open_lid/0069/0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..25393e29a1e91e5b0ff1fd1297b3ef86073f460c
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0069/0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:666c6a6efdc30f76e4ef25cfe83f18bd248b8b078f8e7ee47df0dd95daec1fd7
+size 331309
diff --git a/robot_trajectories/with_distraction/open_lid/0069/20260521_044217.h5 b/robot_trajectories/with_distraction/open_lid/0069/20260521_044217.h5
new file mode 100644
index 0000000000000000000000000000000000000000..c039950f660c0df2a6dafcf4f3b30e6782497d28
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0069/20260521_044217.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:daa63369fd1a5d2e28abf2908a7e24d7c22818cc7e4bb770dcbb2f2c8174eb57
+size 146226
diff --git a/robot_trajectories/with_distraction/open_lid/0069/base_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0069/base_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..bf8fbd0bed81509846f56dfe9eb158c5077ba738
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0069/base_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0ca1d33815b9cd6309d7f1cbe9de6c40689c2853de9a48266f2c08ccbd5d2a39
+size 359213
diff --git a/robot_trajectories/with_distraction/open_lid/0069/hand_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0069/hand_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a0b78a530d51e1fcf85f9e0ac4549801cdc2f050
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0069/hand_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8fb116851b8851ad62c104e49455dc74eacfd022f2119184f555a5a04e80623f
+size 776254
diff --git a/robot_trajectories/with_distraction/open_lid/0069/left_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0069/left_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c0b2faa0032d2a4c8d0e500342d2c9462eec35bf
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0069/left_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e2fa6588c080872bda80ae79ed41cd865e8d97641ed130caf7e813f356d6ec30
+size 400756
diff --git a/robot_trajectories/with_distraction/open_lid/0069/overhead_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0069/overhead_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e444274e01680f5006d33d5b3cfd068bc4aecec7
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0069/overhead_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:907b31b433dbc1e62310b67a7a09e0d214fa8a264a4f1877d5aa8624507ea5e0
+size 500188
diff --git a/robot_trajectories/with_distraction/open_lid/0069/right_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0069/right_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b41ca74baa62b3f2ad0795e1076837c0460dc96e
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0069/right_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1c761289afa3241391f8bbe312762c6f5f803fdf8cd4b52ec99adb84e5cf5593
+size 378566
diff --git a/robot_trajectories/with_distraction/open_lid/0070/0.mp4 b/robot_trajectories/with_distraction/open_lid/0070/0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7e9b207084a1df65c73d71e1062dd68a88bdb7aa
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0070/0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c3e58a0508428cd52fe03784d06f82ffaf6d8f2660364da1372e398aadcc6cd9
+size 323192
diff --git a/robot_trajectories/with_distraction/open_lid/0070/20260521_044223.h5 b/robot_trajectories/with_distraction/open_lid/0070/20260521_044223.h5
new file mode 100644
index 0000000000000000000000000000000000000000..ca34541c08d7956906bbfd69f47550aee1f7181d
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0070/20260521_044223.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e5ec861f2787b7bda523448cd8f56a5b0241e6adfaad8bdde23894ee332f9acb
+size 148851
diff --git a/robot_trajectories/with_distraction/open_lid/0070/base_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0070/base_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f6edb2331c1db522ae3a52f294cc5a26ed6cd248
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0070/base_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f0880ba89fb3ab8100b9e06875e07a804c965dfba401d75dc3286ee37940ee5a
+size 341316
diff --git a/robot_trajectories/with_distraction/open_lid/0070/hand_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0070/hand_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8e15085faad3f9bb7f5d3c6db95e4e8744b1ff86
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0070/hand_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:74d96afffd0781e98b768704f672bc8cbd0332c7fd8d7ec94cd165c9d520df00
+size 730506
diff --git a/robot_trajectories/with_distraction/open_lid/0070/left_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0070/left_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6256f0bad31eeb09150073e3ffb6b82dae5af20c
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0070/left_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a68ad10ae1d27e502d86c28242c79176fbb094811f2e33b4129a00bf26b16a28
+size 385103
diff --git a/robot_trajectories/with_distraction/open_lid/0070/overhead_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0070/overhead_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..46689386989c358bb3833a0f4887f8d659736d11
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0070/overhead_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:59f4704aca29a8faaf4717f7149336857505b72ff06b9ef9e4e54186ef948f04
+size 511263
diff --git a/robot_trajectories/with_distraction/open_lid/0070/right_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0070/right_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d9bdb287cb80ae34e2e5bc53ad2194cf4d1ef90a
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0070/right_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:33342c6ffc2b532dfe4192f8f50660e55f63a9cc5c16f6391cf82baad4cb76f4
+size 382328
diff --git a/robot_trajectories/with_distraction/open_lid/0071/0.mp4 b/robot_trajectories/with_distraction/open_lid/0071/0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3e1cf0b848a466390c361dbf46d1721c5e0d4ecb
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0071/0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:33cd1f5f35342adc3750537d9f287b6beaceaf635b7b6c164d962521c6978de5
+size 332474
diff --git a/robot_trajectories/with_distraction/open_lid/0071/20260521_044229.h5 b/robot_trajectories/with_distraction/open_lid/0071/20260521_044229.h5
new file mode 100644
index 0000000000000000000000000000000000000000..c29e022a652818c11be0392db763d60d54102b80
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0071/20260521_044229.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4b804d1fd382e026b71760498fd17f76eb169e50a01cd5ebeb567993dd9942b9
+size 133023
diff --git a/robot_trajectories/with_distraction/open_lid/0071/base_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0071/base_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..025b6b71866b7f955d01c7a9fb91e13d42c84d5c
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0071/base_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5c0d3a9b8c28d438f7c4e0df3dfb492188f39b4848f3fece3ca11bc4408ddd95
+size 362000
diff --git a/robot_trajectories/with_distraction/open_lid/0071/hand_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0071/hand_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5d81b872077dd36e48b264be29657051b426ecb6
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0071/hand_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3a33faee2431c163ad1009784dc92e09ac0452fc8bb371b98fcea92765d02a14
+size 729948
diff --git a/robot_trajectories/with_distraction/open_lid/0071/left_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0071/left_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a7fd900b24e3d253f794408a6af51497ae1e09b7
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0071/left_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a9205373a33256ff2614d8b157d0773b7f1d89623ba2334df9f6c7e0b7ebe165
+size 401736
diff --git a/robot_trajectories/with_distraction/open_lid/0071/overhead_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0071/overhead_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..18fd47aa863fb7db8c9c730cd3da5c2c4d82ab7f
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0071/overhead_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:59b42d8de68a5868bce2d915b411cc399630445f3f90c4e19f0e13186cabc97f
+size 520192
diff --git a/robot_trajectories/with_distraction/open_lid/0071/right_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0071/right_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8b8302eba95a5e5b789f0c76fb7410aaf3d702b0
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0071/right_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:613918d92b84b2729b2e8a4dc7c888b67c205fe6202344303fafeac4c706122b
+size 380967
diff --git a/robot_trajectories/with_distraction/open_lid/0072/0.mp4 b/robot_trajectories/with_distraction/open_lid/0072/0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..96b81aff5c704cb839fd36ea47457091b6c5b6df
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0072/0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:caabc9102d3f5fe7cdb339fa6116c25ba73d3a8ab1407cf9c90a94400cba9530
+size 301166
diff --git a/robot_trajectories/with_distraction/open_lid/0072/20260521_044235.h5 b/robot_trajectories/with_distraction/open_lid/0072/20260521_044235.h5
new file mode 100644
index 0000000000000000000000000000000000000000..12b15e0554cd0f82c3284782f80e5a30ca8b147b
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0072/20260521_044235.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9147ca56ea856a1ff60e8625ad5de0e16121af41a61866d5a53604155c3fb2f5
+size 129712
diff --git a/robot_trajectories/with_distraction/open_lid/0072/base_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0072/base_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6041fa87255b8073970c2c1a77161035638d1567
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0072/base_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:131251bc4cd29937671cb86061d2cafc11972861eca5e09db19a0e70adb07b9d
+size 300927
diff --git a/robot_trajectories/with_distraction/open_lid/0072/hand_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0072/hand_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..70a2f9e9455730e8d3e12fe15608f519d2876412
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0072/hand_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3a07afe9b7d7815f34e7bc572715d68734856ccb1da2585b831e907a4ef3ec0e
+size 674243
diff --git a/robot_trajectories/with_distraction/open_lid/0072/left_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0072/left_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..29746747339ffe751af707918ae9cd01d6cf19ba
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0072/left_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fa0429e212400355089fddf04d07941f2ca176494e749260966371be6f280442
+size 360516
diff --git a/robot_trajectories/with_distraction/open_lid/0072/overhead_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0072/overhead_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3f395dde9c3a1987112c227bef27d10d5978a227
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0072/overhead_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9084a612c0014bf98c48a8aa41f99188140f7ff8fc1032d98a60388e098288f0
+size 426611
diff --git a/robot_trajectories/with_distraction/open_lid/0072/right_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0072/right_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..70584ef120a85fc11345112c6f22e38b82192bc9
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0072/right_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0bd276339deaf480c43c4498f236bef19d50508e724b2ed1e82005b67ec4457d
+size 345988
diff --git a/robot_trajectories/with_distraction/open_lid/0074/0.mp4 b/robot_trajectories/with_distraction/open_lid/0074/0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2bd0a3acf004923f85af5d87e4a41199b5efc2a3
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0074/0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:21bc4927cf8ef37d1799df5f046a8faa724b5fd4db5acac37bbb4a7390f8c461
+size 316084
diff --git a/robot_trajectories/with_distraction/open_lid/0074/20260521_044247.h5 b/robot_trajectories/with_distraction/open_lid/0074/20260521_044247.h5
new file mode 100644
index 0000000000000000000000000000000000000000..f6389bdc992edad1851a5a1c10e19442c05cf0c6
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0074/20260521_044247.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:386c82055c129d634465bb715e353ad08e1f5b5738edb51a912501884cda14a3
+size 147276
diff --git a/robot_trajectories/with_distraction/open_lid/0074/base_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0074/base_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ea912e2432875b59a97fdd95cbd481b4b8bd74b6
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0074/base_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:44b9ceede8b52fb04e3205a45280baf8055fd8a2a0194695d16e0d4af2c54445
+size 334181
diff --git a/robot_trajectories/with_distraction/open_lid/0074/hand_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0074/hand_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..be58e360c526a4ad3d9b4d0638e3e37b46bb2c4d
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0074/hand_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3a762e159d3a110f620b94069387b5c0a936de1ab47e409860db55b7ab1b8fc2
+size 754547
diff --git a/robot_trajectories/with_distraction/open_lid/0074/left_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0074/left_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4700a7f88ca7e1cc84362477d82f042f481a8e35
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0074/left_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bc0af5162bfa4995ebed11b210226de29f7587910b75e0d783dfc28322bae186
+size 374210
diff --git a/robot_trajectories/with_distraction/open_lid/0074/overhead_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0074/overhead_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d670ec6baf242e73356ab53d489367ea3526bd43
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0074/overhead_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bdeae8a9e64f3c34942492ca9f81a2a751114b2109ffcbd13eba7ca8c2149978
+size 466091
diff --git a/robot_trajectories/with_distraction/open_lid/0074/right_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0074/right_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..507f53e175b46241548fad659a7c9fc606b2ac66
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0074/right_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4f10379413e13e4eccfe9b0915b5df5c2cec507ca02edf042bc1c793c3874c2b
+size 379246
diff --git a/robot_trajectories/with_distraction/open_lid/0075/0.mp4 b/robot_trajectories/with_distraction/open_lid/0075/0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2687fb5ed581cac9edcb8c6df888b771acde32c1
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0075/0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c2a5af40b6cde108ef9adc5e7b852692a39a25b099fb56a92ce98d9157803e84
+size 324414
diff --git a/robot_trajectories/with_distraction/open_lid/0075/20260521_044253.h5 b/robot_trajectories/with_distraction/open_lid/0075/20260521_044253.h5
new file mode 100644
index 0000000000000000000000000000000000000000..7c201ae7d05aa47c36cc4d66d6ead1afba8e330d
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0075/20260521_044253.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:01f1732658cb05b4ce67ad955365d377b5f8e01455eedebcd7a836aa067d6f7a
+size 148326
diff --git a/robot_trajectories/with_distraction/open_lid/0075/base_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0075/base_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3a3fec92fe14891fceea37e4188dcb25aada4d99
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0075/base_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d8ab8e095b274aefc202cc4d7abd0491322acad95becd5b3f5ce10323d703dbf
+size 348260
diff --git a/robot_trajectories/with_distraction/open_lid/0075/hand_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0075/hand_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a78de9b001eb34b56ef26e582a2b0ff81fb30788
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0075/hand_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:018d3eff98300744772061dab3a39511b170222df21a2c9c3d77957fc2be7ff6
+size 742340
diff --git a/robot_trajectories/with_distraction/open_lid/0075/left_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0075/left_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4fb93d54e59f45550f88343de14d75265746c6b7
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0075/left_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:76a0b4924ee3a04be7403a3d00afe3d5099f752a8eb1d203544e1b3e0c0cadc1
+size 390173
diff --git a/robot_trajectories/with_distraction/open_lid/0075/overhead_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0075/overhead_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0de15c57bfc6d457ba2433ef54cf18f3231b693b
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0075/overhead_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:602fd61647a3879f53b11b1f1458861656c30b7e74ab55cfb673004c6333a17c
+size 474314
diff --git a/robot_trajectories/with_distraction/open_lid/0075/right_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0075/right_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1bf51f0220e8e0fc5848564dedd8c76cc3335c58
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0075/right_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:986fa6b56b803660cfbafb0430e9d227c7adf11bbe2fc3982413dfa039b8fb65
+size 386728
diff --git a/robot_trajectories/with_distraction/open_lid/0076/0.mp4 b/robot_trajectories/with_distraction/open_lid/0076/0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7183d560afd12b9bea1042abd538fc52abb413c4
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0076/0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:646bc89b46d109476c36541a41edbc97ebee146ad3e2fbd83ea8c1fd11bace77
+size 329674
diff --git a/robot_trajectories/with_distraction/open_lid/0076/20260521_044300.h5 b/robot_trajectories/with_distraction/open_lid/0076/20260521_044300.h5
new file mode 100644
index 0000000000000000000000000000000000000000..6a20539fc88e128b9d8a17bbac8a5d3cd4a3d919
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0076/20260521_044300.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:57fe220c1e7a391385353e37cfb96b18990359ad809248cb815ef44d0a24e982
+size 150426
diff --git a/robot_trajectories/with_distraction/open_lid/0076/base_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0076/base_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..76ecee436cecb76bfd19950b2f4d1305176d9dda
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0076/base_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:045f97445aabf6fa3b0c27c6ded7df707800c112f98366372d1c0a97aa7d5513
+size 358041
diff --git a/robot_trajectories/with_distraction/open_lid/0076/hand_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0076/hand_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8f337accc61545e5900f9d66e25ed6e4f1652671
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0076/hand_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:15f500a45aa90dacb972a6fb1de45fac5ccd6a6349b4c9f6954151b81ac862e0
+size 745741
diff --git a/robot_trajectories/with_distraction/open_lid/0076/left_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0076/left_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..acf66f7e70ded7f9019eacd656c7ad44005879fc
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0076/left_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b4dc17dfe0fff765ecf75ab4da01748f805a70ba7e96a77ea0df738e0ea230e6
+size 390654
diff --git a/robot_trajectories/with_distraction/open_lid/0076/overhead_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0076/overhead_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1466831c05562dc6277fafc607b15b6458d369b7
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0076/overhead_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d038f88be39fc138b8a6b2b6e944bc2da00f60e09d3b4b9449d4a63ee348011d
+size 479571
diff --git a/robot_trajectories/with_distraction/open_lid/0076/right_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0076/right_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3d558c240a30706401eca16e6a142de9ae386d70
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0076/right_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:03ed3c491244df9ebcf0a2adae8be6d019b57998ba4f4e8855b68680741db4ab
+size 392385
diff --git a/robot_trajectories/with_distraction/open_lid/0077/0.mp4 b/robot_trajectories/with_distraction/open_lid/0077/0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..18a6fffa053bfa8fb0e354e41aeb91b2baf6478f
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0077/0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d922eb006363ee92a5a6f641522ded89898f42b1ef812ca4a082162638495af7
+size 335169
diff --git a/robot_trajectories/with_distraction/open_lid/0077/20260521_044306.h5 b/robot_trajectories/with_distraction/open_lid/0077/20260521_044306.h5
new file mode 100644
index 0000000000000000000000000000000000000000..3700a193647bb33897a389a018c4b80836e7bc28
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0077/20260521_044306.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a11bf49942c76b4f76ae37be29fb59d4a058e9646864323f4f9ffca4a06fb41b
+size 152526
diff --git a/robot_trajectories/with_distraction/open_lid/0077/base_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0077/base_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..034736666855ba591e267d5fbf9a6a91ab3b6a51
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0077/base_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9693847c5cf6af5907cc26ddc0be0c54ac6f708fcf91b99eed150393b252d8f8
+size 370101
diff --git a/robot_trajectories/with_distraction/open_lid/0077/hand_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0077/hand_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0a9aca34352d33a3eadf3d0bf1469bacd96e04e6
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0077/hand_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:869fb6cd060fcfda6a42851252db7dc4f5cd2433fa7cddc9c3a440f48d43a475
+size 786676
diff --git a/robot_trajectories/with_distraction/open_lid/0077/left_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0077/left_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2e15645c8707d0fb5b98fa876320b54176c48da7
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0077/left_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a3bfe04e67528a1d343fdbe663f95a71738819dcb513377a8a1c12f4bd93d368
+size 401606
diff --git a/robot_trajectories/with_distraction/open_lid/0077/overhead_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0077/overhead_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..eeeabc75b5badfb7a126936056eb91d1f26206ba
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0077/overhead_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:78865704ab297c3cd689108632506bff753616140dc3c2e81b017432380e3108
+size 498012
diff --git a/robot_trajectories/with_distraction/open_lid/0077/right_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0077/right_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8ce7415325cbaef6a15e0e7400f1703d31fed2b1
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0077/right_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ba1ff1f4cad0485c9e411b56ceed3f48913e875cd9edbabe84b0459b22c15c3d
+size 402267
diff --git a/robot_trajectories/with_distraction/open_lid/0080/0.mp4 b/robot_trajectories/with_distraction/open_lid/0080/0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..fa8f81e59dbc7a2559c0003fea5a9c5240da60bd
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0080/0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a6202f2ae7f69e3dc2d32e18e171015282504b4171baa4fbbb059ada8a10929d
+size 324406
diff --git a/robot_trajectories/with_distraction/open_lid/0080/20260521_044325.h5 b/robot_trajectories/with_distraction/open_lid/0080/20260521_044325.h5
new file mode 100644
index 0000000000000000000000000000000000000000..4b82daac05bc541ecbe004831173f3222d450569
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0080/20260521_044325.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:75d05644e5581e8e102abb6f335f9d2195c7f8a9a8b9b135425915915d70b6da
+size 137753
diff --git a/robot_trajectories/with_distraction/open_lid/0080/base_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0080/base_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7aa528b275b1953c9376d38015ddcd41433df828
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0080/base_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:51b078384c788334527092376a3b2e53896e8cffac94df6e775d3b913d78db51
+size 333398
diff --git a/robot_trajectories/with_distraction/open_lid/0080/hand_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0080/hand_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f38a3eebfdc94a94a300df709d2ade6df2e09dde
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0080/hand_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:79b908551f4643c18b3d04d76adb1e61f34ba31766be120be97837140a2ac524
+size 762330
diff --git a/robot_trajectories/with_distraction/open_lid/0080/left_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0080/left_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..adbf76fa27c8f69b0cf428f6596fc3f289c2d98a
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0080/left_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cd590d620d90f58c2c81c242462349f44bcabc94d325693a0c5a4227cd72fbc2
+size 384159
diff --git a/robot_trajectories/with_distraction/open_lid/0080/overhead_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0080/overhead_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3579cca03ef00a3754782d06ad3e7610eb0d61ae
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0080/overhead_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:19e11db3c3bc8a5c7aef02591c380b86d899435e922d3f30c7787bd96d890b7b
+size 483081
diff --git a/robot_trajectories/with_distraction/open_lid/0080/right_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0080/right_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b7ea29e87ef0da0b0e751175cd6a1aca7c3eebb4
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0080/right_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fe87b8222d007fbc218651050166cb955041c631d5a1e9b0968e78630c20a835
+size 386876
diff --git a/robot_trajectories/with_distraction/open_lid/0081/0.mp4 b/robot_trajectories/with_distraction/open_lid/0081/0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..62da787dfad7a1a5437b2a8280652cd166c912b9
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0081/0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:af2d3b6fb968621aa43dc2582a1a0dfe9c1085658721e05ba3c0ac03b3b26b60
+size 344796
diff --git a/robot_trajectories/with_distraction/open_lid/0081/20260521_044331.h5 b/robot_trajectories/with_distraction/open_lid/0081/20260521_044331.h5
new file mode 100644
index 0000000000000000000000000000000000000000..a628b1c36aedf8ab7423eeb91832688bd1cabf7f
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0081/20260521_044331.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d3aacf19185d6fddf267cb5ab1522217e801f7c3c47ee6851d04c536929269cf
+size 140118
diff --git a/robot_trajectories/with_distraction/open_lid/0081/base_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0081/base_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7eb58db3c163cba7c531c4a59d74e2d3c2360183
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0081/base_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2f5639bec297fb3179bfb0add0a51e1e497dd67fc4da05e39ca73861811ed678
+size 380962
diff --git a/robot_trajectories/with_distraction/open_lid/0081/hand_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0081/hand_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..81fac48bbfcfb7fec5f75f5b4faa21266ba4f1e3
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0081/hand_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c8ea95c8a4869a283980b1c72236322d6ebc717bd15a1a55e5b137bd5b18435d
+size 805488
diff --git a/robot_trajectories/with_distraction/open_lid/0081/left_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0081/left_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..630ff0edb116cfa2c9c65ce387c42e9343c6cf30
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0081/left_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c8210a64587be459e4b84a0001e7afbdd42388ff5af01410da491d68cc3776ac
+size 411894
diff --git a/robot_trajectories/with_distraction/open_lid/0081/overhead_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0081/overhead_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..543b704ac86a7d46ba155241064f5671ab4b9bf7
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0081/overhead_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eca0a0c727c9ab275c50268a86553343a9408aa8af20af6987cd1e431db656ab
+size 511501
diff --git a/robot_trajectories/with_distraction/open_lid/0081/right_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0081/right_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..81c1cb92fcf5416660cafecc1404a87cad8e089f
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0081/right_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fb0cc56209e79e54107308baadc687d83b7dd9bb7215fca18b0a1be09e3fe0cd
+size 409030
diff --git a/robot_trajectories/with_distraction/open_lid/0082/0.mp4 b/robot_trajectories/with_distraction/open_lid/0082/0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..801bfb63c3c53009d7d667bfe13491a3607c2e20
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0082/0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:486f6b6456fff75d031aab399d2b74cc960483edce3315969da6ef9c3280e2be
+size 305149
diff --git a/robot_trajectories/with_distraction/open_lid/0082/20260521_044338.h5 b/robot_trajectories/with_distraction/open_lid/0082/20260521_044338.h5
new file mode 100644
index 0000000000000000000000000000000000000000..7e79bb52130e8da6e8be3d0078fd802c9465980e
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0082/20260521_044338.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:53cfa4da311b2dadca90131e0ef4191867e500284831d9ec9a504e474151d9dc
+size 133023
diff --git a/robot_trajectories/with_distraction/open_lid/0082/base_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0082/base_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7d5aec640e494bd74c7a7ab0286190426457a84b
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0082/base_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b23a06bd9de16dbbb2963b9c673635b7c45eacd67129013e44724bea4f99ae66
+size 311089
diff --git a/robot_trajectories/with_distraction/open_lid/0082/hand_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0082/hand_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6bd9588ee6fc8367f8eb4b6ac4759d57dc007729
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0082/hand_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4513ef46fa155b4a812c40f62a11c78e9c388e8896806eb2faf19c7c87344b94
+size 789231
diff --git a/robot_trajectories/with_distraction/open_lid/0082/left_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0082/left_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8bf11bd902baa2b26c8b975357614b24fb96cc56
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0082/left_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:45965785b3bf9e6a0ef124cccf41f318fcb09f06d42c1131d29bc14ef065ce1a
+size 363708
diff --git a/robot_trajectories/with_distraction/open_lid/0082/overhead_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0082/overhead_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7adc974b2b0e986dabb9867c9ae1c7079f55b310
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0082/overhead_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3bd25f1c6954521f5f033ade018c0a18991e8e121fbb5d3c4bc05b1dea3dad6d
+size 453739
diff --git a/robot_trajectories/with_distraction/open_lid/0082/right_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0082/right_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..30df01d38fa287dd29e7aea50f1f91a64283970a
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0082/right_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:683fc31d49ff66e58f5967327f12b109babd94bc1b9a385a6da788b2f52f8f45
+size 365663
diff --git a/robot_trajectories/with_distraction/open_lid/0083/0.mp4 b/robot_trajectories/with_distraction/open_lid/0083/0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2f93d043a53a8f657e3cec62726d272b5050ac59
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0083/0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a94749e26b7b13a3d5609ea2eb8a84ff34ad3172e9ef1b8c2e49ca85308aa74c
+size 331413
diff --git a/robot_trajectories/with_distraction/open_lid/0083/20260521_044344.h5 b/robot_trajectories/with_distraction/open_lid/0083/20260521_044344.h5
new file mode 100644
index 0000000000000000000000000000000000000000..4cc84a90dde32254312916b7805f190a8f3a7aec
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0083/20260521_044344.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:257942e5e25da91db2bc50a87326afccd81a0fa5d288a1878a5daeba8585c662
+size 152526
diff --git a/robot_trajectories/with_distraction/open_lid/0083/base_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0083/base_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d162bdcd7b72d0c4d5fae5ac3452be0cc32991eb
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0083/base_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:646cd27e180b33e9c461a889c0421bf554d029908e4c8d035ee79397fca9c8da
+size 360996
diff --git a/robot_trajectories/with_distraction/open_lid/0083/hand_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0083/hand_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9dfb553259a21b3f6f72cde8a4da31e1b4b09fba
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0083/hand_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:77b1989b2bf551be20b10e8aa0605ea072b9ee1c5d032e91c1fcdffc59beacca
+size 791448
diff --git a/robot_trajectories/with_distraction/open_lid/0083/left_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0083/left_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5bfbc3e3ae6c7ac227a8c1c909a3790b369a9a43
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0083/left_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f134ac97187685fff749e49dae321d559cdd06c79db3020a3741d2576cb5e27b
+size 398396
diff --git a/robot_trajectories/with_distraction/open_lid/0083/overhead_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0083/overhead_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..55bdaa1a57f0155de63b4c165faba5692f982c52
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0083/overhead_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2e3cf23102419319681c26bc23d3b9a03459cfad8ceae3cd4c190e4a53d505cb
+size 495020
diff --git a/robot_trajectories/with_distraction/open_lid/0083/right_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0083/right_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..10412949029c698b5950fccd6322174827258c5c
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0083/right_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:723fe1cabb1f3f05d711e7dcbbf0be41bb5c37ff61bcac8e6d40876133751b59
+size 403812
diff --git a/robot_trajectories/with_distraction/open_lid/0084/0.mp4 b/robot_trajectories/with_distraction/open_lid/0084/0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..912847cc9af1682259236067bea729bc9e0e743e
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0084/0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a7cc3cd678de783137a78e318d618f1e93905ef1cbf1f95cd0df549a69136fd2
+size 320203
diff --git a/robot_trajectories/with_distraction/open_lid/0084/20260521_044350.h5 b/robot_trajectories/with_distraction/open_lid/0084/20260521_044350.h5
new file mode 100644
index 0000000000000000000000000000000000000000..291a38dc1a2b90b81a5e97e3b1b1a4b822006138
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0084/20260521_044350.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3fa89cdb29a21f74f6ffdf7b3bc5433c5f73fae5f6bd4ad8cf935ddfd76088c9
+size 134442
diff --git a/robot_trajectories/with_distraction/open_lid/0084/base_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0084/base_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ca7e4fa4f63e62a11a577f878f5caee469ce692a
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0084/base_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eb9b5c12584a723c5d20e359ae9be9f160cc2b599fe19296a6ec8b639044c97b
+size 337773
diff --git a/robot_trajectories/with_distraction/open_lid/0084/hand_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0084/hand_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7784fcc4aed0933c71323cc6ded1725133c1b574
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0084/hand_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:273186a515129e7d7b33e4a4d2b0297ab6346b1e30e24cbe540d5985cae45a51
+size 740180
diff --git a/robot_trajectories/with_distraction/open_lid/0084/left_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0084/left_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..74e66fc819bb1111596d438f51e68abbf5f652ec
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0084/left_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7181a3ce0da58170f438ba687b2335b07bc36a7abb8a71fc371677c978010c37
+size 380704
diff --git a/robot_trajectories/with_distraction/open_lid/0084/overhead_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0084/overhead_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..73d323c472c9bdcf40dcf59248b15b31fb295c41
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0084/overhead_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4b97670373c9440e00c9b5e90d4562d3f6aa7417583a05aae860b9935a27d421
+size 474305
diff --git a/robot_trajectories/with_distraction/open_lid/0084/right_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0084/right_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..be8a4d219437731576010d514c6678d547b24338
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0084/right_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3123550e5d551da3b054f1ba6f24d4982642874b92f7294ce9920a6d408b3356
+size 383156
diff --git a/robot_trajectories/with_distraction/open_lid/0085/0.mp4 b/robot_trajectories/with_distraction/open_lid/0085/0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0e7e5dfd7d07cc1afc6e249de7dc2df849aeeda0
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0085/0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:91d7d50ab59cdf3d8e5ea1283a9d58c205a9945793267d212b68aee063c04db3
+size 318987
diff --git a/robot_trajectories/with_distraction/open_lid/0085/20260521_044357.h5 b/robot_trajectories/with_distraction/open_lid/0085/20260521_044357.h5
new file mode 100644
index 0000000000000000000000000000000000000000..20a8ccb0cbb161ea24f0a54d4cdcaae836cf5318
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0085/20260521_044357.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f3291e673da2442403b3fa232e693413bfc825aaca8c18c40f103e8c9324adbc
+size 134442
diff --git a/robot_trajectories/with_distraction/open_lid/0085/base_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0085/base_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5920d84e521bfccb123d41ecc9055ff8f4cca6fe
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0085/base_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ac76ee55a379cb3b1f549c3d02f3655e5fae06b22be5680eedef30496eef2f14
+size 331708
diff --git a/robot_trajectories/with_distraction/open_lid/0085/hand_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0085/hand_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..95e9c692c4e600183eab61b41a7960ae7e2f7dbb
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0085/hand_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4527667219728b7fbf9d7bdc98ced2ff6a36b417b823e12dc1a167acfeae399f
+size 740054
diff --git a/robot_trajectories/with_distraction/open_lid/0085/left_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0085/left_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ccd06c8876cf970eec791a1eb21ce84adfbfd478
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0085/left_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:168710c3e4e50ce4eb574b34ccee4393c48969a56517956d8558dddeabac71de
+size 383101
diff --git a/robot_trajectories/with_distraction/open_lid/0085/overhead_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0085/overhead_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c83e281bb680d104fcad357707fa3692a43e273a
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0085/overhead_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f602f51d0e22b1a60cfb38022dde3e13265af8def2816619f57576b81e27d750
+size 471586
diff --git a/robot_trajectories/with_distraction/open_lid/0085/right_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0085/right_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..bebe1bddc6c1a9fa687c4bb92b575a90ec2263a4
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0085/right_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:936ce16ca44a030ba8bed9a55ff22ce0b682724c405e19b6ecc56ed21d5ceca2
+size 377795
diff --git a/robot_trajectories/with_distraction/open_lid/0086/0.mp4 b/robot_trajectories/with_distraction/open_lid/0086/0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..eff14b0946aad78f39799d78e5dfa238b23b4d2c
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0086/0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ba54c14e9299d09ed724f60781c9fe85ba0ba9dc253520382b1f5feb5e7760c1
+size 307542
diff --git a/robot_trajectories/with_distraction/open_lid/0086/20260521_044403.h5 b/robot_trajectories/with_distraction/open_lid/0086/20260521_044403.h5
new file mode 100644
index 0000000000000000000000000000000000000000..48938850e1ef337ea4d2f8858c9adee11466d999
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0086/20260521_044403.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c96deee4bd4fe8243a73d0d579b73c73eca5931f23f49038cc8ad4ca473d6a85
+size 144651
diff --git a/robot_trajectories/with_distraction/open_lid/0086/base_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0086/base_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..596c617072259e0e1728093a75a7fd6b1a043a3e
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0086/base_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:771d6d360ae88cbbfc804a3e0de38ed84ad5518795ad1a389f964dcefe6814b6
+size 307767
diff --git a/robot_trajectories/with_distraction/open_lid/0086/hand_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0086/hand_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b8dd1f23cab7ce8de919fc79e0ae301fd9bf5351
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0086/hand_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0572e722c42372f4f57732179d5e5cc8b9007ef6453ebec31b280d7bc83f18a5
+size 743301
diff --git a/robot_trajectories/with_distraction/open_lid/0086/left_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0086/left_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..02aa7206090121cc8f8618453bcaae27e61dba96
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0086/left_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f322002359cb83670346a7709745d6bb4c5f9237e7675f76edc08b5d107659ad
+size 368420
diff --git a/robot_trajectories/with_distraction/open_lid/0086/overhead_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0086/overhead_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4f69f6d334ff8ef4af76626f1184e63fd7b37cde
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0086/overhead_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f1c427273f70eff6ec7d9478de047a11060c4a131e77d20f450b1f256556469f
+size 479312
diff --git a/robot_trajectories/with_distraction/open_lid/0086/right_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0086/right_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6a4aaa038cd67b7fa0698d174c2bd40f6c1575b2
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0086/right_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:49f63d1e53d3ac4c9c33c9a5bdf204b1115d53f13286a9e84bb4b270b0b764f0
+size 359713
diff --git a/robot_trajectories/with_distraction/open_lid/0087/0.mp4 b/robot_trajectories/with_distraction/open_lid/0087/0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1479f2dd69d74e10db9d0f81058f212889f70f03
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0087/0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2e0c39cffef5f5004a7a3c248250b3268f38926ecbbf3a77f99e77af092b799c
+size 320222
diff --git a/robot_trajectories/with_distraction/open_lid/0087/20260521_044409.h5 b/robot_trajectories/with_distraction/open_lid/0087/20260521_044409.h5
new file mode 100644
index 0000000000000000000000000000000000000000..441a4dbc32c50842ccdce70cab295b85f386a9fe
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0087/20260521_044409.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:612d5d0b893f81d1548040147d91c3b1a04ec8e52cd39c4f4b2b29b962f5f279
+size 134915
diff --git a/robot_trajectories/with_distraction/open_lid/0087/base_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0087/base_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b7a8dce68d5f481bf15b99f51d044718818d0023
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0087/base_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a992ea26e6a35fe527a9142a8f61508257b0c2b91a94e3445fc10dcfe8c4ac3c
+size 345624
diff --git a/robot_trajectories/with_distraction/open_lid/0087/hand_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0087/hand_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1d18ce1a0cf21429713eaa6f24d68ce3d2635817
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0087/hand_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eb4b96723974c76881fac458428c6b3be0a828e44325b94a5148cf1bb24329a1
+size 746182
diff --git a/robot_trajectories/with_distraction/open_lid/0087/left_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0087/left_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0486b7b0f13d4bb2988580a1004f7f8850c96d2c
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0087/left_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ca11d70b00e262763e143ad9fbb124faf36dd73f29d73e17dd02995ca3158a60
+size 384034
diff --git a/robot_trajectories/with_distraction/open_lid/0087/overhead_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0087/overhead_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..530632b37a25e2d307781422e9f8f6cd53d36844
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0087/overhead_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:502f4db499a577f524933176be167c82d2ffbc060862c5e28a56d32c1938901d
+size 485757
diff --git a/robot_trajectories/with_distraction/open_lid/0087/right_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0087/right_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b2c3816720f74696b635c434572a69c70cfd466c
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0087/right_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a20e0e18fc7933a41271fe44767fdd900b880f0a8043d3364e2d1ac85ca67aa4
+size 392279
diff --git a/robot_trajectories/with_distraction/open_lid/0088/0.mp4 b/robot_trajectories/with_distraction/open_lid/0088/0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f3c2f02042460ef503d23075a4be005194185531
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0088/0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bc7d9794b5924b32387f9dfe04e82522ea8694364f6eca211822359096f6d24a
+size 345348
diff --git a/robot_trajectories/with_distraction/open_lid/0088/20260521_044415.h5 b/robot_trajectories/with_distraction/open_lid/0088/20260521_044415.h5
new file mode 100644
index 0000000000000000000000000000000000000000..5592c9aaf1739ad12f7498f039a4b2f6e619fcb9
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0088/20260521_044415.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b263714b74c5f299985cd4dbcf1f9f39f00eb5305bca87d1f37640a1b8a69f6f
+size 153576
diff --git a/robot_trajectories/with_distraction/open_lid/0088/base_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0088/base_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b7c9a16247f2cf06d1d05dc65a033b345c7a82c6
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0088/base_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8ca4f8a30f22a7abd6b89dd869a07b7f444543c58deefc0218224b60da577e8b
+size 378531
diff --git a/robot_trajectories/with_distraction/open_lid/0088/hand_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0088/hand_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..09cb4a2e25ccdc5c9fce5a3a331a265b1de0419b
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0088/hand_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3599c00cab8e2aea6c80619e61c816c29b5e26a5c219714d5b756918bd7b574f
+size 762965
diff --git a/robot_trajectories/with_distraction/open_lid/0088/left_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0088/left_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5c15178f3f0550780e39dbd547d7a6c2cad07ba5
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0088/left_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:61cb6de3700aebcf297c9bb824c2a2c05262f602113f7a95750b64218c8845f8
+size 412524
diff --git a/robot_trajectories/with_distraction/open_lid/0088/overhead_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0088/overhead_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..31e420ccbd9377c9bfdadc0932dfc6c7155cf0c0
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0088/overhead_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:062f434662a19597065e5c915dca8f3857374f80913ae2b3c7e96576900303fa
+size 535222
diff --git a/robot_trajectories/with_distraction/open_lid/0088/right_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0088/right_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a716127ede9bf6171715c3f1ab44cc85a91fed71
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0088/right_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c592112dff4791b3905341ebe96e1fcc77fca634c441828936f3da0730947887
+size 403251
diff --git a/robot_trajectories/with_distraction/open_lid/0089/0.mp4 b/robot_trajectories/with_distraction/open_lid/0089/0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..656035ebec51cf693be37d26113502e3d957752a
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0089/0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:59d0f4ede5251c363ee0b877f5cfe389d50f5d422d6be06b1c2a3ae81ac086e3
+size 316541
diff --git a/robot_trajectories/with_distraction/open_lid/0089/20260521_044421.h5 b/robot_trajectories/with_distraction/open_lid/0089/20260521_044421.h5
new file mode 100644
index 0000000000000000000000000000000000000000..b48ddb77ed314e73443a5649962e1e5649425406
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0089/20260521_044421.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d6a18a7f6f17a2ce128ee4c43b089f50ec545dbf4a3e3d83833be752770b4d2d
+size 149376
diff --git a/robot_trajectories/with_distraction/open_lid/0089/base_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0089/base_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..bcc59ecc2de1b2bcd2d15f7fea72e0f86606aed9
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0089/base_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0cea25db2672e22657710ba96f0fedad2c221f80fdea947a403d1c05a90e53ee
+size 323555
diff --git a/robot_trajectories/with_distraction/open_lid/0089/hand_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0089/hand_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6da309924c6fa0a7cf1c0143657dda8e33cd671f
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0089/hand_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:35c92a93d52b47c018e1438bd7f0a35365876ba7d3f6baab6574e0308bbb4009
+size 736560
diff --git a/robot_trajectories/with_distraction/open_lid/0089/left_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0089/left_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f361585cc448573270e41e9474f1473eba318319
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0089/left_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:22d8864d15ab560172bb7e35060faa1ef69701371567e00f04381d550c9be84f
+size 375157
diff --git a/robot_trajectories/with_distraction/open_lid/0089/overhead_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0089/overhead_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..644cf355ce7470166f887c74953c281abc539ab7
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0089/overhead_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f81759c243c87f1bcfcc3aecff3b21f30845f7231fdfaaa5c7a54c21525b3be3
+size 471959
diff --git a/robot_trajectories/with_distraction/open_lid/0089/right_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0089/right_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c72554fe8603cd0b21b0a8003205e079fdd9f629
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0089/right_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d72d58c463a9919b3169277998d8fbf5784e43c37fee5b866c56fa4e16414155
+size 374176
diff --git a/robot_trajectories/with_distraction/open_lid/0090/0.mp4 b/robot_trajectories/with_distraction/open_lid/0090/0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e47ea119d5fae646e7618209862061e391aadce6
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0090/0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1739e436cf17033b4eb6d7c2c39e85cfa872d588668680d3043ceb9a44c0abc3
+size 320861
diff --git a/robot_trajectories/with_distraction/open_lid/0090/20260521_044428.h5 b/robot_trajectories/with_distraction/open_lid/0090/20260521_044428.h5
new file mode 100644
index 0000000000000000000000000000000000000000..7cfe6a311f5e5e6784a067cf6b574842a3ef0ce4
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0090/20260521_044428.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d2666cd0ed5d5e2f05d3a8e9962bceeba9959ad68be0d7748375dfa40315a3ca
+size 136807
diff --git a/robot_trajectories/with_distraction/open_lid/0090/base_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0090/base_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2b340d81fe487c285d82825c0f2bfad4ad784ddd
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0090/base_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b6fe4cf26e690bddac12381bc5310359ce7d33f4e8f38d8edf725e73b15f6dce
+size 328457
diff --git a/robot_trajectories/with_distraction/open_lid/0090/hand_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0090/hand_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..61d061c6466d15d48dbc60e66cec685ec26041c1
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0090/hand_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ae7e84423bf77ac9c159acf18e64500d2b57a0694f4ac60d18b6ab2b94bc8d18
+size 724429
diff --git a/robot_trajectories/with_distraction/open_lid/0090/left_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0090/left_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9a08e1c69e7955ea2df5e03f966bf9f429773b6c
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0090/left_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9bf66df63d11e1ba85260acda1125f3ac902251b26147925c8ec08468c585cd1
+size 381832
diff --git a/robot_trajectories/with_distraction/open_lid/0090/overhead_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0090/overhead_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..acb1669a0d0a4e5ba2d5ad69493085ee83c29824
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0090/overhead_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:83e5937bf0277452298171221482af176f77f2dc1a19f41692a8b798fb2c8ed8
+size 467091
diff --git a/robot_trajectories/with_distraction/open_lid/0090/right_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0090/right_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3fa7ceab93dcb598b42007dd085d20ccc40d8ec3
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0090/right_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e3b86ba7af6d61e2791d65ed453449298fe6c3ecc8a1809efe7a21d22bdac04f
+size 385571
diff --git a/robot_trajectories/with_distraction/open_lid/0091/0.mp4 b/robot_trajectories/with_distraction/open_lid/0091/0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..29b8b74ba4588f87b3dd8de4291d83c50d4f0e58
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0091/0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f594eb40566876ed92c38effd7d5188936ce7986900b5732cbf0d8d0d0e3cb3b
+size 318708
diff --git a/robot_trajectories/with_distraction/open_lid/0091/20260521_044434.h5 b/robot_trajectories/with_distraction/open_lid/0091/20260521_044434.h5
new file mode 100644
index 0000000000000000000000000000000000000000..451ee6c6716e804750cff6fa981e7ede330bdf48
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0091/20260521_044434.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:80af4c7555bf6c871c5d7cf7d18206b58ec2f7871a1dede1b1102f819f79d805
+size 147801
diff --git a/robot_trajectories/with_distraction/open_lid/0091/base_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0091/base_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e3b259661359bd257a84d00dbd9ca74e461fb470
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0091/base_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:96898296c32285c7dc0cb3cde21554fb5085504f73b1f752b3fb8ca5c73251bf
+size 331558
diff --git a/robot_trajectories/with_distraction/open_lid/0091/hand_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0091/hand_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5dfd67ecc221d078d129f9e2fb68de4aed28fec1
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0091/hand_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f8f68a16f689a56eebd76de5d86c64748cf56829d54d8762cc11242923ad4867
+size 758216
diff --git a/robot_trajectories/with_distraction/open_lid/0091/left_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0091/left_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5c5bd20dffdff76bff5005f4fbcfdb3fecd053ce
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0091/left_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2682153e2c639f6df0ea53c5ac6981a2d266b95312b173d458d10c201a0facca
+size 378944
diff --git a/robot_trajectories/with_distraction/open_lid/0091/overhead_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0091/overhead_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5f75051fc7e5f417b086e3c98fe0f102034cf0c0
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0091/overhead_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d91c3bbd938f442a580a9e46459d1ee6727cca8c65b8c2e40a31532403dd594c
+size 485039
diff --git a/robot_trajectories/with_distraction/open_lid/0091/right_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0091/right_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3c32c8ef02243708794b1a81b573aa473646925a
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0091/right_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9c0ddb740ca0878b3ca1dda9080089c10d9acc7ae436781d407e48c923148efa
+size 378977
diff --git a/robot_trajectories/with_distraction/open_lid/0092/0.mp4 b/robot_trajectories/with_distraction/open_lid/0092/0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8c5c6e9c486c6c17f50a73ae26dc3b96a3380d53
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0092/0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:caf3f23ffff2f2247e7522ad0d99d0e38355ba00df3366c580b363ac2feb9427
+size 328996
diff --git a/robot_trajectories/with_distraction/open_lid/0092/20260521_044440.h5 b/robot_trajectories/with_distraction/open_lid/0092/20260521_044440.h5
new file mode 100644
index 0000000000000000000000000000000000000000..ced8a893b77f3071739d9377681e0b8620830ee9
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0092/20260521_044440.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4600c300913929b5bde8db1f9894ce421688c1a22f2e69add756a330fa32f867
+size 150426
diff --git a/robot_trajectories/with_distraction/open_lid/0092/base_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0092/base_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1cb48ac9948484c19c377c844e46c05aa52fe6e7
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0092/base_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:08d08ad8fdb311baa5d56d784377c1b6b76137201fabc13a80d180009abecf88
+size 351186
diff --git a/robot_trajectories/with_distraction/open_lid/0092/hand_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0092/hand_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..29ad13b20d7c621ed0912fa9ec12515e6c9266ed
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0092/hand_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bd96fed2b151b427a4fc613bf06caf5bfb459075c33dbaefba0705c4f0a5b67b
+size 756994
diff --git a/robot_trajectories/with_distraction/open_lid/0092/left_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0092/left_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a39281f650def4f7427387290d1d891d8be34e9c
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0092/left_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fea01eb30e3c851805fd176174db3f5598e18af3ad1e4088b9b4b0e42d904572
+size 388409
diff --git a/robot_trajectories/with_distraction/open_lid/0092/overhead_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0092/overhead_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..111efe556c56c61a6467e7c4a339100307505e6b
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0092/overhead_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aa776873a7a23ac86e7b2dbcbbc39c67bf8fdd4999e9e7b189cd1605e7681cd2
+size 477343
diff --git a/robot_trajectories/with_distraction/open_lid/0092/right_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0092/right_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..efd1fb832bf70166111df0fb8d59c2d89e698db8
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0092/right_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6ca1e533ea1a2996896dec1af96666cc81478dc6f21de76ec446258f89d2d0e3
+size 391137
diff --git a/robot_trajectories/with_distraction/open_lid/0094/0.mp4 b/robot_trajectories/with_distraction/open_lid/0094/0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..51a1cf58cd081e031147c8fa18c7c83590a6ebd0
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0094/0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:58be2cb80b93904c2f3f8c10da66cfa250ce03f888705c441a817e7df3e62765
+size 307146
diff --git a/robot_trajectories/with_distraction/open_lid/0094/20260521_044452.h5 b/robot_trajectories/with_distraction/open_lid/0094/20260521_044452.h5
new file mode 100644
index 0000000000000000000000000000000000000000..fb25610174eddfd39a99f98ded7b503e75e752d1
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0094/20260521_044452.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f2dfd90e8efff70b5a4c02b742a70d07ed72df4dfdff52f634347f2bdb254dfd
+size 131604
diff --git a/robot_trajectories/with_distraction/open_lid/0094/base_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0094/base_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..cd28dfd29ff3972b0c8e85966172991624755db4
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0094/base_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:22677bb05a23278afcd1907e993c8e0d93e44d98783dc5788da3621c088f8f01
+size 314842
diff --git a/robot_trajectories/with_distraction/open_lid/0094/hand_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0094/hand_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..72c680347193f2097b475570195f57d94d999c5f
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0094/hand_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:810c0741962c1377720ab63118f1dde565bf338e211d86dbff351e80382b4822
+size 718002
diff --git a/robot_trajectories/with_distraction/open_lid/0094/left_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0094/left_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..64c2058dde6f41743edbe8a6da09deadc3091be6
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0094/left_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:720c599a1d9beeed3c159ac1c34fe63da76d39e7520f4e6c29ff8dca5f2fed97
+size 361311
diff --git a/robot_trajectories/with_distraction/open_lid/0094/overhead_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0094/overhead_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a1a70a35fef01b6f14afa5696e4f0bff32758c62
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0094/overhead_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f51478f817511e19c76add68fdbfe891116031da59410adc5f33ae051861af57
+size 464616
diff --git a/robot_trajectories/with_distraction/open_lid/0094/right_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0094/right_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c9ecd5d7a734a2dadb68271c406e01b5c268e13e
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0094/right_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:020a6d2dfe7526558c7c831210bc6b0693d88658a8542c432bd95c1928b812ce
+size 363584
diff --git a/robot_trajectories/with_distraction/open_lid/0096/0.mp4 b/robot_trajectories/with_distraction/open_lid/0096/0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..76ed6041a4ca6133dff8a4e9f29681cc048b22fc
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0096/0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:89c25dde500279cedb9ef59eccb7dd638812789c024e416256ea094c32b55624
+size 337906
diff --git a/robot_trajectories/with_distraction/open_lid/0096/20260521_044505.h5 b/robot_trajectories/with_distraction/open_lid/0096/20260521_044505.h5
new file mode 100644
index 0000000000000000000000000000000000000000..588ca53dde2159476148755ff34318ace2c5289d
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0096/20260521_044505.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fbfaa3ba7781c6c1048f583de08194351879eb81558c361a0edcacb3868fa803
+size 152526
diff --git a/robot_trajectories/with_distraction/open_lid/0096/base_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0096/base_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5415f5549eb09cc6eb0a4f42937d9756ad09279d
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0096/base_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e0419640de6f40a0ac4d503afad6bdec6ccaa3d3f70cc8b718e91acc5f36c89d
+size 366157
diff --git a/robot_trajectories/with_distraction/open_lid/0096/hand_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0096/hand_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0a56d142f28bea3eeb01229d421ea04c6b70749e
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0096/hand_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7c41f13a728dd5d15d488577575e17c64d999f506245013e646ec6ee83392c2f
+size 739179
diff --git a/robot_trajectories/with_distraction/open_lid/0096/left_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0096/left_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..bccb1a02dba5eb6fd1b984c93075734ef22de740
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0096/left_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:085522f9a01c21f453c7b0919b11bcfcc6c8c148c49a47b9858dd62e48e465a8
+size 413564
diff --git a/robot_trajectories/with_distraction/open_lid/0096/overhead_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0096/overhead_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..76e9c456e44e7c515e96b1b4bd963441f1450856
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0096/overhead_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:50136ae663a4b6a8558d4527450670f504d8c05d430ec9857495c20450c26a32
+size 506651
diff --git a/robot_trajectories/with_distraction/open_lid/0096/right_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0096/right_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0d8b95444b81cb1994061f5613fd4d34e7a00f71
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0096/right_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9202ac9122e3def984578aea21f20ff92dfc6fc82e7a8b4881aeffedee965a99
+size 391417
diff --git a/robot_trajectories/with_distraction/open_lid/0097/0.mp4 b/robot_trajectories/with_distraction/open_lid/0097/0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..777859344e3e992abbddab53828d619acec5cafa
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0097/0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:be1e225925ce8512d89cb3de2e36f0a91bb6cbdfea65af8e7145fa9234eee557
+size 313822
diff --git a/robot_trajectories/with_distraction/open_lid/0097/20260521_044511.h5 b/robot_trajectories/with_distraction/open_lid/0097/20260521_044511.h5
new file mode 100644
index 0000000000000000000000000000000000000000..961dbf9cbdb28a045e3b9d0c57fed3733d7d15de
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0097/20260521_044511.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:41e1a80fe02fc9d4565894a13497d9aca2c9b7f86907deb9c3129d1b08ea0d20
+size 135388
diff --git a/robot_trajectories/with_distraction/open_lid/0097/base_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0097/base_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9a2c98a7360a11ce80700766d7bd886a465843ec
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0097/base_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:123c36a4ffc23809e9edce64fcecab20dd6f1b58de8c0cf90e1f0a1f398a2d3b
+size 320971
diff --git a/robot_trajectories/with_distraction/open_lid/0097/hand_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0097/hand_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2e750dd96e607edc71a33190639a057c24c76f60
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0097/hand_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:58d221ca95a10bc4b45693f82d80abc79b420a25534ca87e5a7b80fa10ca0e37
+size 739734
diff --git a/robot_trajectories/with_distraction/open_lid/0097/left_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0097/left_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ed1fbd9744372ed30c09550e3cf60b4db14c9246
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0097/left_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4d6b895f3dd6b19b541806b573f44ea72e33e5db0eaf9e243de8c1e3dc6732db
+size 374123
diff --git a/robot_trajectories/with_distraction/open_lid/0097/overhead_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0097/overhead_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f185e12227f8897cc93742dbc99bb1aa0f402876
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0097/overhead_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:98a6847628c47631504589b68fe751409f89003fed83dc30ba296b2990a8048b
+size 463421
diff --git a/robot_trajectories/with_distraction/open_lid/0097/right_camera.mp4 b/robot_trajectories/with_distraction/open_lid/0097/right_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1f0d7b215b2aba6d9d8134ba8ff3a116bb7a99b0
--- /dev/null
+++ b/robot_trajectories/with_distraction/open_lid/0097/right_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1527bcfe8cacd96e700f837e060f3c78f3d19016c13a3e3bc37bef3dbba6e12c
+size 376274
diff --git a/robot_trajectories/with_distraction/press_toaster/0000/20260521_093809.json b/robot_trajectories/with_distraction/press_toaster/0000/20260521_093809.json
new file mode 100644
index 0000000000000000000000000000000000000000..f30fa005822660d3e8fa64c5635061ee81ed0bfc
--- /dev/null
+++ b/robot_trajectories/with_distraction/press_toaster/0000/20260521_093809.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "Toaster-v1",
+    "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": 101,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated toaster poke demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/press_toaster/0001/20260521_093812.json b/robot_trajectories/with_distraction/press_toaster/0001/20260521_093812.json
new file mode 100644
index 0000000000000000000000000000000000000000..6410448c0cf448879e9cd81a69d2acdb9cdce646
--- /dev/null
+++ b/robot_trajectories/with_distraction/press_toaster/0001/20260521_093812.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "Toaster-v1",
+    "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": 102,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated toaster poke demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/press_toaster/0002/20260521_093815.json b/robot_trajectories/with_distraction/press_toaster/0002/20260521_093815.json
new file mode 100644
index 0000000000000000000000000000000000000000..ec7a65dd3b375146474322244dfe0d88f61a6df2
--- /dev/null
+++ b/robot_trajectories/with_distraction/press_toaster/0002/20260521_093815.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "Toaster-v1",
+    "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": 101,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated toaster poke demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/press_toaster/0003/20260521_093817.json b/robot_trajectories/with_distraction/press_toaster/0003/20260521_093817.json
new file mode 100644
index 0000000000000000000000000000000000000000..c060263bd79262f4458e3b480c3b8d583fb7468e
--- /dev/null
+++ b/robot_trajectories/with_distraction/press_toaster/0003/20260521_093817.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "Toaster-v1",
+    "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": 105,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated toaster poke demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/press_toaster/0004/20260521_093820.json b/robot_trajectories/with_distraction/press_toaster/0004/20260521_093820.json
new file mode 100644
index 0000000000000000000000000000000000000000..04295fea08874d1e5e06139033620e3680ab8e1f
--- /dev/null
+++ b/robot_trajectories/with_distraction/press_toaster/0004/20260521_093820.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "Toaster-v1",
+    "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": 101,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated toaster poke demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/press_toaster/0005/20260521_093823.json b/robot_trajectories/with_distraction/press_toaster/0005/20260521_093823.json
new file mode 100644
index 0000000000000000000000000000000000000000..674ddfae7aa5cc7f713c517d6c53713281095fe9
--- /dev/null
+++ b/robot_trajectories/with_distraction/press_toaster/0005/20260521_093823.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "Toaster-v1",
+    "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": 6,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 104,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated toaster poke demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/press_toaster/0006/20260521_093826.json b/robot_trajectories/with_distraction/press_toaster/0006/20260521_093826.json
new file mode 100644
index 0000000000000000000000000000000000000000..7bebb8927d91654553a870a6fb02d1590bf31130
--- /dev/null
+++ b/robot_trajectories/with_distraction/press_toaster/0006/20260521_093826.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "Toaster-v1",
+    "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": 101,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated toaster poke demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/press_toaster/0007/20260521_093828.json b/robot_trajectories/with_distraction/press_toaster/0007/20260521_093828.json
new file mode 100644
index 0000000000000000000000000000000000000000..c1e92b2f06d3c99b019957e5b2e15f07c4ef55c6
--- /dev/null
+++ b/robot_trajectories/with_distraction/press_toaster/0007/20260521_093828.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "Toaster-v1",
+    "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": 131,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated toaster poke demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/press_toaster/0008/20260521_093831.json b/robot_trajectories/with_distraction/press_toaster/0008/20260521_093831.json
new file mode 100644
index 0000000000000000000000000000000000000000..90ab3ec6f4ee872b13d2856f14e6874cdf6d510c
--- /dev/null
+++ b/robot_trajectories/with_distraction/press_toaster/0008/20260521_093831.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "Toaster-v1",
+    "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": 100,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated toaster poke demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/press_toaster/0009/20260521_093834.json b/robot_trajectories/with_distraction/press_toaster/0009/20260521_093834.json
new file mode 100644
index 0000000000000000000000000000000000000000..e5d0a6d8db6c5809b54f7546edb105b6041e730a
--- /dev/null
+++ b/robot_trajectories/with_distraction/press_toaster/0009/20260521_093834.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "Toaster-v1",
+    "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": 103,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated toaster poke demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/press_toaster/0010/20260521_093837.json b/robot_trajectories/with_distraction/press_toaster/0010/20260521_093837.json
new file mode 100644
index 0000000000000000000000000000000000000000..f53778b2abf1bfcacfa1f7e2dab3bd0f0ecd9279
--- /dev/null
+++ b/robot_trajectories/with_distraction/press_toaster/0010/20260521_093837.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "Toaster-v1",
+    "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": 98,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated toaster poke demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/press_toaster/0011/20260521_093839.json b/robot_trajectories/with_distraction/press_toaster/0011/20260521_093839.json
new file mode 100644
index 0000000000000000000000000000000000000000..556d0635e9c2dffc418a19e5aeae4a3def46d21c
--- /dev/null
+++ b/robot_trajectories/with_distraction/press_toaster/0011/20260521_093839.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "Toaster-v1",
+    "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": 102,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated toaster poke demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/press_toaster/0012/20260521_093842.json b/robot_trajectories/with_distraction/press_toaster/0012/20260521_093842.json
new file mode 100644
index 0000000000000000000000000000000000000000..bed79c391a3fa503cccf18dc538ff28838182942
--- /dev/null
+++ b/robot_trajectories/with_distraction/press_toaster/0012/20260521_093842.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "Toaster-v1",
+    "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": 100,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated toaster poke demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/press_toaster/0013/20260521_093845.json b/robot_trajectories/with_distraction/press_toaster/0013/20260521_093845.json
new file mode 100644
index 0000000000000000000000000000000000000000..cbe9aaa3fd81fe85db2e76efe6c9f0e557ddef4a
--- /dev/null
+++ b/robot_trajectories/with_distraction/press_toaster/0013/20260521_093845.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "Toaster-v1",
+    "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": 100,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated toaster poke demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/press_toaster/0014/20260521_093847.json b/robot_trajectories/with_distraction/press_toaster/0014/20260521_093847.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb28d18bafee7b109f25c6acf3c812b1da78342d
--- /dev/null
+++ b/robot_trajectories/with_distraction/press_toaster/0014/20260521_093847.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "Toaster-v1",
+    "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": 102,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated toaster poke demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/press_toaster/0015/20260521_093850.json b/robot_trajectories/with_distraction/press_toaster/0015/20260521_093850.json
new file mode 100644
index 0000000000000000000000000000000000000000..9741f1360e200bdb33771df991b704801075587b
--- /dev/null
+++ b/robot_trajectories/with_distraction/press_toaster/0015/20260521_093850.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "Toaster-v1",
+    "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": 106,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated toaster poke demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/press_toaster/0016/20260521_093853.json b/robot_trajectories/with_distraction/press_toaster/0016/20260521_093853.json
new file mode 100644
index 0000000000000000000000000000000000000000..183f153282aefd63c83cc1b44dd4d8448e93a0ee
--- /dev/null
+++ b/robot_trajectories/with_distraction/press_toaster/0016/20260521_093853.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "Toaster-v1",
+    "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": 102,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated toaster poke demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/press_toaster/0017/20260521_093855.json b/robot_trajectories/with_distraction/press_toaster/0017/20260521_093855.json
new file mode 100644
index 0000000000000000000000000000000000000000..098eb6a60030fdadf7bd2e58e12a44bfc984c85c
--- /dev/null
+++ b/robot_trajectories/with_distraction/press_toaster/0017/20260521_093855.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "Toaster-v1",
+    "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": 103,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated toaster poke demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/press_toaster/0018/20260521_093858.json b/robot_trajectories/with_distraction/press_toaster/0018/20260521_093858.json
new file mode 100644
index 0000000000000000000000000000000000000000..8c77efd178c333d9e7c6f4c3084f867bc917f9e8
--- /dev/null
+++ b/robot_trajectories/with_distraction/press_toaster/0018/20260521_093858.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "Toaster-v1",
+    "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": 100,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated toaster poke demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/press_toaster/0019/20260521_093901.json b/robot_trajectories/with_distraction/press_toaster/0019/20260521_093901.json
new file mode 100644
index 0000000000000000000000000000000000000000..e30930ee12297f8f7f166bf7fcfbedd153059050
--- /dev/null
+++ b/robot_trajectories/with_distraction/press_toaster/0019/20260521_093901.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "Toaster-v1",
+    "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": 101,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated toaster poke demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/press_toaster/0020/20260521_093903.json b/robot_trajectories/with_distraction/press_toaster/0020/20260521_093903.json
new file mode 100644
index 0000000000000000000000000000000000000000..fcbd5e47e64d713f10e6e9c4274924e14994ea17
--- /dev/null
+++ b/robot_trajectories/with_distraction/press_toaster/0020/20260521_093903.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "Toaster-v1",
+    "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": 110,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated toaster poke demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/press_toaster/0021/20260521_093906.json b/robot_trajectories/with_distraction/press_toaster/0021/20260521_093906.json
new file mode 100644
index 0000000000000000000000000000000000000000..ee14055f6c990dc257e2c929c6a42fd242beb4a2
--- /dev/null
+++ b/robot_trajectories/with_distraction/press_toaster/0021/20260521_093906.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "Toaster-v1",
+    "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": 114,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated toaster poke demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/press_toaster/0022/20260521_093909.json b/robot_trajectories/with_distraction/press_toaster/0022/20260521_093909.json
new file mode 100644
index 0000000000000000000000000000000000000000..31b8d1a3c2fe97fc2fae03c50c9791efc5921aa5
--- /dev/null
+++ b/robot_trajectories/with_distraction/press_toaster/0022/20260521_093909.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "Toaster-v1",
+    "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": 102,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated toaster poke demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/press_toaster/0023/20260521_093912.json b/robot_trajectories/with_distraction/press_toaster/0023/20260521_093912.json
new file mode 100644
index 0000000000000000000000000000000000000000..7af5697771739ba979bad8c2d03dceedbd4a36d3
--- /dev/null
+++ b/robot_trajectories/with_distraction/press_toaster/0023/20260521_093912.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "Toaster-v1",
+    "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": 102,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated toaster poke demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/press_toaster/0024/20260521_093915.json b/robot_trajectories/with_distraction/press_toaster/0024/20260521_093915.json
new file mode 100644
index 0000000000000000000000000000000000000000..8f5fa669064b456db210856f6a09b82ab9181a66
--- /dev/null
+++ b/robot_trajectories/with_distraction/press_toaster/0024/20260521_093915.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "Toaster-v1",
+    "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": 100,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated toaster poke demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/press_toaster/0025/20260521_093917.json b/robot_trajectories/with_distraction/press_toaster/0025/20260521_093917.json
new file mode 100644
index 0000000000000000000000000000000000000000..430c58ee15696398df87b7bbda5752f87a8c78e4
--- /dev/null
+++ b/robot_trajectories/with_distraction/press_toaster/0025/20260521_093917.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "Toaster-v1",
+    "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": 111,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated toaster poke demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/press_toaster/0026/20260521_093920.json b/robot_trajectories/with_distraction/press_toaster/0026/20260521_093920.json
new file mode 100644
index 0000000000000000000000000000000000000000..383240952ab6208804c7883a9f0c96b6c59686be
--- /dev/null
+++ b/robot_trajectories/with_distraction/press_toaster/0026/20260521_093920.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "Toaster-v1",
+    "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": 100,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated toaster poke demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/press_toaster/0027/20260521_093923.json b/robot_trajectories/with_distraction/press_toaster/0027/20260521_093923.json
new file mode 100644
index 0000000000000000000000000000000000000000..6447033d9cab1fbccdded1f373d42fb2f142a8fd
--- /dev/null
+++ b/robot_trajectories/with_distraction/press_toaster/0027/20260521_093923.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "Toaster-v1",
+    "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": 119,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated toaster poke demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/press_toaster/0028/20260521_093926.json b/robot_trajectories/with_distraction/press_toaster/0028/20260521_093926.json
new file mode 100644
index 0000000000000000000000000000000000000000..3fb0b7b4f1ff2904410318df5c2596dc4ae98a46
--- /dev/null
+++ b/robot_trajectories/with_distraction/press_toaster/0028/20260521_093926.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "Toaster-v1",
+    "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": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated toaster poke demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/press_toaster/0029/20260521_093929.json b/robot_trajectories/with_distraction/press_toaster/0029/20260521_093929.json
new file mode 100644
index 0000000000000000000000000000000000000000..285e1fddd2a64473b5cbed25b364726fe1afe987
--- /dev/null
+++ b/robot_trajectories/with_distraction/press_toaster/0029/20260521_093929.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "Toaster-v1",
+    "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": 128,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated toaster poke demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/press_toaster/0030/20260521_093932.json b/robot_trajectories/with_distraction/press_toaster/0030/20260521_093932.json
new file mode 100644
index 0000000000000000000000000000000000000000..ae9bc597584d277f3965e0b36eef840fab449efb
--- /dev/null
+++ b/robot_trajectories/with_distraction/press_toaster/0030/20260521_093932.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "Toaster-v1",
+    "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": 31,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 97,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated toaster poke demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/press_toaster/0031/20260521_093935.json b/robot_trajectories/with_distraction/press_toaster/0031/20260521_093935.json
new file mode 100644
index 0000000000000000000000000000000000000000..80b98c711faa86f6f4e31643126f7c0c2e3a3560
--- /dev/null
+++ b/robot_trajectories/with_distraction/press_toaster/0031/20260521_093935.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "Toaster-v1",
+    "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": 102,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated toaster poke demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/press_toaster/0032/20260521_093937.json b/robot_trajectories/with_distraction/press_toaster/0032/20260521_093937.json
new file mode 100644
index 0000000000000000000000000000000000000000..327cb5d78598ae639c7ab50bfdeafe13cb4fbb06
--- /dev/null
+++ b/robot_trajectories/with_distraction/press_toaster/0032/20260521_093937.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "Toaster-v1",
+    "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": 108,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated toaster poke demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/press_toaster/0033/20260521_093940.json b/robot_trajectories/with_distraction/press_toaster/0033/20260521_093940.json
new file mode 100644
index 0000000000000000000000000000000000000000..1790b2cfc1a6700953d81e7bde67f629d62be7ba
--- /dev/null
+++ b/robot_trajectories/with_distraction/press_toaster/0033/20260521_093940.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "Toaster-v1",
+    "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": 98,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated toaster poke demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/press_toaster/0034/20260521_093943.json b/robot_trajectories/with_distraction/press_toaster/0034/20260521_093943.json
new file mode 100644
index 0000000000000000000000000000000000000000..9a0137cc1de5480b21b53ddc1bd50a93103cf4bf
--- /dev/null
+++ b/robot_trajectories/with_distraction/press_toaster/0034/20260521_093943.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "Toaster-v1",
+    "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": 102,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated toaster poke demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/press_toaster/0035/20260521_093945.json b/robot_trajectories/with_distraction/press_toaster/0035/20260521_093945.json
new file mode 100644
index 0000000000000000000000000000000000000000..d88d77a9a4dcbbbaf308da2e75c1aac2983f77fa
--- /dev/null
+++ b/robot_trajectories/with_distraction/press_toaster/0035/20260521_093945.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "Toaster-v1",
+    "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": 100,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated toaster poke demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/press_toaster/0036/20260521_093948.json b/robot_trajectories/with_distraction/press_toaster/0036/20260521_093948.json
new file mode 100644
index 0000000000000000000000000000000000000000..617a2c006b338a5d4dcc3a376ac7efec2096ae2b
--- /dev/null
+++ b/robot_trajectories/with_distraction/press_toaster/0036/20260521_093948.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "Toaster-v1",
+    "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": 116,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated toaster poke demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/press_toaster/0037/20260521_093951.json b/robot_trajectories/with_distraction/press_toaster/0037/20260521_093951.json
new file mode 100644
index 0000000000000000000000000000000000000000..8f92a62458f74315b7e371ef8f93dcacb58aecc0
--- /dev/null
+++ b/robot_trajectories/with_distraction/press_toaster/0037/20260521_093951.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "Toaster-v1",
+    "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": 108,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated toaster poke demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/press_toaster/0038/20260521_093954.json b/robot_trajectories/with_distraction/press_toaster/0038/20260521_093954.json
new file mode 100644
index 0000000000000000000000000000000000000000..5aa837625574fa14784812a90584469cefa9a5d3
--- /dev/null
+++ b/robot_trajectories/with_distraction/press_toaster/0038/20260521_093954.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "Toaster-v1",
+    "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": 101,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated toaster poke demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/press_toaster/0039/20260521_093956.json b/robot_trajectories/with_distraction/press_toaster/0039/20260521_093956.json
new file mode 100644
index 0000000000000000000000000000000000000000..6ef720ebaf75fb57590d15fc0323ee9b8b78b7b9
--- /dev/null
+++ b/robot_trajectories/with_distraction/press_toaster/0039/20260521_093956.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "Toaster-v1",
+    "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": 130,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated toaster poke demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/press_toaster/0040/20260521_094000.json b/robot_trajectories/with_distraction/press_toaster/0040/20260521_094000.json
new file mode 100644
index 0000000000000000000000000000000000000000..ac6e0d35264716a1d2e259bdf16ce5835dce0e48
--- /dev/null
+++ b/robot_trajectories/with_distraction/press_toaster/0040/20260521_094000.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "Toaster-v1",
+    "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": 102,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated toaster poke demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/press_toaster/0041/20260521_094002.json b/robot_trajectories/with_distraction/press_toaster/0041/20260521_094002.json
new file mode 100644
index 0000000000000000000000000000000000000000..c653848990ac3171430505d3d0732677a8cbeee6
--- /dev/null
+++ b/robot_trajectories/with_distraction/press_toaster/0041/20260521_094002.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "Toaster-v1",
+    "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": 200,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated toaster poke demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/press_toaster/0042/20260521_094006.json b/robot_trajectories/with_distraction/press_toaster/0042/20260521_094006.json
new file mode 100644
index 0000000000000000000000000000000000000000..7d357c6dac3a4206a5dee16602031a6ff1c3e19c
--- /dev/null
+++ b/robot_trajectories/with_distraction/press_toaster/0042/20260521_094006.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "Toaster-v1",
+    "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": 102,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated toaster poke demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/press_toaster/0043/20260521_094009.json b/robot_trajectories/with_distraction/press_toaster/0043/20260521_094009.json
new file mode 100644
index 0000000000000000000000000000000000000000..c9faa90a191dc88c182ca7315d297859104303cc
--- /dev/null
+++ b/robot_trajectories/with_distraction/press_toaster/0043/20260521_094009.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "Toaster-v1",
+    "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": 123,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated toaster poke demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/press_toaster/0044/20260521_094012.json b/robot_trajectories/with_distraction/press_toaster/0044/20260521_094012.json
new file mode 100644
index 0000000000000000000000000000000000000000..494feb30dfcc2cfdb49e8659d395597fae06cb18
--- /dev/null
+++ b/robot_trajectories/with_distraction/press_toaster/0044/20260521_094012.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "Toaster-v1",
+    "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": 146,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated toaster poke demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/press_toaster/0045/20260521_094015.json b/robot_trajectories/with_distraction/press_toaster/0045/20260521_094015.json
new file mode 100644
index 0000000000000000000000000000000000000000..381a81b6fb90996bb423be8daa4a2b0d2e840b9f
--- /dev/null
+++ b/robot_trajectories/with_distraction/press_toaster/0045/20260521_094015.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "Toaster-v1",
+    "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": 100,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated toaster poke demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/press_toaster/0046/20260521_094018.json b/robot_trajectories/with_distraction/press_toaster/0046/20260521_094018.json
new file mode 100644
index 0000000000000000000000000000000000000000..7f4b534536c1d94a9f14dde52ee2f3c6d646bdf1
--- /dev/null
+++ b/robot_trajectories/with_distraction/press_toaster/0046/20260521_094018.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "Toaster-v1",
+    "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": 102,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated toaster poke demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/press_toaster/0047/20260521_094021.json b/robot_trajectories/with_distraction/press_toaster/0047/20260521_094021.json
new file mode 100644
index 0000000000000000000000000000000000000000..b3c7003592badf74ddc164ef590bd6387ca533ce
--- /dev/null
+++ b/robot_trajectories/with_distraction/press_toaster/0047/20260521_094021.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "Toaster-v1",
+    "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": 99,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated toaster poke demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/press_toaster/0048/20260521_094024.json b/robot_trajectories/with_distraction/press_toaster/0048/20260521_094024.json
new file mode 100644
index 0000000000000000000000000000000000000000..914e663faf09bdbb1618a98a4d038d5ce0879dbf
--- /dev/null
+++ b/robot_trajectories/with_distraction/press_toaster/0048/20260521_094024.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "Toaster-v1",
+    "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": 101,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated toaster poke demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/press_toaster/0049/20260521_094026.json b/robot_trajectories/with_distraction/press_toaster/0049/20260521_094026.json
new file mode 100644
index 0000000000000000000000000000000000000000..4c57890c85a65dd2b5db08a0c2016d3335533c6a
--- /dev/null
+++ b/robot_trajectories/with_distraction/press_toaster/0049/20260521_094026.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "Toaster-v1",
+    "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": 101,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated toaster poke demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/press_toaster/0050/20260521_094029.json b/robot_trajectories/with_distraction/press_toaster/0050/20260521_094029.json
new file mode 100644
index 0000000000000000000000000000000000000000..8f8a96f7d706765d33f3af59152e6066ddb425ad
--- /dev/null
+++ b/robot_trajectories/with_distraction/press_toaster/0050/20260521_094029.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "Toaster-v1",
+    "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": 128,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated toaster poke demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/press_toaster/0051/20260521_094032.json b/robot_trajectories/with_distraction/press_toaster/0051/20260521_094032.json
new file mode 100644
index 0000000000000000000000000000000000000000..a24b01a62502711e4c71673c1dc24425fcc80b6c
--- /dev/null
+++ b/robot_trajectories/with_distraction/press_toaster/0051/20260521_094032.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "Toaster-v1",
+    "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": 127,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated toaster poke demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/press_toaster/0052/20260521_094035.json b/robot_trajectories/with_distraction/press_toaster/0052/20260521_094035.json
new file mode 100644
index 0000000000000000000000000000000000000000..652c382113aa13c7158cf507a7f68487a623512b
--- /dev/null
+++ b/robot_trajectories/with_distraction/press_toaster/0052/20260521_094035.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "Toaster-v1",
+    "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": 126,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated toaster poke demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/press_toaster/0053/20260521_094038.json b/robot_trajectories/with_distraction/press_toaster/0053/20260521_094038.json
new file mode 100644
index 0000000000000000000000000000000000000000..41eeeac0909d16c9af7a1799ce8009bc9c0bb77e
--- /dev/null
+++ b/robot_trajectories/with_distraction/press_toaster/0053/20260521_094038.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "Toaster-v1",
+    "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": 54,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 110,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated toaster poke demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/press_toaster/0054/20260521_094041.json b/robot_trajectories/with_distraction/press_toaster/0054/20260521_094041.json
new file mode 100644
index 0000000000000000000000000000000000000000..b98d3f660e10ce477a34813f04c3d6fcb82e4e66
--- /dev/null
+++ b/robot_trajectories/with_distraction/press_toaster/0054/20260521_094041.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "Toaster-v1",
+    "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": 200,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated toaster poke demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/press_toaster/0055/20260521_094045.json b/robot_trajectories/with_distraction/press_toaster/0055/20260521_094045.json
new file mode 100644
index 0000000000000000000000000000000000000000..3dbb7fb427f3067d2e7fbb589b3d35c35c6f8d4d
--- /dev/null
+++ b/robot_trajectories/with_distraction/press_toaster/0055/20260521_094045.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "Toaster-v1",
+    "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": 113,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated toaster poke demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/press_toaster/0056/20260521_094048.json b/robot_trajectories/with_distraction/press_toaster/0056/20260521_094048.json
new file mode 100644
index 0000000000000000000000000000000000000000..3df5e0001db9ff70e9db8511c549f249edfc450d
--- /dev/null
+++ b/robot_trajectories/with_distraction/press_toaster/0056/20260521_094048.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "Toaster-v1",
+    "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": 110,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated toaster poke demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/press_toaster/0057/20260521_094051.json b/robot_trajectories/with_distraction/press_toaster/0057/20260521_094051.json
new file mode 100644
index 0000000000000000000000000000000000000000..94eb581d577ea557cf559f1049f5f8ce113e01ec
--- /dev/null
+++ b/robot_trajectories/with_distraction/press_toaster/0057/20260521_094051.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "Toaster-v1",
+    "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": 100,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated toaster poke demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/press_toaster/0058/20260521_094053.json b/robot_trajectories/with_distraction/press_toaster/0058/20260521_094053.json
new file mode 100644
index 0000000000000000000000000000000000000000..12df3b13eb5a9749248a8f512e3703eb1c659537
--- /dev/null
+++ b/robot_trajectories/with_distraction/press_toaster/0058/20260521_094053.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "Toaster-v1",
+    "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": 200,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated toaster poke demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/press_toaster/0059/20260521_094058.json b/robot_trajectories/with_distraction/press_toaster/0059/20260521_094058.json
new file mode 100644
index 0000000000000000000000000000000000000000..f9e888b44a527740c4f9e4a68a71c5ff41b2e4ee
--- /dev/null
+++ b/robot_trajectories/with_distraction/press_toaster/0059/20260521_094058.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "Toaster-v1",
+    "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": 101,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated toaster poke demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/press_toaster/0060/20260521_094100.json b/robot_trajectories/with_distraction/press_toaster/0060/20260521_094100.json
new file mode 100644
index 0000000000000000000000000000000000000000..8ed63f07d63e7653be4d4fff7ffd4a40d5442ce3
--- /dev/null
+++ b/robot_trajectories/with_distraction/press_toaster/0060/20260521_094100.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "Toaster-v1",
+    "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": 116,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated toaster poke demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/press_toaster/0061/20260521_094103.json b/robot_trajectories/with_distraction/press_toaster/0061/20260521_094103.json
new file mode 100644
index 0000000000000000000000000000000000000000..348d1fe24ead5e14e3ba61f7f33ea55076654423
--- /dev/null
+++ b/robot_trajectories/with_distraction/press_toaster/0061/20260521_094103.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "Toaster-v1",
+    "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": 130,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated toaster poke demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/press_toaster/0062/20260521_094106.json b/robot_trajectories/with_distraction/press_toaster/0062/20260521_094106.json
new file mode 100644
index 0000000000000000000000000000000000000000..2791c237f52cc2faac8c82ec84a435cab590e96e
--- /dev/null
+++ b/robot_trajectories/with_distraction/press_toaster/0062/20260521_094106.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "Toaster-v1",
+    "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": 102,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated toaster poke demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/press_toaster/0063/20260521_094109.json b/robot_trajectories/with_distraction/press_toaster/0063/20260521_094109.json
new file mode 100644
index 0000000000000000000000000000000000000000..0b81301baa98e137ac0b2f1a4cc98cdcbf37639c
--- /dev/null
+++ b/robot_trajectories/with_distraction/press_toaster/0063/20260521_094109.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "Toaster-v1",
+    "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": 105,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated toaster poke demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/press_toaster/0064/20260521_094112.json b/robot_trajectories/with_distraction/press_toaster/0064/20260521_094112.json
new file mode 100644
index 0000000000000000000000000000000000000000..c18ae156e5409af329b1055dbede0e8c9f0776f2
--- /dev/null
+++ b/robot_trajectories/with_distraction/press_toaster/0064/20260521_094112.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "Toaster-v1",
+    "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": 111,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated toaster poke demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/press_toaster/0065/20260521_094115.json b/robot_trajectories/with_distraction/press_toaster/0065/20260521_094115.json
new file mode 100644
index 0000000000000000000000000000000000000000..01cfe178ad43c33d048cbd9ab39fb3c67b751234
--- /dev/null
+++ b/robot_trajectories/with_distraction/press_toaster/0065/20260521_094115.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "Toaster-v1",
+    "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": 102,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated toaster poke demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/press_toaster/0066/20260521_094117.json b/robot_trajectories/with_distraction/press_toaster/0066/20260521_094117.json
new file mode 100644
index 0000000000000000000000000000000000000000..09d4b4f2d7cb94b2b1425a143b062b6ebf6026ba
--- /dev/null
+++ b/robot_trajectories/with_distraction/press_toaster/0066/20260521_094117.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "Toaster-v1",
+    "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": 103,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated toaster poke demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/press_toaster/0067/20260521_094120.json b/robot_trajectories/with_distraction/press_toaster/0067/20260521_094120.json
new file mode 100644
index 0000000000000000000000000000000000000000..942e3ccd18f6ef23531cf9aab19dd241d64937c1
--- /dev/null
+++ b/robot_trajectories/with_distraction/press_toaster/0067/20260521_094120.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "Toaster-v1",
+    "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": 103,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated toaster poke demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/press_toaster/0068/20260521_094123.json b/robot_trajectories/with_distraction/press_toaster/0068/20260521_094123.json
new file mode 100644
index 0000000000000000000000000000000000000000..e8095462b67859637d6e30ab85e29ddd9f3339a5
--- /dev/null
+++ b/robot_trajectories/with_distraction/press_toaster/0068/20260521_094123.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "Toaster-v1",
+    "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": 130,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated toaster poke demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/press_toaster/0069/20260521_094126.json b/robot_trajectories/with_distraction/press_toaster/0069/20260521_094126.json
new file mode 100644
index 0000000000000000000000000000000000000000..a341b8bc50bfaa256e07b606c79f5edacb5b402b
--- /dev/null
+++ b/robot_trajectories/with_distraction/press_toaster/0069/20260521_094126.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "Toaster-v1",
+    "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": 100,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated toaster poke demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/press_toaster/0070/20260521_094129.json b/robot_trajectories/with_distraction/press_toaster/0070/20260521_094129.json
new file mode 100644
index 0000000000000000000000000000000000000000..02110f1af91595ca503cec67eeee54048e3223fb
--- /dev/null
+++ b/robot_trajectories/with_distraction/press_toaster/0070/20260521_094129.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "Toaster-v1",
+    "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": 100,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated toaster poke demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/press_toaster/0071/20260521_094131.json b/robot_trajectories/with_distraction/press_toaster/0071/20260521_094131.json
new file mode 100644
index 0000000000000000000000000000000000000000..a40ca44036f30c9b7939a32fc97037bf7d19f520
--- /dev/null
+++ b/robot_trajectories/with_distraction/press_toaster/0071/20260521_094131.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "Toaster-v1",
+    "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": 99,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated toaster poke demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/press_toaster/0072/20260521_094134.json b/robot_trajectories/with_distraction/press_toaster/0072/20260521_094134.json
new file mode 100644
index 0000000000000000000000000000000000000000..eab6c2f63c302633155b527a5c51b1332a68bcc9
--- /dev/null
+++ b/robot_trajectories/with_distraction/press_toaster/0072/20260521_094134.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "Toaster-v1",
+    "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": 102,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated toaster poke demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/press_toaster/0073/20260521_094137.json b/robot_trajectories/with_distraction/press_toaster/0073/20260521_094137.json
new file mode 100644
index 0000000000000000000000000000000000000000..c509d479f47332346cdfd4cbf9305b6b3ae71afd
--- /dev/null
+++ b/robot_trajectories/with_distraction/press_toaster/0073/20260521_094137.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "Toaster-v1",
+    "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": 115,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated toaster poke demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/press_toaster/0074/20260521_094140.json b/robot_trajectories/with_distraction/press_toaster/0074/20260521_094140.json
new file mode 100644
index 0000000000000000000000000000000000000000..ec8e2478212051146d7531be26f535f8c21938ff
--- /dev/null
+++ b/robot_trajectories/with_distraction/press_toaster/0074/20260521_094140.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "Toaster-v1",
+    "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": 101,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated toaster poke demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/press_toaster/0075/20260521_094142.json b/robot_trajectories/with_distraction/press_toaster/0075/20260521_094142.json
new file mode 100644
index 0000000000000000000000000000000000000000..4be37dd5fcd22ceb82b2c595ceab8ef47270b521
--- /dev/null
+++ b/robot_trajectories/with_distraction/press_toaster/0075/20260521_094142.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "Toaster-v1",
+    "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": 107,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated toaster poke demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/press_toaster/0076/20260521_094145.json b/robot_trajectories/with_distraction/press_toaster/0076/20260521_094145.json
new file mode 100644
index 0000000000000000000000000000000000000000..f133a5cf83e101a4a544e0df17d5d2082ac6bc74
--- /dev/null
+++ b/robot_trajectories/with_distraction/press_toaster/0076/20260521_094145.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "Toaster-v1",
+    "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": 101,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated toaster poke demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/press_toaster/0077/20260521_094148.json b/robot_trajectories/with_distraction/press_toaster/0077/20260521_094148.json
new file mode 100644
index 0000000000000000000000000000000000000000..05e72cecbda81160b6c384a8e029c71990836985
--- /dev/null
+++ b/robot_trajectories/with_distraction/press_toaster/0077/20260521_094148.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "Toaster-v1",
+    "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": 99,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated toaster poke demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/press_toaster/0078/20260521_094150.json b/robot_trajectories/with_distraction/press_toaster/0078/20260521_094150.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb58a6eb92f8e094dee236d92bc9834ba456931b
--- /dev/null
+++ b/robot_trajectories/with_distraction/press_toaster/0078/20260521_094150.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "Toaster-v1",
+    "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": 102,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated toaster poke demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/press_toaster/0079/20260521_094153.json b/robot_trajectories/with_distraction/press_toaster/0079/20260521_094153.json
new file mode 100644
index 0000000000000000000000000000000000000000..5c50fcd0209ec4d57a10a112474a44b9ec5bf59f
--- /dev/null
+++ b/robot_trajectories/with_distraction/press_toaster/0079/20260521_094153.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "Toaster-v1",
+    "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": 101,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated toaster poke demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/press_toaster/0080/20260521_094156.json b/robot_trajectories/with_distraction/press_toaster/0080/20260521_094156.json
new file mode 100644
index 0000000000000000000000000000000000000000..88234d7d3e8733899e73f923df227d5e957262dc
--- /dev/null
+++ b/robot_trajectories/with_distraction/press_toaster/0080/20260521_094156.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "Toaster-v1",
+    "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": 130,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated toaster poke demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/press_toaster/0081/20260521_094159.json b/robot_trajectories/with_distraction/press_toaster/0081/20260521_094159.json
new file mode 100644
index 0000000000000000000000000000000000000000..ad8ef0049ba23fbdaf84df9f1508e8f2e16a1e4e
--- /dev/null
+++ b/robot_trajectories/with_distraction/press_toaster/0081/20260521_094159.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "Toaster-v1",
+    "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": 102,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated toaster poke demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/press_toaster/0082/20260521_094202.json b/robot_trajectories/with_distraction/press_toaster/0082/20260521_094202.json
new file mode 100644
index 0000000000000000000000000000000000000000..26617ca64b37200288f63944273e160efbc9a589
--- /dev/null
+++ b/robot_trajectories/with_distraction/press_toaster/0082/20260521_094202.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "Toaster-v1",
+    "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": 130,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated toaster poke demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/press_toaster/0083/20260521_094205.json b/robot_trajectories/with_distraction/press_toaster/0083/20260521_094205.json
new file mode 100644
index 0000000000000000000000000000000000000000..b43e97f8835bf14f1f147a8f0eff5a260fcaaaad
--- /dev/null
+++ b/robot_trajectories/with_distraction/press_toaster/0083/20260521_094205.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "Toaster-v1",
+    "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": 103,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated toaster poke demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/press_toaster/0084/20260521_094208.json b/robot_trajectories/with_distraction/press_toaster/0084/20260521_094208.json
new file mode 100644
index 0000000000000000000000000000000000000000..40d16804dfe75772f97eb87bb5e6d217e01caa25
--- /dev/null
+++ b/robot_trajectories/with_distraction/press_toaster/0084/20260521_094208.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "Toaster-v1",
+    "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": 104,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated toaster poke demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/press_toaster/0085/20260521_094211.json b/robot_trajectories/with_distraction/press_toaster/0085/20260521_094211.json
new file mode 100644
index 0000000000000000000000000000000000000000..0e71e2827277c6f0b721a5315dc814d07019b202
--- /dev/null
+++ b/robot_trajectories/with_distraction/press_toaster/0085/20260521_094211.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "Toaster-v1",
+    "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": 101,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated toaster poke demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/press_toaster/0086/20260521_094213.json b/robot_trajectories/with_distraction/press_toaster/0086/20260521_094213.json
new file mode 100644
index 0000000000000000000000000000000000000000..a2b64c18998951849c74488af6cabfa197f3e6bf
--- /dev/null
+++ b/robot_trajectories/with_distraction/press_toaster/0086/20260521_094213.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "Toaster-v1",
+    "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": 129,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated toaster poke demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/press_toaster/0087/20260521_094216.json b/robot_trajectories/with_distraction/press_toaster/0087/20260521_094216.json
new file mode 100644
index 0000000000000000000000000000000000000000..88db3b209eae92ac53828746d9dc8fe91ba4a6c0
--- /dev/null
+++ b/robot_trajectories/with_distraction/press_toaster/0087/20260521_094216.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "Toaster-v1",
+    "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": 118,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated toaster poke demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/press_toaster/0088/20260521_094219.json b/robot_trajectories/with_distraction/press_toaster/0088/20260521_094219.json
new file mode 100644
index 0000000000000000000000000000000000000000..ca0c82c5f2aa41e1decb9868d4de2c029e26cd42
--- /dev/null
+++ b/robot_trajectories/with_distraction/press_toaster/0088/20260521_094219.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "Toaster-v1",
+    "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": 102,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated toaster poke demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/press_toaster/0089/20260521_094222.json b/robot_trajectories/with_distraction/press_toaster/0089/20260521_094222.json
new file mode 100644
index 0000000000000000000000000000000000000000..59df4ffd7d84d16935c298efaa4400d177e0b9cc
--- /dev/null
+++ b/robot_trajectories/with_distraction/press_toaster/0089/20260521_094222.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "Toaster-v1",
+    "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": 114,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated toaster poke demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/press_toaster/0090/20260521_094225.json b/robot_trajectories/with_distraction/press_toaster/0090/20260521_094225.json
new file mode 100644
index 0000000000000000000000000000000000000000..e7f8ec753769ec695a3c70d684516e0ff61004c7
--- /dev/null
+++ b/robot_trajectories/with_distraction/press_toaster/0090/20260521_094225.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "Toaster-v1",
+    "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": 108,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated toaster poke demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/press_toaster/0091/20260521_094228.json b/robot_trajectories/with_distraction/press_toaster/0091/20260521_094228.json
new file mode 100644
index 0000000000000000000000000000000000000000..22dd587b48d879f1a2ebcefbfaa6f6d1f8ca64d1
--- /dev/null
+++ b/robot_trajectories/with_distraction/press_toaster/0091/20260521_094228.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "Toaster-v1",
+    "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": 200,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated toaster poke demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/press_toaster/0092/20260521_094232.json b/robot_trajectories/with_distraction/press_toaster/0092/20260521_094232.json
new file mode 100644
index 0000000000000000000000000000000000000000..309b79f42d9ae518f4b721c22b0e0ffcffa34eb6
--- /dev/null
+++ b/robot_trajectories/with_distraction/press_toaster/0092/20260521_094232.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "Toaster-v1",
+    "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": 94,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated toaster poke demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/press_toaster/0093/20260521_094234.json b/robot_trajectories/with_distraction/press_toaster/0093/20260521_094234.json
new file mode 100644
index 0000000000000000000000000000000000000000..223f549a71ccc802f410e02dfa69d7f1c959ead7
--- /dev/null
+++ b/robot_trajectories/with_distraction/press_toaster/0093/20260521_094234.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "Toaster-v1",
+    "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": 102,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated toaster poke demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/press_toaster/0094/20260521_094237.json b/robot_trajectories/with_distraction/press_toaster/0094/20260521_094237.json
new file mode 100644
index 0000000000000000000000000000000000000000..c2abf3a3bbe7843f929d5237ba0e107057cc87a1
--- /dev/null
+++ b/robot_trajectories/with_distraction/press_toaster/0094/20260521_094237.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "Toaster-v1",
+    "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": 101,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated toaster poke demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/press_toaster/0095/20260521_094240.json b/robot_trajectories/with_distraction/press_toaster/0095/20260521_094240.json
new file mode 100644
index 0000000000000000000000000000000000000000..559b438fc8eedac737a04ea25ce06d2fd9710bdf
--- /dev/null
+++ b/robot_trajectories/with_distraction/press_toaster/0095/20260521_094240.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "Toaster-v1",
+    "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": 118,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated toaster poke demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/press_toaster/0096/20260521_094243.json b/robot_trajectories/with_distraction/press_toaster/0096/20260521_094243.json
new file mode 100644
index 0000000000000000000000000000000000000000..150e41bd5995e222197cf49b792fa636cc44ab86
--- /dev/null
+++ b/robot_trajectories/with_distraction/press_toaster/0096/20260521_094243.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "Toaster-v1",
+    "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": 102,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated toaster poke demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/press_toaster/0097/20260521_094246.json b/robot_trajectories/with_distraction/press_toaster/0097/20260521_094246.json
new file mode 100644
index 0000000000000000000000000000000000000000..9293e92da62ccd5b15172e722e54dc341dbac6bf
--- /dev/null
+++ b/robot_trajectories/with_distraction/press_toaster/0097/20260521_094246.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "Toaster-v1",
+    "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": 102,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated toaster poke demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/press_toaster/0098/20260521_094248.json b/robot_trajectories/with_distraction/press_toaster/0098/20260521_094248.json
new file mode 100644
index 0000000000000000000000000000000000000000..0eebce5795a8290421fa8f1cd6d3b61af40507e3
--- /dev/null
+++ b/robot_trajectories/with_distraction/press_toaster/0098/20260521_094248.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "Toaster-v1",
+    "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": 145,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated toaster poke demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/press_toaster/0099/20260521_094252.json b/robot_trajectories/with_distraction/press_toaster/0099/20260521_094252.json
new file mode 100644
index 0000000000000000000000000000000000000000..5baea64a53bdd52c5d52be64933c528d6f334b5a
--- /dev/null
+++ b/robot_trajectories/with_distraction/press_toaster/0099/20260521_094252.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "Toaster-v1",
+    "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": 122,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated toaster poke demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/stack_cups/0000/0.mp4 b/robot_trajectories/with_distraction/stack_cups/0000/0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..26f533a12d524b147e0017e3d6cee54703d82c29
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0000/0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dcecfc6a8aa6e3b5e4ab57118beb9f6a7d93ac9e35cc6525734582141a444945
+size 642643
diff --git a/robot_trajectories/with_distraction/stack_cups/0000/20260521_063219.h5 b/robot_trajectories/with_distraction/stack_cups/0000/20260521_063219.h5
new file mode 100644
index 0000000000000000000000000000000000000000..79a62da96aeccae8931b58161a22c9918dda83ad
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0000/20260521_063219.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2f37052e274f067d3b1707cf2926ddbdbc4c07f1126ef59e9ad26916dc0929f1
+size 361275
diff --git a/robot_trajectories/with_distraction/stack_cups/0000/base_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0000/base_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6c5c2917f92e702fceb2f594f9b6dea618d616ed
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0000/base_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eb33f4daf12bb281bb295574831c2e694a51d4c8cf9dd24d01c96d70238f06d2
+size 755573
diff --git a/robot_trajectories/with_distraction/stack_cups/0000/hand_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0000/hand_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a01afcccc04fd783a5ee3d1e0ce496d72d8fd68f
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0000/hand_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dddce83ba2efc9ea654d98c75461632087a3ff4814c518a77633aacad3407a8b
+size 2008354
diff --git a/robot_trajectories/with_distraction/stack_cups/0000/left_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0000/left_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b41ace727062508bc76f11e9781feb9dc37b0d5a
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0000/left_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:158b2ff58a86b402665df3d85075d6ab388e138db6ebba2e4ba8487a49f46005
+size 770955
diff --git a/robot_trajectories/with_distraction/stack_cups/0000/overhead_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0000/overhead_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..aef07038c7cae1d770e16d190d05ba80257ccc79
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0000/overhead_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1f95c305374bfbcf45b180e70d1a3e6bf5614865e7ab309c24441d5fb0c43975
+size 894468
diff --git a/robot_trajectories/with_distraction/stack_cups/0000/right_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0000/right_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b0f161835b3203ede2069f5c0203c5a9dbd78f30
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0000/right_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:59ec9f65e818ddf3329423d2a755a42d0256335906829ba9f3aa2a5e42e184b6
+size 821229
diff --git a/robot_trajectories/with_distraction/stack_cups/0001/0.mp4 b/robot_trajectories/with_distraction/stack_cups/0001/0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..924e2615f12a9102b7ab5108b2b3babf4b1fb90a
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0001/0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0231771ca0ab903e25c36354dc645ae8b44eeb43efadca1e7da66667c7cba525
+size 469621
diff --git a/robot_trajectories/with_distraction/stack_cups/0001/20260521_063313.h5 b/robot_trajectories/with_distraction/stack_cups/0001/20260521_063313.h5
new file mode 100644
index 0000000000000000000000000000000000000000..9023f0d88022fb7b2b47ea9bbb12edc4d41890a7
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0001/20260521_063313.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ca78f10c45e5ffb90f983227f5427dc551e38d916bde74bf0be70c158d6fc786
+size 288573
diff --git a/robot_trajectories/with_distraction/stack_cups/0001/base_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0001/base_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f6682a25bcf46dbfba89bdeca2c6952e3c8af0a6
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0001/base_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:67be2deee09dabf67c483a31642684ef939b40be68fe6b6143076553b95551a2
+size 564594
diff --git a/robot_trajectories/with_distraction/stack_cups/0001/hand_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0001/hand_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7f3de1d208db217ae10b7e179cf56874c984aea5
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0001/hand_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:349ea92c64765c6764776f7b886ac5b3af760706347af002de75aa30788d0e54
+size 1633643
diff --git a/robot_trajectories/with_distraction/stack_cups/0001/left_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0001/left_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0950fc5efdbc845157cdc49c9a2eb0bb1d9d0cb5
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0001/left_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:742e445c74389634c3d3da7b2a10b635234dc46a29bf0377da8fae3da3b4d4f4
+size 576235
diff --git a/robot_trajectories/with_distraction/stack_cups/0001/overhead_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0001/overhead_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3592ddd9a4c7f20fe0064ff7915e3b1356eb141d
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0001/overhead_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:731d9d617f4e117823ba7f72838c1d964053e68f869fe7e5839c4de55cef4917
+size 591513
diff --git a/robot_trajectories/with_distraction/stack_cups/0001/right_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0001/right_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..73d4bfa0a4358e5927abbc14d9920bd56f0c2d0d
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0001/right_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4a5c0d2dbdcf64e0d7eb40ce19381ca288bf470184737915d03966a2c9301a6e
+size 570255
diff --git a/robot_trajectories/with_distraction/stack_cups/0002/0.mp4 b/robot_trajectories/with_distraction/stack_cups/0002/0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ec870b17cce03aa162c92b668f93bdc9e7ee020d
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0002/0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4a29e1e6750017ea1d502fdd5b047954f9bc9a9ec9a565b4728eb13904eb1e1f
+size 573432
diff --git a/robot_trajectories/with_distraction/stack_cups/0002/20260521_063359.h5 b/robot_trajectories/with_distraction/stack_cups/0002/20260521_063359.h5
new file mode 100644
index 0000000000000000000000000000000000000000..caded82fb72f0d4128d7275e12c6569bb9099c7b
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0002/20260521_063359.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:471ab34443f1167f62bed4ddad0fc185f138191ab031eeaa8808801a749b1c70
+size 287976
diff --git a/robot_trajectories/with_distraction/stack_cups/0002/base_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0002/base_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a8612c23b9ca60cbefa714b2d81f304fdc1cd848
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0002/base_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6af1977f50d8adc762516c98e7e5234027197e3b6cbcb6fd9d1f002bd2d2682f
+size 654631
diff --git a/robot_trajectories/with_distraction/stack_cups/0002/hand_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0002/hand_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..65afe4f30323fc04bb86050eaa79c622c1e45e5d
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0002/hand_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2bea54eecd5a0b1cba59560e663d35abb0ddaac45e1258d516d72ee9d34d77ee
+size 1754806
diff --git a/robot_trajectories/with_distraction/stack_cups/0002/left_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0002/left_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..53908afc94f1d865171dc35d8dc21bfa421b9361
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0002/left_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bb4b6bc182e196c60a428594ea4758c65a6be54a8d5e52ce28df1939084ce14e
+size 700843
diff --git a/robot_trajectories/with_distraction/stack_cups/0002/overhead_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0002/overhead_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5a1d6023639db63ed67b26ad5e440c298376beba
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0002/overhead_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d7c7b16544f0105dfc54951a9395f728e88d3a773372ba1d0c6bdc7155f35ea7
+size 820187
diff --git a/robot_trajectories/with_distraction/stack_cups/0002/right_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0002/right_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9ce3f71062c1ee76cf89cd178bf3ce4b81cc1a65
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0002/right_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d9c8bff73c6bdbe2535148374072a8019b64de4fda5951f7b08924d5f032fcf7
+size 688202
diff --git a/robot_trajectories/with_distraction/stack_cups/0003/0.mp4 b/robot_trajectories/with_distraction/stack_cups/0003/0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ea7c6901d6f99e3545121d718c218b5a56295bd4
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0003/0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fca9bc5e9242a6a190a2c5bc5c3b2acf1d1bdfd289d2ab91ad9a920cf1a3d637
+size 543290
diff --git a/robot_trajectories/with_distraction/stack_cups/0003/20260521_063445.h5 b/robot_trajectories/with_distraction/stack_cups/0003/20260521_063445.h5
new file mode 100644
index 0000000000000000000000000000000000000000..5cab87ef269ca558eb3dbbd264b61a45e40344b7
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0003/20260521_063445.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4113d057289a7d156543ee4493856ab048919c740a55b317c4adbf16846996c3
+size 280101
diff --git a/robot_trajectories/with_distraction/stack_cups/0003/base_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0003/base_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..14e70be9fa0966fe9abfea786b8b67717b6c5ae0
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0003/base_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4655a045f73bcc6b963dd3b65e33d3d298e910ab41d91c646f7214d5183b5b81
+size 599116
diff --git a/robot_trajectories/with_distraction/stack_cups/0003/hand_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0003/hand_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0a7bad588d9531018b1c59998960891131aee27e
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0003/hand_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:675e4211ed4b69106b1874c03db0dc5a6e4c1069d3845ef7a12613e7df6b0851
+size 1767077
diff --git a/robot_trajectories/with_distraction/stack_cups/0003/left_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0003/left_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c03683ded470a8c1b17f988a97de762f5bc0062e
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0003/left_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:83f56bc89cb936f8ea6f0390a4612a4e4f3163e1857eb3a62bab9b3ad2d2b3fa
+size 663916
diff --git a/robot_trajectories/with_distraction/stack_cups/0003/overhead_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0003/overhead_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2e04732b04e0ce5a3ea18689b6f26977da4fd22e
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0003/overhead_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:433b30c7b663f2f182286e06f093b53090fb05cc5e89c915b7b562268501f30f
+size 854095
diff --git a/robot_trajectories/with_distraction/stack_cups/0003/right_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0003/right_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ca18f404fe06f8c7dbc91e9292aaaff92ef83040
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0003/right_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:04d7b5c0184a353eac7984b57212770079015ad790a8cb86eced8899d7796e29
+size 655323
diff --git a/robot_trajectories/with_distraction/stack_cups/0004/0.mp4 b/robot_trajectories/with_distraction/stack_cups/0004/0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7b75a4836c0374706fb04ff53cdf401bb0b22486
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0004/0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:60d79bded3fcec5b2eee05eda6ce2eea8e1f608bf7f119d185be9562f19112bd
+size 541187
diff --git a/robot_trajectories/with_distraction/stack_cups/0004/20260521_063509.h5 b/robot_trajectories/with_distraction/stack_cups/0004/20260521_063509.h5
new file mode 100644
index 0000000000000000000000000000000000000000..85cce65f5b58a9599d003fdb46a8371c4e9f006e
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0004/20260521_063509.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:038ecd93c0750b4166bc1a632655038394c74ad9d2f3776ad9bfc30f44e06031
+size 285876
diff --git a/robot_trajectories/with_distraction/stack_cups/0004/base_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0004/base_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d63437b3290a408450b0148e6014723e2e163358
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0004/base_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5ac7dc9fa750ad96099e6ea1e5621affbd9cc574504db701a891d96803a77f47
+size 609397
diff --git a/robot_trajectories/with_distraction/stack_cups/0004/hand_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0004/hand_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..cd976b9af481a273d39fd80c02ca2d2d9f3d3694
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0004/hand_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:23a8be4416493e9f991fe7f82cb5845ce316632d4ec08ba1ecfea6249092707a
+size 1933145
diff --git a/robot_trajectories/with_distraction/stack_cups/0004/left_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0004/left_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..85f2138ce7ce1dcb459004d469f97f457599f4e9
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0004/left_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:418ffb6ad013e7499a69297e69018d09e59c9426704ceba6983c33449d7f3b36
+size 663725
diff --git a/robot_trajectories/with_distraction/stack_cups/0004/overhead_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0004/overhead_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..264058a7e73c790f07c8c5bac885fef08267535f
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0004/overhead_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:135d3804f622eb75728b4b1ae6ba6d606b5da84c07d262c65e21971cf7a3a4f2
+size 817854
diff --git a/robot_trajectories/with_distraction/stack_cups/0004/right_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0004/right_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0ec390ce78d81cd30040070ab63f73defeb238fe
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0004/right_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:326c8f4974d35934de3d7a46a23fadd0babe5d2dfc19552233abbb6bc17c5953
+size 638913
diff --git a/robot_trajectories/with_distraction/stack_cups/0005/20260521_063534.json b/robot_trajectories/with_distraction/stack_cups/0005/20260521_063534.json
new file mode 100644
index 0000000000000000000000000000000000000000..611b0fd68df01361fdcac46f1b514fdba07bb871
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0005/20260521_063534.json
@@ -0,0 +1,29 @@
+{
+  "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",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 9,
+      "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/with_distraction/stack_cups/0006/20260521_063638.json b/robot_trajectories/with_distraction/stack_cups/0006/20260521_063638.json
new file mode 100644
index 0000000000000000000000000000000000000000..a0c8662eeee6e58d4590f38438d1b209344a51fa
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0006/20260521_063638.json
@@ -0,0 +1,29 @@
+{
+  "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",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 12,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 488,
+      "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/with_distraction/stack_cups/0007/0.mp4 b/robot_trajectories/with_distraction/stack_cups/0007/0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5c4043f47c3e99830a29abdf6691beb879e1bb14
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0007/0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:85829d6fa549aa11bb4e0e9574fddf810ced0df5a2c5902b9bce3bfcffb96700
+size 627438
diff --git a/robot_trajectories/with_distraction/stack_cups/0007/20260521_063828.h5 b/robot_trajectories/with_distraction/stack_cups/0007/20260521_063828.h5
new file mode 100644
index 0000000000000000000000000000000000000000..9421d5f97fd6eb3a8f1f7bc6b82ea01462c48b1b
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0007/20260521_063828.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3c5b33c256f7801e98a062a93003bdffa5748eb90537f66e3fb87e3583b1c10d
+size 371451
diff --git a/robot_trajectories/with_distraction/stack_cups/0007/base_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0007/base_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..af31f8cf503a3a48810045de0d53d6a11c3cbd56
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0007/base_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b208c5e1e59a74429edb28e681480fcdaf3092f0e75b8627fff646382e6e072c
+size 651648
diff --git a/robot_trajectories/with_distraction/stack_cups/0007/hand_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0007/hand_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..bfa81d32ee8e2382ed5cef7827b80b6827cd2453
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0007/hand_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9c42ee689288041660c7e2b2e710c3a0da6bc2fe94955c1b5a531cc0e38108b3
+size 2548325
diff --git a/robot_trajectories/with_distraction/stack_cups/0007/left_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0007/left_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..bf982e634e2baf01cb9912a3a60b2ddc22371ac9
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0007/left_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8cdca564718124fcd4fc4e53da1c488bccdd84933f748f331247e1aab423aaa9
+size 757054
diff --git a/robot_trajectories/with_distraction/stack_cups/0007/overhead_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0007/overhead_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..008647daabaf25f38df6e61e0e704735ea7d4b28
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0007/overhead_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b1063388cb544663ed291f95e40405dd516962540831ef64cf653fb57c9aaf36
+size 1020301
diff --git a/robot_trajectories/with_distraction/stack_cups/0007/right_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0007/right_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..916a5e134460a5fcf319b900986f5d727c22292b
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0007/right_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8c3aeaaa5d5864170297b7859e8adbf2dfa5821efc3a0803e75b7f2d07618ffd
+size 729696
diff --git a/robot_trajectories/with_distraction/stack_cups/0008/20260521_063913.json b/robot_trajectories/with_distraction/stack_cups/0008/20260521_063913.json
new file mode 100644
index 0000000000000000000000000000000000000000..b3250482614aedce0f8edab9d93bb6953b6e16fa
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0008/20260521_063913.json
@@ -0,0 +1,29 @@
+{
+  "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",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 18,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 505,
+      "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/with_distraction/stack_cups/0009/0.mp4 b/robot_trajectories/with_distraction/stack_cups/0009/0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..eb82b3a8397693e742a9b0d626866187838a3d13
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0009/0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6b04129a638180cf4a2c673200ee6855cf792f5234bc702c6a5cdec17d88b791
+size 457857
diff --git a/robot_trajectories/with_distraction/stack_cups/0009/20260521_063958.h5 b/robot_trajectories/with_distraction/stack_cups/0009/20260521_063958.h5
new file mode 100644
index 0000000000000000000000000000000000000000..86b397c0d04932960ce1f9a0458896c2518c4a45
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0009/20260521_063958.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:23d7b8caa407358cc06ef831d80be9fb677a76d08864ffb6b7c4ab0c3247adcf
+size 278764
diff --git a/robot_trajectories/with_distraction/stack_cups/0009/20260521_063958.json b/robot_trajectories/with_distraction/stack_cups/0009/20260521_063958.json
new file mode 100644
index 0000000000000000000000000000000000000000..6dda3a003267c1f50bfedc4b731fa38a9e34398f
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0009/20260521_063958.json
@@ -0,0 +1,29 @@
+{
+  "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",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 20,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 468,
+      "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/with_distraction/stack_cups/0009/base_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0009/base_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f1c749dccaaf5047414a4479915c86f13e24f6dc
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0009/base_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fe8766489b26326ba83a203fc483abbf93145bf7b02058c68de1304c875252d1
+size 524421
diff --git a/robot_trajectories/with_distraction/stack_cups/0009/hand_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0009/hand_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..364e564933a51c0ef01100c2d5439c723c49356c
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0009/hand_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ecda417537fd557b9cef65777582ed523668dd5cac2d48d38ab0459d1671b58b
+size 1474022
diff --git a/robot_trajectories/with_distraction/stack_cups/0009/left_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0009/left_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..bbcf0f8b3c2d32741100bd279b7ab16774ec9cb6
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0009/left_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:85d190983535e8c340943a15e3730486783d0a5f37980141b6c28d377bf2cd3c
+size 546203
diff --git a/robot_trajectories/with_distraction/stack_cups/0009/overhead_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0009/overhead_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9522f6d29a8e68046865ea4bb52117fb8c924c34
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0009/overhead_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7044ae46a4fa22e403cb5be0fc578159291ee441aafbde24345842ab967cd07f
+size 648790
diff --git a/robot_trajectories/with_distraction/stack_cups/0009/right_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0009/right_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8fb27781f6431459dbae9bdf8620a669c58bb187
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0009/right_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:98810eefbefb969f88a1a88da7d56dab03317d1d5b073ec62b7e293909837d27
+size 564646
diff --git a/robot_trajectories/with_distraction/stack_cups/0010/0.mp4 b/robot_trajectories/with_distraction/stack_cups/0010/0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6aa5ddbfcb67b624b1464d72afaf0ad4751b48c1
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0010/0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:076699028ab05cc45eed28f73cfabf3b05aa84b7c0affc432538338cb8aae3f4
+size 502289
diff --git a/robot_trajectories/with_distraction/stack_cups/0010/20260521_064132.h5 b/robot_trajectories/with_distraction/stack_cups/0010/20260521_064132.h5
new file mode 100644
index 0000000000000000000000000000000000000000..c6e25eb61e6359018e9f50b2f33a227413a2fe79
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0010/20260521_064132.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2894bdca774515e7a8bea0acf7a6338ced7efe1923c03699fa5d3c14202356bc
+size 272226
diff --git a/robot_trajectories/with_distraction/stack_cups/0010/base_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0010/base_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..66b26a0c6b57aebb28f093a1a624d0cde1685ea3
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0010/base_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cc5f059ea36fab98af728c056c8c680008a7d4f797ca27a324af4ebb594bbfe5
+size 535477
diff --git a/robot_trajectories/with_distraction/stack_cups/0010/hand_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0010/hand_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a627522c031e9e7d4c0c0ee2e0f04e1496d7a626
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0010/hand_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bb474fe53b1db0ed1b23e1a34e60f9142ccf03549a67aea83319e65ff9731c87
+size 1838938
diff --git a/robot_trajectories/with_distraction/stack_cups/0010/left_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0010/left_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..30b579a9a42b7e0f9baec95ef71a7f46b3c308f7
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0010/left_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4ed8723b05011095a6fbdf50e8d6aa968bebc9b9714d3738edf79e97f1501beb
+size 592957
diff --git a/robot_trajectories/with_distraction/stack_cups/0010/overhead_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0010/overhead_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d7af677f91a3002364fb26ad89d7b181d2fa2154
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0010/overhead_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5f6fc80672cbc6dc2e7c1f90598a3423d33c7cb55daa4b635f0c700d0ef1b681
+size 677594
diff --git a/robot_trajectories/with_distraction/stack_cups/0010/right_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0010/right_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..65b3638a4a45f0f116182d61c11844a8c901aad7
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0010/right_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:969f36eccf8b93fb2a8a751a58681813f861754ab5a7c0f28bdd62e79df34d9a
+size 624484
diff --git a/robot_trajectories/with_distraction/stack_cups/0011/20260521_064325.json b/robot_trajectories/with_distraction/stack_cups/0011/20260521_064325.json
new file mode 100644
index 0000000000000000000000000000000000000000..a1ad7ac47e2118957f92dfcfc06a4635289f0280
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0011/20260521_064325.json
@@ -0,0 +1,29 @@
+{
+  "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",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 29,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 471,
+      "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/with_distraction/stack_cups/0012/0.mp4 b/robot_trajectories/with_distraction/stack_cups/0012/0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b77a8970d46b3f1052ef12aac8a2fac745c71f2c
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0012/0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7f1f177fa2e34e5c49478679ff58e611303601a6eecdded200c85c8cbfcb9bdf
+size 445550
diff --git a/robot_trajectories/with_distraction/stack_cups/0012/20260521_064431.h5 b/robot_trajectories/with_distraction/stack_cups/0012/20260521_064431.h5
new file mode 100644
index 0000000000000000000000000000000000000000..3203f27c7db11ca8b15a5c85fd688ae58154c561
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0012/20260521_064431.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:df33d38c2c909d4801b8e34a7dba18938e14cd82eecd4625381aa761b76c3f91
+size 278187
diff --git a/robot_trajectories/with_distraction/stack_cups/0012/base_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0012/base_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..451c5b422aa0fde09cb5dcb152c73272df45d2b3
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0012/base_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7aea34e499b0cd5d23da28ce85438aa6000a3eee417887579d69f543eb5faa94
+size 486297
diff --git a/robot_trajectories/with_distraction/stack_cups/0012/hand_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0012/hand_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ca4dd9c791acb44306bef754f4623d20593086f9
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0012/hand_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6984db09de9fa1abdb342b87c558c49bbbd15b56719dd5e8709edbf1e65e964b
+size 1687212
diff --git a/robot_trajectories/with_distraction/stack_cups/0012/left_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0012/left_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b89a2428578ad3ae426f84904bb8e140c5622fc9
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0012/left_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b7bed2bc21bebd8cbf410e30f7160bade4a5314dcca1ec85e15027cea48ea032
+size 541361
diff --git a/robot_trajectories/with_distraction/stack_cups/0012/overhead_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0012/overhead_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7df9e233ee69aaa5dfeb07db973c40f1f4b14ecc
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0012/overhead_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a07264a2f1236c1f6ee02687af56b40be96bbcb058c185221e69c438b218754a
+size 778748
diff --git a/robot_trajectories/with_distraction/stack_cups/0012/right_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0012/right_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..500c0a3893a6e5c410337b73e28f8fd9d22726d6
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0012/right_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:79c970d1452c07666d067682840f7c84a9113c8934de69b59f87eccea1a3cfcd
+size 538044
diff --git a/robot_trajectories/with_distraction/stack_cups/0013/0.mp4 b/robot_trajectories/with_distraction/stack_cups/0013/0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..73b9f8e43757aa25db34e3729c461a8abff7f465
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0013/0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:503b8608193d0a9ae282837b420783e7f14b1ae18a7359176ec37f069715a4d6
+size 621182
diff --git a/robot_trajectories/with_distraction/stack_cups/0013/20260521_064518.h5 b/robot_trajectories/with_distraction/stack_cups/0013/20260521_064518.h5
new file mode 100644
index 0000000000000000000000000000000000000000..1a9394794f253cc5228985b461d3fca18f7b703c
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0013/20260521_064518.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:69fd4ce6c5824af43a73411215c5da4352ee1b0b5b46ab6eda5a1c4e6db1bb18
+size 379739
diff --git a/robot_trajectories/with_distraction/stack_cups/0013/base_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0013/base_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..783bf9f50dcc260ad2188a76dbe358a303e536ae
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0013/base_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f28935d65deca0f30d1584ad41b7a592d2e25fca96c33f5cdbbaae364ef33346
+size 678528
diff --git a/robot_trajectories/with_distraction/stack_cups/0013/hand_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0013/hand_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..dcb517585528be8cbda7ace610ca8b45e2b2c110
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0013/hand_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:389b6adfd6930dd9e01468dae25cb8f91c16d29196bd7b4ea788bcd6fba31504
+size 2425561
diff --git a/robot_trajectories/with_distraction/stack_cups/0013/left_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0013/left_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1ce7e2bd94677b9b09d4c64803edfe6e9446fe1e
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0013/left_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6ef4c52ee30b43d8d405ee946e810bcca82048e84321fbefd6853e97f538aa90
+size 752689
diff --git a/robot_trajectories/with_distraction/stack_cups/0013/overhead_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0013/overhead_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1528c205f6bf3c98e3436d69b280c0457b1b3522
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0013/overhead_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f05744807104da3b5f724489c3adff11e6efa8bec4b5d4ba1b73aa4d5154cb99
+size 860327
diff --git a/robot_trajectories/with_distraction/stack_cups/0013/right_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0013/right_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..93f23c8b5df0f8945a49974c200b893520acb677
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0013/right_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:daf7d58014b37175d93cf927c93a9b2c700bd6a9345cba07564727a29711e7e6
+size 703381
diff --git a/robot_trajectories/with_distraction/stack_cups/0014/0.mp4 b/robot_trajectories/with_distraction/stack_cups/0014/0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1986099dc3f8caca8786008474207d1a84ce3aa6
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0014/0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b8f8e86e50800c8b5fc25e8531b4226df8520a82e2215f7f9e30ec71307e8137
+size 439946
diff --git a/robot_trajectories/with_distraction/stack_cups/0014/20260521_064945.h5 b/robot_trajectories/with_distraction/stack_cups/0014/20260521_064945.h5
new file mode 100644
index 0000000000000000000000000000000000000000..fcc882bdc9c681d8f7df6b028fafde2a367b3758
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0014/20260521_064945.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e218eb7aea0a6294a7711f907dad5cec756474ef1d2980f0cce10176e096a43c
+size 257526
diff --git a/robot_trajectories/with_distraction/stack_cups/0014/base_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0014/base_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..87c41f22adabcbc2821912d181cd0cb6436444ec
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0014/base_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d94b175f2266e87f7fe1f5598765f191c87d063f48368a910192c09a77c9c5e0
+size 483051
diff --git a/robot_trajectories/with_distraction/stack_cups/0014/hand_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0014/hand_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f36a124d904be68d2f514c141c1c95712536d1da
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0014/hand_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1d20a56e9f2defcc1889f0556a817d4b2bb78d79bdf93079313ee57f1e40460e
+size 1582555
diff --git a/robot_trajectories/with_distraction/stack_cups/0014/left_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0014/left_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..511116e2287573ea4130fa136154cd249c93b10e
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0014/left_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ff1ef51928101afeaaf255d6fb5e04f1b152d9cb847b069c2e1317ad42b603d2
+size 538054
diff --git a/robot_trajectories/with_distraction/stack_cups/0014/overhead_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0014/overhead_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0547ae2f0e6375f675e51e3fad81dfa6d2ebaa95
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0014/overhead_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:36252a929e1a6a901a440b01bf27b5ebcda9f86545d4bfdc458bbc73e5a8dd75
+size 736989
diff --git a/robot_trajectories/with_distraction/stack_cups/0014/right_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0014/right_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e22b33d63ed5b8e3f85d797730cd2ebbf147bc13
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0014/right_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0162f093abcd412a60845e0cdd3b0391856e754cba6b5ca8192620f3fd3321ce
+size 538694
diff --git a/robot_trajectories/with_distraction/stack_cups/0015/20260521_065107.json b/robot_trajectories/with_distraction/stack_cups/0015/20260521_065107.json
new file mode 100644
index 0000000000000000000000000000000000000000..31620e757ce53edb6d000f7b6d2980575ed5c218
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0015/20260521_065107.json
@@ -0,0 +1,29 @@
+{
+  "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",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 49,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 485,
+      "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/with_distraction/stack_cups/0016/0.mp4 b/robot_trajectories/with_distraction/stack_cups/0016/0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b613ac3794bbd4c6433c43921be20ca123a33ac5
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0016/0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:228f0ad817195330b109e59a0ef1b1b23307d1d7119cd9a6705291dbca6c214a
+size 561230
diff --git a/robot_trajectories/with_distraction/stack_cups/0016/20260521_065130.h5 b/robot_trajectories/with_distraction/stack_cups/0016/20260521_065130.h5
new file mode 100644
index 0000000000000000000000000000000000000000..811f2774fe6e6a26a37127630b5e6f7225436a14
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0016/20260521_065130.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e097c22da2cddd148527307cbe9924dc3d394a3a188a46270ea04a37a5846125
+size 291651
diff --git a/robot_trajectories/with_distraction/stack_cups/0016/base_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0016/base_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..61af47d2cd8535117f04ddac43d838031029d2d9
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0016/base_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a25fadfea29c533bc25c0da56bca4d1ca28691fe6baf92ebaf6bc7c2c182f295
+size 690647
diff --git a/robot_trajectories/with_distraction/stack_cups/0016/hand_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0016/hand_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6ce1a984f4954f91d4d8825aa1ac381396ded2fd
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0016/hand_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:812c056051edc84a93ca7e1208362ebdba3c4f34db686e35b39d115c284cebbc
+size 1826629
diff --git a/robot_trajectories/with_distraction/stack_cups/0016/left_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0016/left_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ac66f4a0700d3f1415a8361312c94ccc5569a2fc
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0016/left_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bb01a82dc96504a7952d014dc7dee115110b035158bd09f63c69982b34b452a9
+size 695773
diff --git a/robot_trajectories/with_distraction/stack_cups/0016/overhead_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0016/overhead_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..63db7469a0720af229c361fff197e8190b5fdb6e
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0016/overhead_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:389edbb589aa1caf1743bfea03b95d5761d2bb757919d4a0fc57ff69a6b09986
+size 783683
diff --git a/robot_trajectories/with_distraction/stack_cups/0016/right_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0016/right_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9b3a0e788539ff0058a20ee51413e795fe3cbd07
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0016/right_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5da2bb21614f0080a7858c98b70a258f28b71efce2bd079c04282f69a7241668
+size 705799
diff --git a/robot_trajectories/with_distraction/stack_cups/0017/20260521_065338.json b/robot_trajectories/with_distraction/stack_cups/0017/20260521_065338.json
new file mode 100644
index 0000000000000000000000000000000000000000..8154229d28cb0e96fe37817b3833c18d985ae31b
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0017/20260521_065338.json
@@ -0,0 +1,29 @@
+{
+  "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",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 56,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 504,
+      "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/with_distraction/stack_cups/0018/20260521_065402.json b/robot_trajectories/with_distraction/stack_cups/0018/20260521_065402.json
new file mode 100644
index 0000000000000000000000000000000000000000..8dac5ba0d3cdd2ad1c7d145b10bcaff4a7e245f6
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0018/20260521_065402.json
@@ -0,0 +1,29 @@
+{
+  "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",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 57,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 524,
+      "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/with_distraction/stack_cups/0019/20260521_065517.json b/robot_trajectories/with_distraction/stack_cups/0019/20260521_065517.json
new file mode 100644
index 0000000000000000000000000000000000000000..ce508bc3a130984c26d1e152ebeb97f45217d8c9
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0019/20260521_065517.json
@@ -0,0 +1,29 @@
+{
+  "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",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 60,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 541,
+      "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/with_distraction/stack_cups/0020/0.mp4 b/robot_trajectories/with_distraction/stack_cups/0020/0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d6df8e1acba0c66aa0e44afb7cda5e34916e6869
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0020/0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:db540d95f2ca950693836f6c43be28a4c2e667307863ddd4f832ddfdf4c58f3c
+size 606352
diff --git a/robot_trajectories/with_distraction/stack_cups/0020/20260521_065601.h5 b/robot_trajectories/with_distraction/stack_cups/0020/20260521_065601.h5
new file mode 100644
index 0000000000000000000000000000000000000000..8fd56dd16dc63e27b8d3f1bbf61bf1f4c175d978
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0020/20260521_065601.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:45c7ad306cbca2e672ac5686bb30ac4fbdd8ca330004a6bcf7dd846c2b367561
+size 329976
diff --git a/robot_trajectories/with_distraction/stack_cups/0020/base_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0020/base_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..39d6a64e72dd769cdfb0c8a7edd41a9bfb97eb87
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0020/base_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:181de5a205e49e3ee2db95c1386b68d2ae4331aa4efdaf643c5bb82ba80e9d80
+size 643630
diff --git a/robot_trajectories/with_distraction/stack_cups/0020/hand_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0020/hand_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..fc0c28d6a66b31bf93a5b50f920eb8ae64057863
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0020/hand_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:20dae42d9cdda19193482dd061c793554c6c9ec2f3827d91189d91dbd8f42b03
+size 2036214
diff --git a/robot_trajectories/with_distraction/stack_cups/0020/left_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0020/left_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6fc52df3d9852c58cb87f6f3083fe2e0d827a5cb
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0020/left_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:544f93036f3e0e5128228026ad16668f02df288290f52a2fd0d967cb6daf66f0
+size 732348
diff --git a/robot_trajectories/with_distraction/stack_cups/0020/overhead_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0020/overhead_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..45bc1b4c685062d3a96987b26c16340dbcb58d33
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0020/overhead_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cf404adf3ee72fe0987bbce7e2471e067b32486ba20dfa7e69fa77db1ab112e3
+size 1008463
diff --git a/robot_trajectories/with_distraction/stack_cups/0020/right_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0020/right_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b49be1a177508451b68d7949f5b26dd852121313
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0020/right_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:79e66fa99a6f8242f48e7b16194d3cc62ebca756dc6e1ff11bb24587d1078685
+size 720462
diff --git a/robot_trajectories/with_distraction/stack_cups/0021/20260521_065718.json b/robot_trajectories/with_distraction/stack_cups/0021/20260521_065718.json
new file mode 100644
index 0000000000000000000000000000000000000000..2804ba79b960caecbd2e577aeff558bb76161c66
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0021/20260521_065718.json
@@ -0,0 +1,29 @@
+{
+  "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",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 65,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 557,
+      "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/with_distraction/stack_cups/0022/0.mp4 b/robot_trajectories/with_distraction/stack_cups/0022/0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..80d6d9751a640f83d375367388b65a1f23e3f3d1
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0022/0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e2b3e345e587ef52b98433a3127aa84b9c25b65a444552e7b7d2745fcbe42ad3
+size 469971
diff --git a/robot_trajectories/with_distraction/stack_cups/0022/20260521_065743.h5 b/robot_trajectories/with_distraction/stack_cups/0022/20260521_065743.h5
new file mode 100644
index 0000000000000000000000000000000000000000..6d8208fa14e675d05105a7ba3324afbb750ba2ad
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0022/20260521_065743.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d6f5bf6826f3e7bdd92de85a3971fc88e6de798cc2ccf55815fe32f21d9e118b
+size 269076
diff --git a/robot_trajectories/with_distraction/stack_cups/0022/20260521_065743.json b/robot_trajectories/with_distraction/stack_cups/0022/20260521_065743.json
new file mode 100644
index 0000000000000000000000000000000000000000..61f610d836c8003dfc796643856cd6651d19650a
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0022/20260521_065743.json
@@ -0,0 +1,29 @@
+{
+  "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",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 66,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 496,
+      "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/with_distraction/stack_cups/0022/base_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0022/base_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c94405d1612356d38b79ba59fd6252f7e39531de
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0022/base_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:74295f3b06dfb882c0dd2098b9ee66d2636d4d4aaf7e37c60e65c8e1ea4b34c5
+size 548744
diff --git a/robot_trajectories/with_distraction/stack_cups/0022/hand_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0022/hand_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c4f10ecaafeca9a5ea725433963b41118e4b1d5c
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0022/hand_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:43f434263eaa1773f67f695b336ad341706b4ac749e2d4e1b75d95eb77aca243
+size 1730778
diff --git a/robot_trajectories/with_distraction/stack_cups/0022/left_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0022/left_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e0500c84e18d937608849c569ce7a375da628768
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0022/left_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b47d85e566095bed145f9ee4be897a8c106879ec971105b1265ba802ce6623c8
+size 571922
diff --git a/robot_trajectories/with_distraction/stack_cups/0022/overhead_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0022/overhead_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6bf8fac124406ea4cd3ad7e2160c1776bb0d5be5
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0022/overhead_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:32ce2df8e5250888c473c5fd62766218f65f760db8868298957de017a190777e
+size 629882
diff --git a/robot_trajectories/with_distraction/stack_cups/0022/right_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0022/right_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2cef56b73f85ff4ab67ade3a75198bd897bae016
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0022/right_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e98d82a788b715e37659783a88b59687e35ddde6b7e68bec1a7c62bde1afb19a
+size 590962
diff --git a/robot_trajectories/with_distraction/stack_cups/0023/0.mp4 b/robot_trajectories/with_distraction/stack_cups/0023/0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0c787046c6fc23a895ccd93be44d01261999a8d9
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0023/0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8932d4a9fe73406704e31076a922456d39e2850f80c3441bc4e9bcc56d37c8e2
+size 470345
diff --git a/robot_trajectories/with_distraction/stack_cups/0023/20260521_070007.h5 b/robot_trajectories/with_distraction/stack_cups/0023/20260521_070007.h5
new file mode 100644
index 0000000000000000000000000000000000000000..f24b04e3c7c1bf2f40b8842ff7cba0917c92711f
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0023/20260521_070007.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5a94cbb2cca1a992d343135aedc2c6bc6ea918de438e352558b2f99f6f53254f
+size 264351
diff --git a/robot_trajectories/with_distraction/stack_cups/0023/base_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0023/base_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5afa651dcfde8f8d4f2c444bded8ed1a6a14ba4f
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0023/base_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:857a4f711f086bf0c3cfe521e9f7c539a3888696b8d7771c168d68245d765a6d
+size 539949
diff --git a/robot_trajectories/with_distraction/stack_cups/0023/hand_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0023/hand_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3936c029407c92cdb3485d9ed3f858bf35b9685c
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0023/hand_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b6bf1c4f4cf28eac8419ea5f7d78249ec95dbe1c367c580bbb789d9c80a97dff
+size 1682093
diff --git a/robot_trajectories/with_distraction/stack_cups/0023/left_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0023/left_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..51c682de378b4cc12aa59880f8aa7aff074b199c
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0023/left_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8f4376c21ae30ae161d3dfa7a6e9b9ee0dd53df87e412f36f05a93f3387ef52f
+size 559468
diff --git a/robot_trajectories/with_distraction/stack_cups/0023/overhead_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0023/overhead_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..15a2e10b21dc8130c7c4ad1fca71d7a1200469e8
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0023/overhead_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0fd7e87de48a2b10a9cd521443bbe506f44ca72cbb4bfb070bd543195bfb0d36
+size 728434
diff --git a/robot_trajectories/with_distraction/stack_cups/0023/right_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0023/right_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..261eee8d208777dcf9d28f3851d0dbfa46795030
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0023/right_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7b79255789469e8f8f3c7812b4f14667cd611813be23b51be46187ab49c0d098
+size 547184
diff --git a/robot_trajectories/with_distraction/stack_cups/0024/20260521_070159.json b/robot_trajectories/with_distraction/stack_cups/0024/20260521_070159.json
new file mode 100644
index 0000000000000000000000000000000000000000..c20a9dcea32e51b58bcbf4e1c86678aac7a8b10d
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0024/20260521_070159.json
@@ -0,0 +1,29 @@
+{
+  "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",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 77,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 539,
+      "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/with_distraction/stack_cups/0025/0.mp4 b/robot_trajectories/with_distraction/stack_cups/0025/0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0e7cb94bca5c44e5e4bc3d5defdb46b258e60892
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0025/0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:291a9980dae07066b2ad835d9c43cedf9ed558a080cf40403cdd902785b08dde
+size 609126
diff --git a/robot_trajectories/with_distraction/stack_cups/0025/20260521_070338.h5 b/robot_trajectories/with_distraction/stack_cups/0025/20260521_070338.h5
new file mode 100644
index 0000000000000000000000000000000000000000..2f97d79278105b25b4cc5368de80a9ee98ab6d5d
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0025/20260521_070338.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0e2f7686fa75977a2189f3e3f02d698450bd85aef15bfa1f2dfe1c44905d1551
+size 342576
diff --git a/robot_trajectories/with_distraction/stack_cups/0025/base_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0025/base_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e04620d8f9fbfefe09189f77b4fc1e2ea0d40d34
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0025/base_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4b4079de9195aefa8f85b07b77b398903db97561448910a7c2e8318382972d73
+size 677512
diff --git a/robot_trajectories/with_distraction/stack_cups/0025/hand_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0025/hand_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..24da4fb4ddcf74ee4cf1588295a58c5e0102f62f
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0025/hand_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1bdee6743db1d90dadd0974ce2a9cb27db392e076ffeb27233824cd9ac331803
+size 2264601
diff --git a/robot_trajectories/with_distraction/stack_cups/0025/left_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0025/left_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6b7696bf6c3c1e7cc749736a4bc3f550af28e198
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0025/left_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:02aaf7f72b55a1dc2718beb11372c31b537b532247069c1f38f908f5194eb6e7
+size 742660
diff --git a/robot_trajectories/with_distraction/stack_cups/0025/overhead_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0025/overhead_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1d982b584ee0e279b7f2c06279133be6da92e33f
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0025/overhead_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aaeb9c048a69e0a866555e281790b68f15cab6ccbd75df7cbe21afb4f67425e9
+size 1052261
diff --git a/robot_trajectories/with_distraction/stack_cups/0025/right_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0025/right_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ecc029afeacc5fdb69bae6c68f9a13aa42d4bec0
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0025/right_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:452f1a08d184e9cf50ca270a8531a9c50962cf9f0b88a20b849272af262324c4
+size 727147
diff --git a/robot_trajectories/with_distraction/stack_cups/0026/0.mp4 b/robot_trajectories/with_distraction/stack_cups/0026/0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a3985ff8715161dacbc381c42ba01cfaa36d22cd
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0026/0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0c014286ac3f44143d842db08768816ebb62558e2e21938cad5c3d5a27d5f84f
+size 528211
diff --git a/robot_trajectories/with_distraction/stack_cups/0026/20260521_070806.h5 b/robot_trajectories/with_distraction/stack_cups/0026/20260521_070806.h5
new file mode 100644
index 0000000000000000000000000000000000000000..1bff040235787a57dda53b5532777619c30d12d1
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0026/20260521_070806.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:311d1b98fa2eb1efd0338e27a62a7e09f9d78cec7792ed4c66dafeef275b237f
+size 304729
diff --git a/robot_trajectories/with_distraction/stack_cups/0026/base_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0026/base_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b2526138ca855115511550c50da78305bf4c029d
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0026/base_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f3b4f8937e7844f3ea83b79791cc0853a96fe38525af79b678202d11a30df260
+size 591119
diff --git a/robot_trajectories/with_distraction/stack_cups/0026/hand_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0026/hand_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7944cbd936054ea558b946af684af950476d2308
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0026/hand_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4443bf2df42bed7d954a47377ad4d73d1b57b7720aa4eff9b3a029aa1eae66f2
+size 1858774
diff --git a/robot_trajectories/with_distraction/stack_cups/0026/left_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0026/left_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a47c99b6078f199da58413b2a456bb6b21c3662e
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0026/left_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:52e650d8d93a6b890d468f32bf879ffbc965cc742443da8b4af9577f035deaa9
+size 653735
diff --git a/robot_trajectories/with_distraction/stack_cups/0026/overhead_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0026/overhead_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6e3ef80f673e3d3b787d07d79cbdf16ca96cd60f
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0026/overhead_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4ea88dfb25371b3deb68d34d23ae71f600d86d7911c164f8212c392cd66ddce1
+size 807726
diff --git a/robot_trajectories/with_distraction/stack_cups/0026/right_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0026/right_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..90cd1b04f4aa855939139738d588d5475a153c46
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0026/right_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:745d882d0405740f861f0e2ae71304ffbf149444366f2d6da6e4c956422e085c
+size 653789
diff --git a/robot_trajectories/with_distraction/stack_cups/0027/0.mp4 b/robot_trajectories/with_distraction/stack_cups/0027/0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..bba6dce939fc013188c83116554c7bd23ae4f7f2
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0027/0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b6e30b647360e710cd7dab246ce65aa51cf8bc2bda5d419520fafb9372a500c5
+size 537189
diff --git a/robot_trajectories/with_distraction/stack_cups/0027/20260521_071058.h5 b/robot_trajectories/with_distraction/stack_cups/0027/20260521_071058.h5
new file mode 100644
index 0000000000000000000000000000000000000000..3561c6970656bfbfaa0efc79a3c4867c4f71941e
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0027/20260521_071058.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:247635807eccedca26e0d98b5f75ccd535dd65a15921de4c543d25dd40617fd5
+size 331271
diff --git a/robot_trajectories/with_distraction/stack_cups/0027/base_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0027/base_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..178094af3d40c19f0c417649fbb4e1f86006fc4e
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0027/base_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:30415802145d0f71567762d22bd57d07997f25083c75ff661bd05680a6e113d9
+size 549354
diff --git a/robot_trajectories/with_distraction/stack_cups/0027/hand_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0027/hand_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2154b8256b388c884298c375fb7d5480bae242be
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0027/hand_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9ce34d4b7d4332e9cfc895d3ed3575fbe453138504c5366afc32f1d71f2b3b4e
+size 2022381
diff --git a/robot_trajectories/with_distraction/stack_cups/0027/left_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0027/left_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a2d025ae1067d99b0288799e88d4ab22ab50f8c3
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0027/left_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cc9104206c3e324fd6780ccba9723cd2b25b933f2da02cbfc929ad91a48e3d5c
+size 655874
diff --git a/robot_trajectories/with_distraction/stack_cups/0027/overhead_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0027/overhead_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5b699bd7933e7bd133e163a5ec03b35dea7eca38
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0027/overhead_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:211da313e1fc26a9239de98bf22ebca93bb7d982a01452070042dd8d5f1ec14e
+size 780029
diff --git a/robot_trajectories/with_distraction/stack_cups/0027/right_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0027/right_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..503d5ac0cc22a67fc5558c0c272a49c89943ae4a
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0027/right_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dd1d78bb6b2a2c6351417246c21a373d517c660e7ffa766484428cdd1ba891ee
+size 631251
diff --git a/robot_trajectories/with_distraction/stack_cups/0028/0.mp4 b/robot_trajectories/with_distraction/stack_cups/0028/0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e2e9b4cdaf6b38a977c6e9b558cdeb8bb6fc1343
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0028/0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d3e4c328e3071d5ae08ead268b147c908e8701416fb77a2fa3d1da67da392dbf
+size 447073
diff --git a/robot_trajectories/with_distraction/stack_cups/0028/20260521_071124.h5 b/robot_trajectories/with_distraction/stack_cups/0028/20260521_071124.h5
new file mode 100644
index 0000000000000000000000000000000000000000..2384b9092ed4c0bc70fe220c1730e8b675324e33
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0028/20260521_071124.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:36495d20f53ecd2c9a31e97dfae1f6fcc4e5a9202fb9a0943f2c48573857e278
+size 290881
diff --git a/robot_trajectories/with_distraction/stack_cups/0028/base_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0028/base_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5c9271e7e3dabe820d1349eece453cd77f6e88cf
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0028/base_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ca67735476471904201de0cf38fe41d4dd7f0111ea79bf346c1668e4b3142124
+size 523089
diff --git a/robot_trajectories/with_distraction/stack_cups/0028/hand_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0028/hand_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..fabd0144e1e8acf6fbcead7ae7c124625bdea2db
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0028/hand_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:30a71556fcaf3c39fe369efa6f35eb0e705ca4c7c4120c28ee7d2f0e46cf46d0
+size 1651633
diff --git a/robot_trajectories/with_distraction/stack_cups/0028/left_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0028/left_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b4809648b8f7ce8a0ec16fae69a22ecf1232fc0a
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0028/left_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:699c641b526165892755fffdb1f400d1846e1dc265471156ccd20a43ccf585fe
+size 548698
diff --git a/robot_trajectories/with_distraction/stack_cups/0028/overhead_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0028/overhead_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1f66e2649327c87a4361f4ff6aada5196a63f9d3
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0028/overhead_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fabf4b6fcb341046e28fbcb014c35bd33fd9d80eb2de00c76b466cb9293f54cd
+size 655422
diff --git a/robot_trajectories/with_distraction/stack_cups/0028/right_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0028/right_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b52dd18c48e7fdb7cfee02671a2b9bda01882136
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0028/right_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fb55caf083a4ba2f1a10d9446777735e203587eb950d7a994414250be33ffd58
+size 541303
diff --git a/robot_trajectories/with_distraction/stack_cups/0029/0.mp4 b/robot_trajectories/with_distraction/stack_cups/0029/0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7e01b59e73e1cc07a138015dd6a758959439d1c6
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0029/0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:16ca5d7078ac58f095a9c124c9520d4fa628d5c5c4d2d30721b28f8009ae6e6d
+size 452787
diff --git a/robot_trajectories/with_distraction/stack_cups/0029/20260521_071148.h5 b/robot_trajectories/with_distraction/stack_cups/0029/20260521_071148.h5
new file mode 100644
index 0000000000000000000000000000000000000000..4e065327c22a72da1be6415d8c98e0aa3695054e
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0029/20260521_071148.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0ebb16ee1b92d1551cc5db5bc03d211990e54e57b26e3a1f6a7692e38930ee06
+size 277610
diff --git a/robot_trajectories/with_distraction/stack_cups/0029/base_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0029/base_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5a0a66b3eafac9fff1c700975ab6745c8fe83c29
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0029/base_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d942880e12e1b4df3b74b85d295376ebbdbd304f0512ab8c2e7314a779af9714
+size 484955
diff --git a/robot_trajectories/with_distraction/stack_cups/0029/hand_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0029/hand_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..50e23f94bc67c6b67e55e847b0f8f5661130a4cb
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0029/hand_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3d71f11ac2b3869dc3b976353e0850abdca134568235e51a7a8463762dc02bf7
+size 1551382
diff --git a/robot_trajectories/with_distraction/stack_cups/0029/left_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0029/left_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..cd913462740c0b66e9e62c41e81baf1ee951d331
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0029/left_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2e3bdef7060d269c33d46548c808fd2094876d69c71a945d8320c59753db8572
+size 532518
diff --git a/robot_trajectories/with_distraction/stack_cups/0029/overhead_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0029/overhead_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e4024a193ae4c5957bd7f6a7c962d776fe76147e
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0029/overhead_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6a21f3210fcf0f1ce4c0cf2aaf2157da4dba4e0579833700be9e828cefdae8ea
+size 723544
diff --git a/robot_trajectories/with_distraction/stack_cups/0029/right_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0029/right_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..65f1719775352ac9077d873a2555a384e8f1a0e6
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0029/right_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:72361bbcea1975a8534e5ef4cdafe1fd09c8bf6b90e474000cee024e19589d90
+size 514004
diff --git a/robot_trajectories/with_distraction/stack_cups/0030/20260521_071411.json b/robot_trajectories/with_distraction/stack_cups/0030/20260521_071411.json
new file mode 100644
index 0000000000000000000000000000000000000000..993908a9962372c1fc4aef823c92c7a23612d592
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0030/20260521_071411.json
@@ -0,0 +1,29 @@
+{
+  "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",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 108,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 521,
+      "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/with_distraction/stack_cups/0031/20260521_071437.json b/robot_trajectories/with_distraction/stack_cups/0031/20260521_071437.json
new file mode 100644
index 0000000000000000000000000000000000000000..1707025041c64fc3921e1b50a9caf964a620fe25
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0031/20260521_071437.json
@@ -0,0 +1,29 @@
+{
+  "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",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 109,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 502,
+      "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/with_distraction/stack_cups/0032/0.mp4 b/robot_trajectories/with_distraction/stack_cups/0032/0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..114a6ada615fafcf675f4a7803d67998f5948136
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0032/0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:267d4a21890c3f2e4f0053bc04a8b3d33c258fc578d629797b4c40995de4e4d1
+size 571121
diff --git a/robot_trajectories/with_distraction/stack_cups/0032/20260521_071502.h5 b/robot_trajectories/with_distraction/stack_cups/0032/20260521_071502.h5
new file mode 100644
index 0000000000000000000000000000000000000000..033254029edf0e6e8e5465e8742430715b7cdfb2
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0032/20260521_071502.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a665176acaecc49698266a4a6402829cf2fee199097387e59cdabf64a7eb3ed1
+size 341080
diff --git a/robot_trajectories/with_distraction/stack_cups/0032/base_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0032/base_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..dec047d10d168ac8b912bc18f4be196f29bcc25a
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0032/base_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:01888452da2211e8c37ed2143830e17528efc00ff4dbe150bb80c4e14db5225d
+size 589216
diff --git a/robot_trajectories/with_distraction/stack_cups/0032/hand_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0032/hand_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1b0805231122a9e99909f98b7962ed8a6fc0cf84
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0032/hand_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f9a23229fabe926810c59eafa9f99b2396023fc6c75f13bbf93de3915d05d588
+size 2006949
diff --git a/robot_trajectories/with_distraction/stack_cups/0032/left_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0032/left_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..91e2d14e1a3126a85b662df26e779157365187bf
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0032/left_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:36061a60fb1b155d306cfae4e01a79bcfed14eca8fe55b1ed87512a6b4bc4442
+size 687292
diff --git a/robot_trajectories/with_distraction/stack_cups/0032/overhead_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0032/overhead_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..67df5eae44b1aa1ac00f25da086e2fdb01c2a440
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0032/overhead_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8588342338234aa8843b16741d4d117e4bdb60474778f934391aa861eca07eaa
+size 877935
diff --git a/robot_trajectories/with_distraction/stack_cups/0032/right_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0032/right_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5054b7f25226d436a82b6532453e729a435a7b8d
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0032/right_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4721e2f2c753414e4cfbcb88e03b262698ac594b33c313c3231bf361fdc2a1ab
+size 689613
diff --git a/robot_trajectories/with_distraction/stack_cups/0033/20260521_071648.json b/robot_trajectories/with_distraction/stack_cups/0033/20260521_071648.json
new file mode 100644
index 0000000000000000000000000000000000000000..9c6445453891beb997beaa19721578edd6010a03
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0033/20260521_071648.json
@@ -0,0 +1,29 @@
+{
+  "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",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 115,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 548,
+      "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/with_distraction/stack_cups/0034/0.mp4 b/robot_trajectories/with_distraction/stack_cups/0034/0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d2304670abd910a5585426c2d9c9115c26c61394
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0034/0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7312375a0f8918623915a3cb6d2239d1a904d4e16a4693f450e1afe746d290b1
+size 441252
diff --git a/robot_trajectories/with_distraction/stack_cups/0034/20260521_071713.h5 b/robot_trajectories/with_distraction/stack_cups/0034/20260521_071713.h5
new file mode 100644
index 0000000000000000000000000000000000000000..ab7d14b76571a6611a519ab894a53089306a6086
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0034/20260521_071713.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a6058db3047778da99ce4c605cee8bd83995bde163b008b17c1762d5c46b88f6
+size 277610
diff --git a/robot_trajectories/with_distraction/stack_cups/0034/base_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0034/base_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..148d243a9e34f758f92c8808977a03e7f6860af9
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0034/base_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2051e0065f6c6cd3be4967a90bbe3b7e8e3360bed95c175f300a9bd153a601df
+size 456212
diff --git a/robot_trajectories/with_distraction/stack_cups/0034/hand_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0034/hand_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c1545eb43e67237ed17c820cfdb25d302ffcccd1
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0034/hand_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:190b1647c2612837e19b5b2bcf8625b18a5820ab5fc57b3a4ba1e5a9326cdce1
+size 1592478
diff --git a/robot_trajectories/with_distraction/stack_cups/0034/left_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0034/left_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f671f5a19c4588e8f6b74cd7674128c56475a9aa
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0034/left_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a3784af796ce200848821306b98171f7980eb93a1e88b1d7049fd501dd2f3fe9
+size 522427
diff --git a/robot_trajectories/with_distraction/stack_cups/0034/overhead_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0034/overhead_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8a0bcaafc3f15bf44224b8355d3626940089be70
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0034/overhead_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c3b4abedaf4effb088ae0446dd334680d14bdfb70abfe83ef579db872cf55d1a
+size 725357
diff --git a/robot_trajectories/with_distraction/stack_cups/0034/right_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0034/right_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8650d580867344f6816b4bb60ea227ad71c10710
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0034/right_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b442f1c37c7ec565440800a239e051a1cad0f07f60272a1dc9857f2bc02ed192
+size 523901
diff --git a/robot_trajectories/with_distraction/stack_cups/0035/0.mp4 b/robot_trajectories/with_distraction/stack_cups/0035/0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..db8c413774715f7989a51af930c2a8b01c4a3493
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0035/0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dc18838f940392474fcb830270c7a8aa5c34e7f5353e07fc3a2610090944c59d
+size 472402
diff --git a/robot_trajectories/with_distraction/stack_cups/0035/20260521_071737.h5 b/robot_trajectories/with_distraction/stack_cups/0035/20260521_071737.h5
new file mode 100644
index 0000000000000000000000000000000000000000..4338f85e22c6a97595764c6e1af13f50d34cabbc
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0035/20260521_071737.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9759f91984f25a099ce0d319449f76b460528567e654ae3527dffe77342ac314
+size 296074
diff --git a/robot_trajectories/with_distraction/stack_cups/0035/base_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0035/base_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1357c46d5a98f668a7971183291c0e46dee7b489
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0035/base_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ec9e5310b338f91558ac17580e796512c142f4615b34028f3b50dc68c876c53a
+size 560075
diff --git a/robot_trajectories/with_distraction/stack_cups/0035/hand_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0035/hand_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..273cdc0237040f7d18da4ad16b9495b897ae49da
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0035/hand_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f73bf19ef80e35a5f7e9ab934db4b0347e0d1a12fc1a260df4128ec7f5b14316
+size 1629257
diff --git a/robot_trajectories/with_distraction/stack_cups/0035/left_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0035/left_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..da3b44c3c2aca04936af903dffcfbd382636d7f3
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0035/left_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:35ed594751b70616c451c629a7eb6a1001e9372233035a62cda802e216e1003b
+size 567487
diff --git a/robot_trajectories/with_distraction/stack_cups/0035/overhead_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0035/overhead_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..51cbdc318567840a29da525bfd4f1beb51c5537e
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0035/overhead_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:836035dda38dc72aceb4fa217d895aa72d17c0b17310baf78483eaecdeb7d9ce
+size 769468
diff --git a/robot_trajectories/with_distraction/stack_cups/0035/right_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0035/right_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c34e5966e066323541b24f3e248748c423ddc2b1
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0035/right_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4eef7bafe067e5d681c539d69d8b2ea6bf014d8985b20d2038b26344294d5d6a
+size 576171
diff --git a/robot_trajectories/with_distraction/stack_cups/0036/20260521_071819.json b/robot_trajectories/with_distraction/stack_cups/0036/20260521_071819.json
new file mode 100644
index 0000000000000000000000000000000000000000..e38a25ff1dba1e6034dccec6a8716f1afa87e4ed
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0036/20260521_071819.json
@@ -0,0 +1,29 @@
+{
+  "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",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 119,
+      "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/with_distraction/stack_cups/0037/20260521_071843.json b/robot_trajectories/with_distraction/stack_cups/0037/20260521_071843.json
new file mode 100644
index 0000000000000000000000000000000000000000..4ee21f4a2e3944e8427d8907ed9bff6b5b514884
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0037/20260521_071843.json
@@ -0,0 +1,29 @@
+{
+  "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",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 120,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 483,
+      "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/with_distraction/stack_cups/0038/0.mp4 b/robot_trajectories/with_distraction/stack_cups/0038/0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8d37bbebc7c37a418d310ef624b978b3a3cf3b56
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0038/0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dd08e0d3f76d62eb34df63f40341b0ae125811b5c59a22e105cd7ca01bb91f82
+size 557301
diff --git a/robot_trajectories/with_distraction/stack_cups/0038/20260521_071933.h5 b/robot_trajectories/with_distraction/stack_cups/0038/20260521_071933.h5
new file mode 100644
index 0000000000000000000000000000000000000000..950fd26b3f2ad17968000f0214696b6e0ab5d5c1
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0038/20260521_071933.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f187d565640437ad5d4ffed8afd850bc4aefd9fcf9c331a96cab0e52617439d2
+size 293751
diff --git a/robot_trajectories/with_distraction/stack_cups/0038/20260521_071933.json b/robot_trajectories/with_distraction/stack_cups/0038/20260521_071933.json
new file mode 100644
index 0000000000000000000000000000000000000000..d930896a38fa972fb8e272ed457fe2ff2afc8020
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0038/20260521_071933.json
@@ -0,0 +1,29 @@
+{
+  "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",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 122,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 543,
+      "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/with_distraction/stack_cups/0038/base_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0038/base_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..df75a7095d0dd6c245605afc584d61be82a1c5f9
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0038/base_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d5ce7306f73d02b56836ac5ef190618776e3ef9e945caa6063093952b2ef35cd
+size 660878
diff --git a/robot_trajectories/with_distraction/stack_cups/0038/hand_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0038/hand_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..85231823bd2d6565a2183586137d3bf26a8a777b
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0038/hand_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:61ed7d18c47aeedcbf419884bcf72cae1edb43f43ec01765ac2e8a2c3245e198
+size 2049450
diff --git a/robot_trajectories/with_distraction/stack_cups/0038/left_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0038/left_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..55fe537144ad5058a7894367856726f34c5b88e0
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0038/left_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c8dd83ac9f45b14640c365719244221dc64adab8f667d7c3764bfad581934fe7
+size 691576
diff --git a/robot_trajectories/with_distraction/stack_cups/0038/overhead_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0038/overhead_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d496f184a79f12171bc9a63224753d9aa3c877c8
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0038/overhead_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3fa740695e65c9cb0e70ac5178b9b9dce29bb0f23d273c74b3ced1129a161719
+size 693850
diff --git a/robot_trajectories/with_distraction/stack_cups/0038/right_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0038/right_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c813772d2cfbf34eeb1f9a9f78d9cf629e8d8a58
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0038/right_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2674ba23bf7be1f0a8edab7b6ca8cdb1176b43d8a9345142c91370223cd65b33
+size 679581
diff --git a/robot_trajectories/with_distraction/stack_cups/0039/0.mp4 b/robot_trajectories/with_distraction/stack_cups/0039/0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6828381d4923d2dbc414657b2ae363794c6a5f53
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0039/0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:286187bc19c19f03e518b57799678e574e72848c740d5956905512920f772380
+size 515132
diff --git a/robot_trajectories/with_distraction/stack_cups/0039/20260521_072013.h5 b/robot_trajectories/with_distraction/stack_cups/0039/20260521_072013.h5
new file mode 100644
index 0000000000000000000000000000000000000000..972cc044b3b2a18614fcbf53801b90da5436366b
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0039/20260521_072013.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d42c0017f8b68ec23ce89c410509e17b7e75efdf46eda66b9cfff8c86582b799
+size 300690
diff --git a/robot_trajectories/with_distraction/stack_cups/0039/base_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0039/base_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f1e4f80a648d53138ac534e34556c41490dec9ce
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0039/base_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d31e85e8d22378cac4715730d65c4c3df90b9c6dc80e825cca548b9121188864
+size 598437
diff --git a/robot_trajectories/with_distraction/stack_cups/0039/hand_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0039/hand_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ce4ef6988e2b59186c9d94d4d3c373d333cd23a5
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0039/hand_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:44dc8e00aa67358df859fa7c6b4790ab746f1b1b8184bf8ff9d284f007ca4e41
+size 1786323
diff --git a/robot_trajectories/with_distraction/stack_cups/0039/left_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0039/left_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c8cf8a4cb94cd79e51d425f26ed6d7ac3a0fbab7
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0039/left_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a7fb2f7544d0379827f9a90527d0d0c8ac5a7cb2398af5a02296fd3052182424
+size 623498
diff --git a/robot_trajectories/with_distraction/stack_cups/0039/overhead_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0039/overhead_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d8f921b1ec09b2e3e64aa0142c235c0a4092cff9
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0039/overhead_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bae3d274ae6fd230ff920f90f7b004fe2e1486637f2a9039a66663f03a4108e0
+size 740838
diff --git a/robot_trajectories/with_distraction/stack_cups/0039/right_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0039/right_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e75035cff805be1e802d10bd57dba5b1a4e2cee0
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0039/right_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6dd45922e0c91206939440d4f9780dd327d23bd89c904ed3c25407f4c5dc36f9
+size 656646
diff --git a/robot_trajectories/with_distraction/stack_cups/0040/0.mp4 b/robot_trajectories/with_distraction/stack_cups/0040/0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..136fbf1e5019770a1378bbbf9a77075c713040b7
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0040/0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:005e471d768e9e80c2a87b2c0a08cf8bc1de4d8dc19ec309ab7c2e261dfc9265
+size 651874
diff --git a/robot_trajectories/with_distraction/stack_cups/0040/20260521_072057.h5 b/robot_trajectories/with_distraction/stack_cups/0040/20260521_072057.h5
new file mode 100644
index 0000000000000000000000000000000000000000..9ec10dd7f56f5df33a2b8e3ee12ec436d511d9df
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0040/20260521_072057.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b5e5fc5f4f874ffba68793dd14f834ea3f47ec07d6415f19943467a24f5476fb
+size 379739
diff --git a/robot_trajectories/with_distraction/stack_cups/0040/base_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0040/base_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a77bd322864caf76cd5549581f1ede6af559803d
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0040/base_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3b874cb9e1d83702ccae6574aa98842331959c25f63f4c1e2b46669ec4bc2b0c
+size 745801
diff --git a/robot_trajectories/with_distraction/stack_cups/0040/hand_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0040/hand_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5ee17ee6f68761f71ff1ef8883c71816be95a002
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0040/hand_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2d439a1eb69f10c046af9dcb4c32df281198e4240cfdbe96ea70a79c1805babd
+size 2398381
diff --git a/robot_trajectories/with_distraction/stack_cups/0040/left_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0040/left_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..35ea0e517a56e843f544138a977f1d9362f6ba99
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0040/left_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3169d45a514c9e18ed79ec6cd988175dbebb927c6eae34a638658288fe887e2b
+size 790718
diff --git a/robot_trajectories/with_distraction/stack_cups/0040/overhead_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0040/overhead_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ae18d8a01905c61b4f23a710473d89173e1b50a6
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0040/overhead_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ecce1a1edaeed75206f31ec09101f83982d5687b1caa77e1d0840af0942e345b
+size 860257
diff --git a/robot_trajectories/with_distraction/stack_cups/0040/right_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0040/right_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b3900ec28a815b557202838737cc2e03bbf1e4c2
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0040/right_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4b08cf00c3581707dbe71ad7cf3f8d8c9380d70e7cdd3a06ddd17f26ffa5f062
+size 792470
diff --git a/robot_trajectories/with_distraction/stack_cups/0041/0.mp4 b/robot_trajectories/with_distraction/stack_cups/0041/0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6aeed0792bb06d2155028df477be2c212f49a982
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0041/0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d13ce5cde2ffda0f7ab35633283f293cf89c520989f6ae23bff1b463d52c4f0e
+size 468764
diff --git a/robot_trajectories/with_distraction/stack_cups/0041/20260521_072125.h5 b/robot_trajectories/with_distraction/stack_cups/0041/20260521_072125.h5
new file mode 100644
index 0000000000000000000000000000000000000000..b020ad1bff41d5e086b5874844b2a0fec424ddca
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0041/20260521_072125.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5964aad4b872d3174796832f3e4e6612eedac21038245ff193e6168407eb90b6
+size 268551
diff --git a/robot_trajectories/with_distraction/stack_cups/0041/base_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0041/base_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d056e5878a110f6bbdfbab080c36fd94dcb6f851
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0041/base_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:974f0431d84582ad2a76dfd2cc4840c05d576fad2b89f4be6497fb517b243857
+size 555937
diff --git a/robot_trajectories/with_distraction/stack_cups/0041/hand_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0041/hand_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..59fe5b5ece09f89aaf1c0149521ee9534753955e
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0041/hand_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:597638b1ee71f567fb10266c1bf748b7bd386e880be0760993804b61b523eff4
+size 1613595
diff --git a/robot_trajectories/with_distraction/stack_cups/0041/left_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0041/left_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7719b99db68ef86e57dc30668030c52780acea4c
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0041/left_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:715ec909d9e1dc00f5910a3b750db9db61cd2dff9e8097ea7dc6e1f1a9a0277e
+size 564623
diff --git a/robot_trajectories/with_distraction/stack_cups/0041/overhead_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0041/overhead_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a5116e1f6d031a37c3342783ad6048815ee5406a
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0041/overhead_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:47a68b75b8603c638f31ec9311c0966bcdf4812ff726d66ea241c3d0ac8e5efb
+size 812446
diff --git a/robot_trajectories/with_distraction/stack_cups/0041/right_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0041/right_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..fd53f2f6da1a3fdffe9f2b3f04262955adfc2830
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0041/right_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7d71b6c6c6fb22cdfc114febcb6871b7625c7cf0783491eab7433cc0ca0a7440
+size 602016
diff --git a/robot_trajectories/with_distraction/stack_cups/0042/0.mp4 b/robot_trajectories/with_distraction/stack_cups/0042/0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..472b635884f6948270b72c74ed5fbb4d320f0b08
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0042/0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bc079aab705c8a7f3cf9d7bbecd114cf9ca96415cc0eac4545f00b6f824cef81
+size 474855
diff --git a/robot_trajectories/with_distraction/stack_cups/0042/20260521_072150.h5 b/robot_trajectories/with_distraction/stack_cups/0042/20260521_072150.h5
new file mode 100644
index 0000000000000000000000000000000000000000..f65d7fe663a945d83b47266b4da4598979c33f19
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0042/20260521_072150.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:85183226394a6a6b25744a98528f4265c38e19d4d10e4d187eb51f09e302123d
+size 269076
diff --git a/robot_trajectories/with_distraction/stack_cups/0042/20260521_072150.json b/robot_trajectories/with_distraction/stack_cups/0042/20260521_072150.json
new file mode 100644
index 0000000000000000000000000000000000000000..7ae2c9e2fa91f04f454eb0ac000f879459b5b43f
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0042/20260521_072150.json
@@ -0,0 +1,29 @@
+{
+  "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",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 128,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 496,
+      "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/with_distraction/stack_cups/0042/base_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0042/base_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3cec041cd1a1f4fd6e4b397a74e1458a81c99c21
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0042/base_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e2d909abead1d516c999972f6d740bf84f0c0dbf31f95e4d8d447af37c34a569
+size 494038
diff --git a/robot_trajectories/with_distraction/stack_cups/0042/hand_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0042/hand_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..272c8617e8e3c307aa3191e1d1e27bca5c3120e1
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0042/hand_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:78649d55a60e2275bbcd3c9cb49b5d3c36cc4289156dd4548b51ec5a6c047ca1
+size 1650091
diff --git a/robot_trajectories/with_distraction/stack_cups/0042/left_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0042/left_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7090a62b3dcbf7853c7981702fbc6f012319c2f7
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0042/left_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ce3b0673ac299d45289956bb3acb45301af67fe26c5471692e6bf26f1524a69a
+size 556071
diff --git a/robot_trajectories/with_distraction/stack_cups/0042/overhead_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0042/overhead_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..28d6160275776a0a460d34e24c55333d763e8233
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0042/overhead_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:53f60ee91a93905eedf45d6ac1e97222723e2e2df327f56e4fa6683dc6098765
+size 784206
diff --git a/robot_trajectories/with_distraction/stack_cups/0042/right_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0042/right_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ec309e177228fc34e6ee9e086049f0c5d142137f
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0042/right_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5c29cba18ed8a541928c07aa3d118cf7ff0789b02fbddb6b430cb37c6ef034f0
+size 544992
diff --git a/robot_trajectories/with_distraction/stack_cups/0043/0.mp4 b/robot_trajectories/with_distraction/stack_cups/0043/0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..56d6a24fb723d0137d5c94b1d819171769083c59
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0043/0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d3717c91fc86e01efe993aa6c0c607772fe1457132276b87a9e20156f1e58955
+size 450607
diff --git a/robot_trajectories/with_distraction/stack_cups/0043/20260521_072401.h5 b/robot_trajectories/with_distraction/stack_cups/0043/20260521_072401.h5
new file mode 100644
index 0000000000000000000000000000000000000000..bfeee39d94e9362e3785fd799b6b214aa0e371f4
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0043/20260521_072401.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:da56ee5046f39354a5079734cfc9f7bae74cc2aca94538d9bedaa0da69800d42
+size 261726
diff --git a/robot_trajectories/with_distraction/stack_cups/0043/base_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0043/base_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c3dec8622b71cab47d9f543c4c66f5b42dc69977
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0043/base_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0573d6610430125bb74e74d92568ab178a0eac13666278211e521877a37727df
+size 473367
diff --git a/robot_trajectories/with_distraction/stack_cups/0043/hand_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0043/hand_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b8be0d9b4ba48b2492750f8450d1fbc10cae7a62
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0043/hand_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d65f6a16062587ac0988a9495d4c608d86bad7cc8dea3b55f4a238e1fe616e8e
+size 1625941
diff --git a/robot_trajectories/with_distraction/stack_cups/0043/left_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0043/left_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..693400550a7bf476ba7cdb987a6206dbd5ce753d
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0043/left_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d02f1e0575373792cee662c41ce56f73a7179f1810b0bfbdb08c15bcde01aeea
+size 538129
diff --git a/robot_trajectories/with_distraction/stack_cups/0043/overhead_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0043/overhead_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..83064302661a43aef14f5a9fca8e4356c21db6b3
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0043/overhead_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6b66bdeb91dc70d47fd597c09d1f61fe55e0e42316b0c0ba5725ed5d5a5cf130
+size 743557
diff --git a/robot_trajectories/with_distraction/stack_cups/0043/right_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0043/right_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..cb5d576702361514dfcbf337ae63beb928b976f5
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0043/right_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cea5ad9f6420b12478a29e9f1839284c4defb412964c8112c562ca49c1529fe2
+size 526860
diff --git a/robot_trajectories/with_distraction/stack_cups/0044/0.mp4 b/robot_trajectories/with_distraction/stack_cups/0044/0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..dfcb8f37b3f5ec3460c2ae0e21648edfe4a6c0e9
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0044/0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:407542e161d635d09dfb7903976a7738bbcb84632eb1883834d7c5dae93066ca
+size 565319
diff --git a/robot_trajectories/with_distraction/stack_cups/0044/20260521_072426.h5 b/robot_trajectories/with_distraction/stack_cups/0044/20260521_072426.h5
new file mode 100644
index 0000000000000000000000000000000000000000..25616c2036c3b74717f30bdbdb417903322abf96
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0044/20260521_072426.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:478b4c4508cfe6debd3b47cf9fe8ae5118c5371cae693530a44f0417befa986f
+size 324347
diff --git a/robot_trajectories/with_distraction/stack_cups/0044/base_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0044/base_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..47a647bec33462b1b4a6c7f2da196c8f03e20879
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0044/base_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:71fb33e062fa66035421f6d52de5f4f8df434470b315fd7306b2f3489b6d8a76
+size 666193
diff --git a/robot_trajectories/with_distraction/stack_cups/0044/hand_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0044/hand_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7b15e26bde88867e47c957c9a12217e8f8cb5785
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0044/hand_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:17a11f4a5f1e81d903c5955251eea81f37712bc5d2f9c2f38684e13598bb55d9
+size 2244206
diff --git a/robot_trajectories/with_distraction/stack_cups/0044/left_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0044/left_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1ee837f7084b46193ed404cd59fdc9b996955c2f
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0044/left_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9a0f3177a23ec57d3783a8441b28e142c71aca9ec8bdd9498b31a5fb5cc2dc60
+size 704285
diff --git a/robot_trajectories/with_distraction/stack_cups/0044/overhead_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0044/overhead_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d77797c8b64dccda5d579e2647a54a0e65eb41c2
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0044/overhead_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:623a776c2fd21c4ba487776a1f7d693b9f0a131066e0db944a8a3c9344daa453
+size 801944
diff --git a/robot_trajectories/with_distraction/stack_cups/0044/right_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0044/right_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..835da14f88f471d99d3065e81023acae49bb9ff5
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0044/right_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ff6182d0d67e732ec5fd4fcac531da03f84b109fcdb40a4f1a1323df9415c9e5
+size 720181
diff --git a/robot_trajectories/with_distraction/stack_cups/0045/20260521_072746.json b/robot_trajectories/with_distraction/stack_cups/0045/20260521_072746.json
new file mode 100644
index 0000000000000000000000000000000000000000..b4b77c3b5b48e2f6220c40a7812fc68f6730e689
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0045/20260521_072746.json
@@ -0,0 +1,29 @@
+{
+  "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",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 143,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 446,
+      "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/with_distraction/stack_cups/0046/0.mp4 b/robot_trajectories/with_distraction/stack_cups/0046/0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..552f5ec483984248cf823e3d91b8983c022e2faf
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0046/0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0c4af2360a3cb2b7387e28e56e39ac976f19e925e79d344343aa6c96d65cf273
+size 419279
diff --git a/robot_trajectories/with_distraction/stack_cups/0046/20260521_073119.h5 b/robot_trajectories/with_distraction/stack_cups/0046/20260521_073119.h5
new file mode 100644
index 0000000000000000000000000000000000000000..c3bad5cb8e4828bc4d572add01149d1da9e389bd
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0046/20260521_073119.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e06775cb3c3f83976948deeaab86ee64ce43edb8c4505d06ec8ac6285d5591c5
+size 274725
diff --git a/robot_trajectories/with_distraction/stack_cups/0046/base_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0046/base_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..efe173fe85b121587741e48d4a1038f4b7fdfba4
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0046/base_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2ed0f3f9ade1ffbaf05b89fc88d8db6926a4f16d102fda40c2f36d4805d889ba
+size 478964
diff --git a/robot_trajectories/with_distraction/stack_cups/0046/hand_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0046/hand_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..373f9b83a3e6ac34d5550449c4c18d8e78af8919
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0046/hand_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ecf45fca241dd0d82674711f74df6e282a92a6b4c387c43962c9409412a66354
+size 1502563
diff --git a/robot_trajectories/with_distraction/stack_cups/0046/left_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0046/left_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7622686e1d70447a2f8b97a3405ab9db32d455c1
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0046/left_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3708262eebda4abbc46e34e9c98d22f91dbaf66ac33e271aafda03de282e844f
+size 510929
diff --git a/robot_trajectories/with_distraction/stack_cups/0046/overhead_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0046/overhead_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..eaf4ba75646f52fc3b455a590146345af22173ba
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0046/overhead_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:43d464f0c59c139336938c06277deeba1540695207f43df40f210dc1aa5baee1
+size 694321
diff --git a/robot_trajectories/with_distraction/stack_cups/0046/right_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0046/right_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d38d7e3818e0e876a1539b93c396575b4d8245b4
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0046/right_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ba58bb9c0c064c1e5f9f36355777e81062990992d34030d2a3b50eab2f3b16d1
+size 544511
diff --git a/robot_trajectories/with_distraction/stack_cups/0047/0.mp4 b/robot_trajectories/with_distraction/stack_cups/0047/0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..00eebd5220d657b5a27c4ff3a58e481866a5462a
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0047/0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:66e9cf1181d5ee6b9c5379ac8b5b7b2134a6c94c2e7482ac405e70d4d5813d58
+size 449595
diff --git a/robot_trajectories/with_distraction/stack_cups/0047/20260521_073231.h5 b/robot_trajectories/with_distraction/stack_cups/0047/20260521_073231.h5
new file mode 100644
index 0000000000000000000000000000000000000000..164395f6795c5385f1ed404f0234a9e1de1740e5
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0047/20260521_073231.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4e52d0ba0c69718ccaa0e0555c033e2a4d83f487eaa6f984c66f396b869c04f4
+size 280495
diff --git a/robot_trajectories/with_distraction/stack_cups/0047/base_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0047/base_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ef86a00f6856ef6570c919162967eb4ffc2abb90
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0047/base_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8377ed3a64f78cd6a267fc05f83adc29324750d0a26d879b57e703ba157b18ee
+size 485069
diff --git a/robot_trajectories/with_distraction/stack_cups/0047/hand_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0047/hand_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5f9970e0b71033eb70c400384dfce347d86195a3
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0047/hand_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d7e6b0615d9db24e15618eac2589e8c18d2e1892801a5ec7bf224c0c735b1173
+size 1586632
diff --git a/robot_trajectories/with_distraction/stack_cups/0047/left_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0047/left_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b490db41273d75d82cc7312f6cf2b424afc6e729
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0047/left_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c8f362e873d8871b92ee5c299b889390cf2c6027860a4ad262a91db6106b83f7
+size 550019
diff --git a/robot_trajectories/with_distraction/stack_cups/0047/overhead_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0047/overhead_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..56f4062f5740b222b026dadd2d415f3429ee073a
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0047/overhead_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bd68931a3b2ce5e1011ea454ee15c21df91b74abbe33835e5f9c4964e42fd42c
+size 691355
diff --git a/robot_trajectories/with_distraction/stack_cups/0047/right_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0047/right_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0cd24856c0b10e4be030fe10c1fbc371db8ade23
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0047/right_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d4faf24215d4ffd3cc5823a5fec0dc49441e3fd073b74deb89334409a857b8ad
+size 517917
diff --git a/robot_trajectories/with_distraction/stack_cups/0048/0.mp4 b/robot_trajectories/with_distraction/stack_cups/0048/0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6df7d50dab4135fa56f08903c84ed600ed737eca
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0048/0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:090b2d43989928ce06f0676efcb8b49a0f5fb13bf2ed5f59f43b35b853a12ecd
+size 561034
diff --git a/robot_trajectories/with_distraction/stack_cups/0048/20260521_073321.h5 b/robot_trajectories/with_distraction/stack_cups/0048/20260521_073321.h5
new file mode 100644
index 0000000000000000000000000000000000000000..fa55373432d093b477ed3dee05680970bd099f16
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0048/20260521_073321.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2e8d03f0604355e57d31c0d875eca979f834b5b6338e8e63208dc424902b3bc6
+size 275901
diff --git a/robot_trajectories/with_distraction/stack_cups/0048/base_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0048/base_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..093f0ffdd2080290964ed0f753f03c1526bb20a1
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0048/base_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6bb757f7c610a731d4d9ed33755424373d802a684b493306cc92a437eed8f9b7
+size 604336
diff --git a/robot_trajectories/with_distraction/stack_cups/0048/hand_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0048/hand_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..db9a5c9827cd73d6255bc13365e30d0452d5e4ec
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0048/hand_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e3ef2158a4b99b2c7968a150d40a84469d4f882f3a07df4a7d6d1232f6896ce0
+size 1698506
diff --git a/robot_trajectories/with_distraction/stack_cups/0048/left_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0048/left_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3d217a2c0f57248bb0d57aed854f9f26574a7e94
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0048/left_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b80f2352331ae5326c93310111e587dc2ba290ec8af5ce3cc302a91439a99fc3
+size 680030
diff --git a/robot_trajectories/with_distraction/stack_cups/0048/overhead_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0048/overhead_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..10732729d7d3436721ec701d0bfa942f934a164d
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0048/overhead_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6c52e56e675ec7dacc7a16a3527ff9514cb025d2700d0dc7939c54ecb1709414
+size 874009
diff --git a/robot_trajectories/with_distraction/stack_cups/0048/right_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0048/right_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3dd7ed8dbc4da000f640f891f045fe46c322ffab
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0048/right_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:832a7e29a8c1f2e4adc19e8b5d4a90620dddefab1b1858582b4bdfc6f9b33230
+size 643388
diff --git a/robot_trajectories/with_distraction/stack_cups/0049/20260521_073441.json b/robot_trajectories/with_distraction/stack_cups/0049/20260521_073441.json
new file mode 100644
index 0000000000000000000000000000000000000000..5883eb4d1d02544f7f0533475a1a650fcd6590a8
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0049/20260521_073441.json
@@ -0,0 +1,29 @@
+{
+  "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",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 161,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 520,
+      "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/with_distraction/stack_cups/0050/20260521_073505.json b/robot_trajectories/with_distraction/stack_cups/0050/20260521_073505.json
new file mode 100644
index 0000000000000000000000000000000000000000..f2da14f2454b8fbaee756d9dda5b0eb5f73eb310
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0050/20260521_073505.json
@@ -0,0 +1,29 @@
+{
+  "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",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 162,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 608,
+      "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/with_distraction/stack_cups/0051/0.mp4 b/robot_trajectories/with_distraction/stack_cups/0051/0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2b63cc8fdc42b9a76a7962e91c86cff41a5eb90b
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0051/0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b8fc6d3a567d7f24c296ae326124b77a9583c794484ef55299cb5ba50feb5635
+size 485734
diff --git a/robot_trajectories/with_distraction/stack_cups/0051/20260521_073532.h5 b/robot_trajectories/with_distraction/stack_cups/0051/20260521_073532.h5
new file mode 100644
index 0000000000000000000000000000000000000000..9a9168ab46ddd66b16a0652891dabb6342a6c6a7
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0051/20260521_073532.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1f1e412c6c37705a2ecac6ad47874bcf36f544e5ed974b16e63d7c860e9336ff
+size 264351
diff --git a/robot_trajectories/with_distraction/stack_cups/0051/base_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0051/base_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e50386520836ef64a81edea48de00db3bb4a2058
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0051/base_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bcbc8dc452fc19f42f1c265ab605ff7661c4532405424abb3fa6b23ab439ec45
+size 531720
diff --git a/robot_trajectories/with_distraction/stack_cups/0051/hand_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0051/hand_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..030c61a59a9bdb251afd5124183776aa1cc9c08c
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0051/hand_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2916b48f609358943f1e23dcbcb16517e714760c23e56600748c729d82b42113
+size 1636524
diff --git a/robot_trajectories/with_distraction/stack_cups/0051/left_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0051/left_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..906b1917b0eba555e5a01323413976d59709c740
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0051/left_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:66ac31af4e1304ce48dae7b88cc4eeb03ed503f1cbd62f4c5a5fe9101f41e8aa
+size 581031
diff --git a/robot_trajectories/with_distraction/stack_cups/0051/overhead_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0051/overhead_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5c11f0084aaedbb7164c1f3fc74c64e68dc84898
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0051/overhead_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6ef7689992c46434b12087f7b4b5e01a60b57fa0877a1ab13b15385fc4d44a7c
+size 778488
diff --git a/robot_trajectories/with_distraction/stack_cups/0051/right_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0051/right_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e9d6a916f483ed007e145bb7335fbd2f03fe6021
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0051/right_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:79798d3b22cc36dafbd48d1aa36e423e20768ed06f58d385ac43e567b95055cd
+size 574553
diff --git a/robot_trajectories/with_distraction/stack_cups/0052/0.mp4 b/robot_trajectories/with_distraction/stack_cups/0052/0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9b333bbf4a0fc2bacfced07aeaa6bb120c78ee4b
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0052/0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e843a1eac2b93fd7298375e02727226151e3367a25c2888d34c141e3d9a73d36
+size 533012
diff --git a/robot_trajectories/with_distraction/stack_cups/0052/20260521_073725.h5 b/robot_trajectories/with_distraction/stack_cups/0052/20260521_073725.h5
new file mode 100644
index 0000000000000000000000000000000000000000..c052c32dc0028063742dcd7467125a9d4623f1b4
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0052/20260521_073725.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b9436026150548d19058d4e0b65e817069a013a601601d463af77720a0aad008
+size 274851
diff --git a/robot_trajectories/with_distraction/stack_cups/0052/base_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0052/base_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a5e2044bedf49b7032b388d19f5f4b9bf88b3706
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0052/base_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c16d90970d33b6ff8cb11d4401df1bab63cbb47821d341b0d9b17c85e75fe383
+size 560398
diff --git a/robot_trajectories/with_distraction/stack_cups/0052/hand_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0052/hand_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a3751115229499de691137c56e22f994faf77d6b
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0052/hand_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eaacf60c444303b1873c39d4b779886d83cde03d649e4ac84ad53df8e06895a8
+size 1765587
diff --git a/robot_trajectories/with_distraction/stack_cups/0052/left_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0052/left_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7934b781d74bbe3c6a3dec2c7223b3ac81000992
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0052/left_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b30dc39f37799d6a63dcd7c46d1fc8645e74c3d1fbc55917a572fe07421de760
+size 653170
diff --git a/robot_trajectories/with_distraction/stack_cups/0052/overhead_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0052/overhead_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..51b4531b910d6505304239aa59eef77a1c88637f
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0052/overhead_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:531678f2bbfd11d117166d5c7f325346ca4cfad8fcccb0700bfd7ec271cd70ad
+size 740345
diff --git a/robot_trajectories/with_distraction/stack_cups/0052/right_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0052/right_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ba9601318a1f1929188f46d512feb8fa6e1c0a45
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0052/right_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:490c95bb709f684fde466833ec1a418196977c3a4b7c122ef735ab94a0a94d49
+size 615616
diff --git a/robot_trajectories/with_distraction/stack_cups/0053/20260521_073842.json b/robot_trajectories/with_distraction/stack_cups/0053/20260521_073842.json
new file mode 100644
index 0000000000000000000000000000000000000000..5cc4aa96c6d3d47f692e206c7be245cb94b6f5ca
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0053/20260521_073842.json
@@ -0,0 +1,29 @@
+{
+  "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",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 171,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 475,
+      "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/with_distraction/stack_cups/0054/0.mp4 b/robot_trajectories/with_distraction/stack_cups/0054/0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5b2109e631daed02a728bdc0eae3136d092eaa9a
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0054/0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dfbcd77653825c5bcd28c8a7645dcbe81db9e09b4de1b67d1bcbb3509217aecc
+size 427992
diff --git a/robot_trajectories/with_distraction/stack_cups/0054/20260521_073906.h5 b/robot_trajectories/with_distraction/stack_cups/0054/20260521_073906.h5
new file mode 100644
index 0000000000000000000000000000000000000000..cee8d3f9917ac0579a690b8ed1f65e3fd07a053b
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0054/20260521_073906.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5ce9a87d72dcdc86f8a09fe20b431d12d5791d1940235b051d4767f12f196c93
+size 257526
diff --git a/robot_trajectories/with_distraction/stack_cups/0054/base_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0054/base_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..283b07e2f25b80ad09b04ad5b3ef339d60d93cc3
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0054/base_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d2602e4f5bc38ba26a5e8c9d9a8c92896b9adc16b2b20634a420afe0cd034bd3
+size 487316
diff --git a/robot_trajectories/with_distraction/stack_cups/0054/hand_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0054/hand_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d48fb1e8e342d184e95e08685f1264d7eda64551
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0054/hand_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3aa4b74b9c4f1fa9153bff44825cfda165cdbba1180f13c02ba0bf343ae11e3a
+size 1588783
diff --git a/robot_trajectories/with_distraction/stack_cups/0054/left_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0054/left_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2e5e05f65165f92fc06d909fd383b1f15328cb3f
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0054/left_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6a504fb10be089560339b17f0c15b801c4daf6c60560ed36ea39770da3ba571d
+size 519280
diff --git a/robot_trajectories/with_distraction/stack_cups/0054/overhead_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0054/overhead_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..69fa9b2d8f2807565f5ef4a8dba4a4ad2d2939a1
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0054/overhead_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:95b586dcd7fca9f19ba7fa1c071eaeae8e3c8baabbf455cccbe2683428af6aa3
+size 749826
diff --git a/robot_trajectories/with_distraction/stack_cups/0054/right_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0054/right_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..be91432c5e736361bcb1489f08b17a89b56b5476
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0054/right_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:10d7bb5afc59728e761b51847b34c999910095184a8bf15e28979c54c08b284c
+size 555679
diff --git a/robot_trajectories/with_distraction/stack_cups/0055/0.mp4 b/robot_trajectories/with_distraction/stack_cups/0055/0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f513a88d9d941506ec4bf265eb8d0c6ee7227c2d
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0055/0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bf9a3d6cc4e597114b62c4727f6e8573effb231a18a6303d1e1a46e57c888675
+size 440878
diff --git a/robot_trajectories/with_distraction/stack_cups/0055/20260521_073930.h5 b/robot_trajectories/with_distraction/stack_cups/0055/20260521_073930.h5
new file mode 100644
index 0000000000000000000000000000000000000000..59748b5c0359aca1eb093c49bb8aab8064bcd253
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0055/20260521_073930.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aba5d21ad0af160c9d80fc435a616f2ecf8ba55e0528ee076dd5c65c58433b87
+size 260676
diff --git a/robot_trajectories/with_distraction/stack_cups/0055/base_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0055/base_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..616b486b59556ad0195ebdb15d62199e2d97e952
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0055/base_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:df41ef1224937775cf19d7a0c5fb0dc7d93272f6e097eb544f72b587f4a379e6
+size 501730
diff --git a/robot_trajectories/with_distraction/stack_cups/0055/hand_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0055/hand_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..61fa90f2eb090b7b15fb7eb931cb78596b4a1a09
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0055/hand_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ff3080d2366e37e78a239c7bc67dd0fa3ba2313fb0cf2a14e3400356e10a263a
+size 1693685
diff --git a/robot_trajectories/with_distraction/stack_cups/0055/left_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0055/left_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f92473d6b42b245f2e15a8798cd86950ef0fedec
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0055/left_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:af143a3917a87207ab606b0c3faa7ca1d98ca42e168cf7f37d0de21fe75a9156
+size 534925
diff --git a/robot_trajectories/with_distraction/stack_cups/0055/overhead_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0055/overhead_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8152820ad4c9a751e34d91a262e6d22de19e2e42
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0055/overhead_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:68d2b47390888fbede831e67451b9b9af6932611e0ce9d17d1c6a90b5d992e09
+size 758406
diff --git a/robot_trajectories/with_distraction/stack_cups/0055/right_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0055/right_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..755f3ac46f1e97ec133c7f016eba0f77cd9df1a0
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0055/right_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a802c9721b9351abc641a3989c4f3c97ed0a5766223ad1dad7a34f3998d9c54e
+size 575696
diff --git a/robot_trajectories/with_distraction/stack_cups/0056/0.mp4 b/robot_trajectories/with_distraction/stack_cups/0056/0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..646baff04f763d87d913d73b2fca33e9189b1f5a
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0056/0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fc9d28fad7629ab2687e9c766bb90dda2f091885efbc8861316fa05c7feaf9e4
+size 555723
diff --git a/robot_trajectories/with_distraction/stack_cups/0056/20260521_074012.h5 b/robot_trajectories/with_distraction/stack_cups/0056/20260521_074012.h5
new file mode 100644
index 0000000000000000000000000000000000000000..af6921c69a3f8916913a16b6f889c27d600962cd
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0056/20260521_074012.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c3276d6e3b55c59bcca92d0d6d4797a0acb4a7eeaca962b7e4f434ffb0eba7ff
+size 322616
diff --git a/robot_trajectories/with_distraction/stack_cups/0056/base_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0056/base_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3f0000d3358d829db455da88e49b500886508a67
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0056/base_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5f5ff40683b542fe1aec17b008828fab23a2722e743e4b61dd3b117a50ba9996
+size 652632
diff --git a/robot_trajectories/with_distraction/stack_cups/0056/hand_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0056/hand_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5628b28f3724bef97f444440573e0c256a5c44b3
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0056/hand_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5cad87bc43860430686d913d06a706619a3b03538a773a4f63d8719bf273d9bc
+size 1808899
diff --git a/robot_trajectories/with_distraction/stack_cups/0056/left_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0056/left_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e07c168a00dae28fdc4dd272f7a5a781f12a749c
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0056/left_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:536eb0f0d0f98925d056ea397e9a2d21f7a38648eea4b404e9a854031c682ee3
+size 681368
diff --git a/robot_trajectories/with_distraction/stack_cups/0056/overhead_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0056/overhead_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..deda5839b4b6c512be9def5d9ce05d85accca204
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0056/overhead_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:95a779bfe28d9a4c67ab53977478d144e091e24ab83ead245d46b16757f38735
+size 867143
diff --git a/robot_trajectories/with_distraction/stack_cups/0056/right_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0056/right_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e54218114f70d4b322ae0843e2f01333e2700163
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0056/right_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:66fa1d8e03a21bbd98bf00c7df710ff1b6f025bdc17132304080ae5a914b2790
+size 716133
diff --git a/robot_trajectories/with_distraction/stack_cups/0057/20260521_074146.json b/robot_trajectories/with_distraction/stack_cups/0057/20260521_074146.json
new file mode 100644
index 0000000000000000000000000000000000000000..3b82cf8e77b4e0720ec06193e64d2060d0667846
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0057/20260521_074146.json
@@ -0,0 +1,29 @@
+{
+  "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",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 179,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 468,
+      "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/with_distraction/stack_cups/0058/20260521_074237.json b/robot_trajectories/with_distraction/stack_cups/0058/20260521_074237.json
new file mode 100644
index 0000000000000000000000000000000000000000..fb3d8f3b1b382c188f8d1f0220adcd757cf89df1
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0058/20260521_074237.json
@@ -0,0 +1,29 @@
+{
+  "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",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 181,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 535,
+      "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/with_distraction/stack_cups/0059/0.mp4 b/robot_trajectories/with_distraction/stack_cups/0059/0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..84150253a143dac9aaf22dce80a0dc4249590e49
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0059/0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e9bf81128bb283553492763677fce84ad821373ee22d1f48ca8f7f037147f282
+size 474149
diff --git a/robot_trajectories/with_distraction/stack_cups/0059/20260521_074304.h5 b/robot_trajectories/with_distraction/stack_cups/0059/20260521_074304.h5
new file mode 100644
index 0000000000000000000000000000000000000000..691f2ee6f4c4519528b98cc85438d505a41ec29b
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0059/20260521_074304.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9f4a3ae711e4ce8c50cf925b62b788697d2b78469a014ff49622fb440ba9c1a3
+size 296651
diff --git a/robot_trajectories/with_distraction/stack_cups/0059/base_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0059/base_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5249b86b99e01955dbf0c07a45ab1f04238fa2a0
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0059/base_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:38e848950c354e18c6db9672a0c83775c62af6375eaeae594f046bb9d1bd1dea
+size 547035
diff --git a/robot_trajectories/with_distraction/stack_cups/0059/hand_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0059/hand_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..820c24eb26247ff34968cdd89833e9f62fba2d6d
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0059/hand_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:530e82372c259c1dffc1428f4566f60fdbf758bfb948aef4338395e250c07231
+size 1895926
diff --git a/robot_trajectories/with_distraction/stack_cups/0059/left_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0059/left_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..90da43318654528d04009343da5b1894403ea14e
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0059/left_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f7726304cc317de379c4a181094fabf5a74ffa5f5055b451a6456ab3d6e3bcec
+size 570944
diff --git a/robot_trajectories/with_distraction/stack_cups/0059/overhead_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0059/overhead_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..065283e47303658254601b28380787bc7ce92904
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0059/overhead_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1fa41be4014023e9f29ed58024fdc2155691d627d0fc64dbfc9e48c49d7b99c3
+size 846850
diff --git a/robot_trajectories/with_distraction/stack_cups/0059/right_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0059/right_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..416d444f92e273ecdf3bb7277913f59f7fb8e98e
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0059/right_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0c568c29caf2edf133b50098b6a6f148a85dcf5eb8422f750e5c2d03c96cf938
+size 589645
diff --git a/robot_trajectories/with_distraction/stack_cups/0060/20260521_074328.json b/robot_trajectories/with_distraction/stack_cups/0060/20260521_074328.json
new file mode 100644
index 0000000000000000000000000000000000000000..97258da3e934f522f218e3fc42cb9acf1fb807b2
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0060/20260521_074328.json
@@ -0,0 +1,29 @@
+{
+  "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",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 183,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 512,
+      "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/with_distraction/stack_cups/0061/0.mp4 b/robot_trajectories/with_distraction/stack_cups/0061/0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d442336ab7c580ab9b4a560fc6b7314d693d7373
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0061/0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3c53bd87826e8597e249492d8dcc0936d1b52b7de0c310302b753d0cd62c6e11
+size 474795
diff --git a/robot_trajectories/with_distraction/stack_cups/0061/20260521_074353.h5 b/robot_trajectories/with_distraction/stack_cups/0061/20260521_074353.h5
new file mode 100644
index 0000000000000000000000000000000000000000..4e0e325911546a5f21577130dc8938cd1d690bee
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0061/20260521_074353.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:516e912cbf1aad229f0159fa2e44b76af84b390bb933532237e2d3c8bb87189f
+size 294343
diff --git a/robot_trajectories/with_distraction/stack_cups/0061/20260521_074353.json b/robot_trajectories/with_distraction/stack_cups/0061/20260521_074353.json
new file mode 100644
index 0000000000000000000000000000000000000000..5de1eb5ce04c74b79130b836a540ac6cdd0dbc33
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0061/20260521_074353.json
@@ -0,0 +1,29 @@
+{
+  "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",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 184,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 495,
+      "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/with_distraction/stack_cups/0061/base_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0061/base_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..08d53e3b1fbfabbbcf3ee79e89c150d01148e7af
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0061/base_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e7f4c4eeb459181b79053eb416b1afad8c0548de8cc6c2279e0097e5d2c2921c
+size 550968
diff --git a/robot_trajectories/with_distraction/stack_cups/0061/hand_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0061/hand_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..680d80e0fc71be2d3017a5781d3a8ab641cc1aa6
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0061/hand_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a4d02ef3389206dd0cb75f45599c7497056f9fca1d75300224277fe8f154e116
+size 1742767
diff --git a/robot_trajectories/with_distraction/stack_cups/0061/left_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0061/left_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8d3fd435ea52215609db861e9446b27800564453
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0061/left_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e3821a7bc6f0f2e523c3514515cdaf71e11c19455498970b1887c5a4bc235dbf
+size 567489
diff --git a/robot_trajectories/with_distraction/stack_cups/0061/overhead_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0061/overhead_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..caf59208ad515ee702c1514de7c8ab87cc7bd991
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0061/overhead_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:41c7abb076e547af4b8a1a9e30fba77cb13c390357dd4d205c73c0d7b8a0c02d
+size 766148
diff --git a/robot_trajectories/with_distraction/stack_cups/0061/right_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0061/right_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8f0ec51f3b6c4f4b3236afb7b03728e74611c0f1
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0061/right_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:24c7ab53a9190372b6962f1854433e36b5af5e6cf53ca26b84c4effff48b6b9d
+size 563644
diff --git a/robot_trajectories/with_distraction/stack_cups/0062/0.mp4 b/robot_trajectories/with_distraction/stack_cups/0062/0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6f9e81af8541fd2e120ec6990d0a6dadcb0cf2b2
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0062/0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:94db7776379cfd77beeb09de09ff06e75626a53b370a44ed9e89897c095d4a59
+size 453905
diff --git a/robot_trajectories/with_distraction/stack_cups/0062/20260521_074649.h5 b/robot_trajectories/with_distraction/stack_cups/0062/20260521_074649.h5
new file mode 100644
index 0000000000000000000000000000000000000000..b350a53fee3b2a738abbccfb0a62398b76bde866
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0062/20260521_074649.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c8ee1d7a7648c568a0b8af935c203ece2fb97117b1be93f7b3e903012c6de636
+size 285111
diff --git a/robot_trajectories/with_distraction/stack_cups/0062/base_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0062/base_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7653fbcb7eacec4300345631c7645dc3fae09b35
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0062/base_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:385ae51a7df9c47514982cdbd1136ddcc6320307a3d111af2ed8c5c5d99ae482
+size 512290
diff --git a/robot_trajectories/with_distraction/stack_cups/0062/hand_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0062/hand_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..17a6e523d53e4d3adced18dbb149b8101a5d3f23
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0062/hand_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:251383a1cb027a8492ef48e9d7c17cc642193e3f6375c70a47719b70b84ab89b
+size 1556525
diff --git a/robot_trajectories/with_distraction/stack_cups/0062/left_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0062/left_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6d3f2d883916c765ca120adc3cf8e2bba2ec3f6c
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0062/left_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:336e7d9fa609aaafa2dab463e09b1ec312ef45ed08c184be3081b0f3b0acc358
+size 545750
diff --git a/robot_trajectories/with_distraction/stack_cups/0062/overhead_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0062/overhead_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..885fddfb6d71593072620d256280d98b184fb719
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0062/overhead_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:47dbdb002ec4132e5db47a2abd7d2c3a2c3dcac59354fb441407c887c5ba3185
+size 803299
diff --git a/robot_trajectories/with_distraction/stack_cups/0062/right_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0062/right_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..384f503d29dec3f2a5957438aa66b53001ac85da
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0062/right_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:441221c538959ec164d863a361e7a07eebc8c3e7251a0f09aad9f7d77d9ca920
+size 554373
diff --git a/robot_trajectories/with_distraction/stack_cups/0063/20260521_074955.json b/robot_trajectories/with_distraction/stack_cups/0063/20260521_074955.json
new file mode 100644
index 0000000000000000000000000000000000000000..ae8070392da4d9d4c9e3074f603cdf6402e270b1
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0063/20260521_074955.json
@@ -0,0 +1,29 @@
+{
+  "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",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 199,
+      "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/with_distraction/stack_cups/0064/0.mp4 b/robot_trajectories/with_distraction/stack_cups/0064/0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b4ace8642011bdb3b4cf67241111a700914c3136
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0064/0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5a1c8883cf8402296ed2e0918ee13f42995b5a8cf953d282138e2a0a8f34ad56
+size 551390
diff --git a/robot_trajectories/with_distraction/stack_cups/0064/20260521_075314.h5 b/robot_trajectories/with_distraction/stack_cups/0064/20260521_075314.h5
new file mode 100644
index 0000000000000000000000000000000000000000..fc2eb66284f5e5761e844ba47083738d098b1864
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0064/20260521_075314.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f244fd2b66333cfcb695f97ee85c3847fd9891f4580a5d0c99718f21efbd7cc7
+size 281676
diff --git a/robot_trajectories/with_distraction/stack_cups/0064/base_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0064/base_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..976b79b4e9cd11e0957de7914f6289b293b38114
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0064/base_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:988a2b044a8a7d4bcb1db2e675efb076bbeba26e6cc1e2ef60f55bbef10e0382
+size 622679
diff --git a/robot_trajectories/with_distraction/stack_cups/0064/hand_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0064/hand_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..903ff2f6606667d1eeb2b706818384cd83d3c76e
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0064/hand_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:496da543c6a6c73cee405dd75c220ed8777480d41f1cb88930f1b9b44ca403ea
+size 1743214
diff --git a/robot_trajectories/with_distraction/stack_cups/0064/left_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0064/left_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e0f2309e1639f565048df87d48e9ea4aa562ccf0
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0064/left_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:601103bbaf7dff9a5ac60691c572503bf9d5acc47a4aa08335d284049ab088eb
+size 687640
diff --git a/robot_trajectories/with_distraction/stack_cups/0064/overhead_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0064/overhead_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..24733502a800632f6222cbd68d6740a0742cd42e
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0064/overhead_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:27ae9f88c8aee70c54b34b89d53c18868f8a074df327d4235df64629e3554d4e
+size 728388
diff --git a/robot_trajectories/with_distraction/stack_cups/0064/right_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0064/right_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f1fb90c7a296d09c4b83b155df62363be2aed75a
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0064/right_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ea163bdeb16f414e04860e640a677d8c28e16da87fa954c7682fc34dfcca2163
+size 659299
diff --git a/robot_trajectories/with_distraction/stack_cups/0065/0.mp4 b/robot_trajectories/with_distraction/stack_cups/0065/0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..65f8db6ddbd3049915133aea3334bc11a66d3c3d
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0065/0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ba54579f47a3d5932e020df16e2bb4c2694249e720e9592a3dc1f240295e3b6f
+size 552799
diff --git a/robot_trajectories/with_distraction/stack_cups/0065/20260521_075402.h5 b/robot_trajectories/with_distraction/stack_cups/0065/20260521_075402.h5
new file mode 100644
index 0000000000000000000000000000000000000000..826c3e1652362c860df6ec9720f60a50e67e21b8
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0065/20260521_075402.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d477d1365fd03b7ed473a57f9d41ba898a07156ef885f25e126ac8aa17de9061
+size 318000
diff --git a/robot_trajectories/with_distraction/stack_cups/0065/base_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0065/base_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..fe3f8e1b702c3fd1a325ae2a804ce4c44af938c3
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0065/base_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3d4a0e89b49dbeb63d191405475d39db61258fd0f735d989a1288feb94d98a1a
+size 650433
diff --git a/robot_trajectories/with_distraction/stack_cups/0065/hand_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0065/hand_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8bcf51b2c82c1783ae7dba3c752d1b0e93ec7521
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0065/hand_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:33253622cbcfc8c3fd1f7f9d75f9941612f4aa0d2510f2290c052aee25a3d2ee
+size 1941123
diff --git a/robot_trajectories/with_distraction/stack_cups/0065/left_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0065/left_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f0655e08b10c518c5fd54a7485062d082ec6e414
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0065/left_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:802181ad8c5e48713f0ba622d63b60b6b80408e8d75b15b9f132bcc22b2dff6c
+size 674096
diff --git a/robot_trajectories/with_distraction/stack_cups/0065/overhead_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0065/overhead_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b217e98b208e4b84ec714818ef25eb1b42bc9092
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0065/overhead_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:797736d72a546ce3a94686ba403f0f16891b1a862305f1d6b78b78e30d044c7f
+size 751020
diff --git a/robot_trajectories/with_distraction/stack_cups/0065/right_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0065/right_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0ce9e8729522dc8d3bbd786ddc3d4813c3a75782
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0065/right_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2ec9cc90825410d259249510a0d05c6293964a9bf139c3981a0158ac1db4a6d2
+size 727692
diff --git a/robot_trajectories/with_distraction/stack_cups/0066/20260521_075606.json b/robot_trajectories/with_distraction/stack_cups/0066/20260521_075606.json
new file mode 100644
index 0000000000000000000000000000000000000000..0623e6f0fc94833bbcd6967356236e71d48f765d
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0066/20260521_075606.json
@@ -0,0 +1,29 @@
+{
+  "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",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 214,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 547,
+      "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/with_distraction/stack_cups/0067/20260521_075803.json b/robot_trajectories/with_distraction/stack_cups/0067/20260521_075803.json
new file mode 100644
index 0000000000000000000000000000000000000000..619d3038145228df9e92d480381dc5e593c980ce
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0067/20260521_075803.json
@@ -0,0 +1,29 @@
+{
+  "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",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 219,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 663,
+      "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/with_distraction/stack_cups/0068/0.mp4 b/robot_trajectories/with_distraction/stack_cups/0068/0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2bccf622606868953a2e8599f60ea58c24a81848
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0068/0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2b858832255d2f785ee9911562b901398aecb6be590fa51995a51bb14e6140bd
+size 580037
diff --git a/robot_trajectories/with_distraction/stack_cups/0068/20260521_075957.h5 b/robot_trajectories/with_distraction/stack_cups/0068/20260521_075957.h5
new file mode 100644
index 0000000000000000000000000000000000000000..5685809351d5968723ce065bcd33517b7406a37e
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0068/20260521_075957.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:76031d5adb802951522b6da4212665a84ffba4be32dafce90f6e67874d551513
+size 333002
diff --git a/robot_trajectories/with_distraction/stack_cups/0068/base_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0068/base_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..127a75b50cb457a1943f09103ac27c8ae156d7ad
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0068/base_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fade06c30d135aaaa13010a95ebf97ae792d6a03b3b13921c38669ca1da57187
+size 652464
diff --git a/robot_trajectories/with_distraction/stack_cups/0068/hand_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0068/hand_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a1ffed1a735d8243618681e37ff10ebc1d2a8269
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0068/hand_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8099da9a065945be7d44d5382e0981b93f68e738218362b0bba9d277f935172e
+size 2261645
diff --git a/robot_trajectories/with_distraction/stack_cups/0068/left_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0068/left_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5f8a3a13a63417b46f46ab513923ed622822e7c7
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0068/left_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:93d5bc70d99f599256eb9ed7aa0ef7666076481b9b0413e39335f32a868b5617
+size 713070
diff --git a/robot_trajectories/with_distraction/stack_cups/0068/overhead_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0068/overhead_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..809dac1283f315bc2714619eb18b2e7b68233625
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0068/overhead_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:96e45607f86fa49e945b00a57e6eb8d508dbf050711107f445254233aef900d4
+size 825971
diff --git a/robot_trajectories/with_distraction/stack_cups/0068/right_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0068/right_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3794f39fa4113ed38c43142020ca552b9e7237ad
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0068/right_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3ceaf14c98b86d5fb030f8b9ad0baebc867c2d93d34e18bd1fcec5ee73143c31
+size 705687
diff --git a/robot_trajectories/with_distraction/stack_cups/0069/20260521_080138.json b/robot_trajectories/with_distraction/stack_cups/0069/20260521_080138.json
new file mode 100644
index 0000000000000000000000000000000000000000..de82fd1f5649d793e0ae808bddf6e9990b2642c4
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0069/20260521_080138.json
@@ -0,0 +1,29 @@
+{
+  "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",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 228,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 560,
+      "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/with_distraction/stack_cups/0070/0.mp4 b/robot_trajectories/with_distraction/stack_cups/0070/0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ff429e53e808e25b7f6c65c31f7f9b97f259324d
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0070/0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3f691a0e589a4c11d38c4155c883c2006496cd32318db70cae8c5501df007c17
+size 454819
diff --git a/robot_trajectories/with_distraction/stack_cups/0070/20260521_080306.h5 b/robot_trajectories/with_distraction/stack_cups/0070/20260521_080306.h5
new file mode 100644
index 0000000000000000000000000000000000000000..3794427e8cc5c1a311bd102bf69a6ea41bc050d9
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0070/20260521_080306.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0c8772f10dc608cf467ad404be4a4f8034297a80a18a7bf678d7b47f63301b0a
+size 278764
diff --git a/robot_trajectories/with_distraction/stack_cups/0070/base_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0070/base_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..cc69796978e72591b2110ba8552e2fb84424f591
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0070/base_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c4ee08a38641e1d7535de71124c41195cde508109d6d03201c862cda1ea5a9bd
+size 521498
diff --git a/robot_trajectories/with_distraction/stack_cups/0070/hand_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0070/hand_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..304bf22a7791af0caef774b302017c786c15e822
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0070/hand_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:acea37cfe8e327f051dc1ccbbed13b44bf22f2fe78ce7fa9991a333d9687c623
+size 1598969
diff --git a/robot_trajectories/with_distraction/stack_cups/0070/left_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0070/left_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..249d03a3e745010083c2787eec1875e9c53545aa
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0070/left_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ec6752cd63873853155cdb7bca05a634cf58ab6b3b20036d13d064bd457696b3
+size 536701
diff --git a/robot_trajectories/with_distraction/stack_cups/0070/overhead_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0070/overhead_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..04cbadb596d2391df998046685d871dafe7da343
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0070/overhead_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7e74f7f15317a65a451d565914ad9fedc12efb51ead120380792dc615bdf8686
+size 633711
diff --git a/robot_trajectories/with_distraction/stack_cups/0070/right_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0070/right_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..52813c866adff88a999f05b7a3246b742e936ced
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0070/right_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f72faefb99b8506bf328b1d8dae09553a1c2db203e52e3a2ba3671f917057236
+size 558118
diff --git a/robot_trajectories/with_distraction/stack_cups/0071/20260521_080352.json b/robot_trajectories/with_distraction/stack_cups/0071/20260521_080352.json
new file mode 100644
index 0000000000000000000000000000000000000000..e0ac10885b49c1c0167d8522d21c950e070fadbd
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0071/20260521_080352.json
@@ -0,0 +1,29 @@
+{
+  "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",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 234,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 488,
+      "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/with_distraction/stack_cups/0072/20260521_080416.json b/robot_trajectories/with_distraction/stack_cups/0072/20260521_080416.json
new file mode 100644
index 0000000000000000000000000000000000000000..435970dd9b48e31b8f76b3b42a79ac89cff04242
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0072/20260521_080416.json
@@ -0,0 +1,29 @@
+{
+  "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",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 235,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 460,
+      "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/with_distraction/stack_cups/0073/0.mp4 b/robot_trajectories/with_distraction/stack_cups/0073/0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..23abbcb7115199dab99524734540ad070c359fde
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0073/0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fe54413dbd89ba745ec5e90dee6b941df8c31f5a4e03d09f654cb2fb0054688a
+size 563176
diff --git a/robot_trajectories/with_distraction/stack_cups/0073/20260521_080502.h5 b/robot_trajectories/with_distraction/stack_cups/0073/20260521_080502.h5
new file mode 100644
index 0000000000000000000000000000000000000000..a09952b40fb79190767e5b9a294403774de500ac
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0073/20260521_080502.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0e632675a9fe0f82eaff4013696afa74703b0d35737d36a40f6d623f38fe9ff6
+size 290601
diff --git a/robot_trajectories/with_distraction/stack_cups/0073/base_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0073/base_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..eee16d79ad9695f20012e482d73654a7078965e0
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0073/base_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7ed2d4c077674ce3cac8744083af204663da0c4da862a5be689711d29b71d638
+size 685559
diff --git a/robot_trajectories/with_distraction/stack_cups/0073/hand_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0073/hand_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..dbd593717f4a9178a5aede91d7cd21ec3ca3caf1
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0073/hand_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8e80f3b0eb39bdb54d5810bfb2c5f5ced870c0c1b52c1136bd82fc06c24cf037
+size 1734963
diff --git a/robot_trajectories/with_distraction/stack_cups/0073/left_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0073/left_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..124a474a406862dd4ce7c0a2dd85172e1b21f19b
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0073/left_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cc14e27624fea85f3380c6e8d07c1f3834d81f5fb933ad5df92d312e60c3f9dd
+size 694274
diff --git a/robot_trajectories/with_distraction/stack_cups/0073/overhead_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0073/overhead_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c3559684774a5161b1c81211c2a62ce082823e2e
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0073/overhead_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:18e70cbcc6632797feb5d2930a709ec4dbc3a702111b6324df7e79621d0e4098
+size 835081
diff --git a/robot_trajectories/with_distraction/stack_cups/0073/right_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0073/right_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8d8ce0e7d152d324aede4e3669c6f500c3db5370
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0073/right_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:86878eb1c71b2cc888e91e6d1487ce8c8e2924b97df26aa3aa068d221b425b1f
+size 718786
diff --git a/robot_trajectories/with_distraction/stack_cups/0074/20260521_080557.json b/robot_trajectories/with_distraction/stack_cups/0074/20260521_080557.json
new file mode 100644
index 0000000000000000000000000000000000000000..a6242ab79b085bfea57fc5b3e2c60bb29de4df08
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0074/20260521_080557.json
@@ -0,0 +1,29 @@
+{
+  "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",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 239,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 468,
+      "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/with_distraction/stack_cups/0075/20260521_080904.json b/robot_trajectories/with_distraction/stack_cups/0075/20260521_080904.json
new file mode 100644
index 0000000000000000000000000000000000000000..3efcecfbb7d9016362ac0dba60f818ccec0fdab8
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0075/20260521_080904.json
@@ -0,0 +1,29 @@
+{
+  "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",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 247,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 534,
+      "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/with_distraction/stack_cups/0076/0.mp4 b/robot_trajectories/with_distraction/stack_cups/0076/0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a9bae5d9e271fff290351e25438a72d82f66a169
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0076/0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1724787b7c57b14e9d2ee0c69934ffeafabe6c68201360ae3eada707b61b667d
+size 449172
diff --git a/robot_trajectories/with_distraction/stack_cups/0076/20260521_081033.h5 b/robot_trajectories/with_distraction/stack_cups/0076/20260521_081033.h5
new file mode 100644
index 0000000000000000000000000000000000000000..79c31aac1705719d519cee016e15eb2000430ccc
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0076/20260521_081033.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:37b0c7a465d585f8b7a7de10cc553f145f0117d6f28b6b6f1f21142a6f325089
+size 257526
diff --git a/robot_trajectories/with_distraction/stack_cups/0076/base_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0076/base_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..bb79c182dac49c39d0584f00eedc9c928ccbdd88
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0076/base_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7daa516e6894958ae326d3fb223ae5e1b777caddfd162f9e7ca384a89ff09ffc
+size 520759
diff --git a/robot_trajectories/with_distraction/stack_cups/0076/hand_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0076/hand_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3386a0ccffe3411c885f3a6a5dd8a6ea32a50f05
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0076/hand_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7b727e76c90f48e5d9603c6ed42bb6833cef538c53710fd1aabd0adaa3bcdfeb
+size 1651169
diff --git a/robot_trajectories/with_distraction/stack_cups/0076/left_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0076/left_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e60053a66f69e48ca79bcb3fe4f64047dfe942a4
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0076/left_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:98ebfdc8e16aeef17b4a80481cc4f74361c4531925a545433ea3cdec47398c4c
+size 548986
diff --git a/robot_trajectories/with_distraction/stack_cups/0076/overhead_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0076/overhead_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5728554acef0b86c21fcc2ff635b1892d68adecd
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0076/overhead_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4ed989a67c2042d68649705aa067fdcd03ec78e8aa011708f9fe269f0883b9ae
+size 619421
diff --git a/robot_trajectories/with_distraction/stack_cups/0076/right_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0076/right_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ab0ade1955daace5a3c9c136a9b8d395aea0aa39
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0076/right_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cd7a08834ba0db3af47cea2518ee8b20acf5a831d6154e80ceabd781f17ffdff
+size 538879
diff --git a/robot_trajectories/with_distraction/stack_cups/0077/20260521_081128.json b/robot_trajectories/with_distraction/stack_cups/0077/20260521_081128.json
new file mode 100644
index 0000000000000000000000000000000000000000..1ab929a36aa4bd447515efe5e427cf19c81e0d02
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0077/20260521_081128.json
@@ -0,0 +1,29 @@
+{
+  "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",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 253,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 482,
+      "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/with_distraction/stack_cups/0078/0.mp4 b/robot_trajectories/with_distraction/stack_cups/0078/0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6862a78655c726f24fb48e65a8e724ac5902e062
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0078/0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e29889a94f475f370b30e98562b70c2a9e894bcbc51a778a6c4eea3b93a6e30a
+size 527999
diff --git a/robot_trajectories/with_distraction/stack_cups/0078/20260521_081415.h5 b/robot_trajectories/with_distraction/stack_cups/0078/20260521_081415.h5
new file mode 100644
index 0000000000000000000000000000000000000000..92a469ef67999e9fd6c6fcc3ec97981564843ab3
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0078/20260521_081415.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:28e2be75fa760fa258b8fd9ffd00587111c02bdd1bb391a6092aef169381ad84
+size 305883
diff --git a/robot_trajectories/with_distraction/stack_cups/0078/base_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0078/base_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..985ef6cd5c63756c2d6699c805ba1b75e7c6e212
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0078/base_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:af9c77934e30e37cb43f14162122618ce0b52c59704dfff886541c7325eeddb4
+size 574393
diff --git a/robot_trajectories/with_distraction/stack_cups/0078/hand_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0078/hand_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4cf90b771bb56782b96fda2c527f87dbc6d9688a
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0078/hand_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f9114e2a8ffa323d858e5dba6d57343d02631a5b1fb59c12f3b7f5ecb7743bf0
+size 1762452
diff --git a/robot_trajectories/with_distraction/stack_cups/0078/left_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0078/left_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..551f64b00c62e796bd0262987db656e73fdc3d5d
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0078/left_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d9cb990562c6b327c812da8990699409abcc18b063bbd9e8a045aa7adbbee0bc
+size 643521
diff --git a/robot_trajectories/with_distraction/stack_cups/0078/overhead_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0078/overhead_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f7de940b657399a7135628a2bee7fb14636988a2
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0078/overhead_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:55cb6800a708a8973a3276fdf49ace5932aecd4dc5ba9858ee3a4b669e3c9ec5
+size 834165
diff --git a/robot_trajectories/with_distraction/stack_cups/0078/right_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0078/right_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7b0196e19aaa1617342d4e1456bdb1464041a4e6
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0078/right_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4f8882582c2a62d6b051536cd1daedb39ca587e741deb7162b72f2c046a51aa2
+size 654683
diff --git a/robot_trajectories/with_distraction/stack_cups/0079/0.mp4 b/robot_trajectories/with_distraction/stack_cups/0079/0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1dcb13e2b1c4cbe1505b90f51ad5a61f9d4a96b6
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0079/0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7ebf1f5a7756a9c769be6798b2f9b90e51f90a3d9f4bd8038851fbc66786c43c
+size 587768
diff --git a/robot_trajectories/with_distraction/stack_cups/0079/20260521_081441.h5 b/robot_trajectories/with_distraction/stack_cups/0079/20260521_081441.h5
new file mode 100644
index 0000000000000000000000000000000000000000..8ed01e41b79cb828a3b83041f3bfeeb43556be95
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0079/20260521_081441.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:66bc74a5e61beb7b1317709a274c53335d382623324655792d0654384e04aec3
+size 345119
diff --git a/robot_trajectories/with_distraction/stack_cups/0079/base_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0079/base_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ad431b9bdc85ebf55d3e4619d9ff1aa81df6a738
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0079/base_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cc62711b428e1d1dd8d49d825b5d03fab835341ee72f6ede6a55ee0f0d16f972
+size 646357
diff --git a/robot_trajectories/with_distraction/stack_cups/0079/hand_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0079/hand_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..489c5df35da975505022f97c9f1956e32891b1c8
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0079/hand_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8c7554e00289a795eb26e76335690dab3114fb8cc3ce3e2d6ce597164c0ea75d
+size 2243381
diff --git a/robot_trajectories/with_distraction/stack_cups/0079/left_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0079/left_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..00a46cae1c956bdc808325bd16c1df21b82e89fa
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0079/left_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9192dc1825f97d24b11d46ebe5bb5803d41aa38c29766de7b2a4c7a8a16f4828
+size 721906
diff --git a/robot_trajectories/with_distraction/stack_cups/0079/overhead_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0079/overhead_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f1d0d85c558149797f6406bb8e738359ef2e65f4
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0079/overhead_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b3fe1102022b10e8c6ded43ca1306e2ff7b14fdc893475f03412e89667fa3011
+size 890309
diff --git a/robot_trajectories/with_distraction/stack_cups/0079/right_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0079/right_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0054c609ef23da6338653dafb81b6d139ab6e322
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0079/right_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b380717dc0e0e7e90ff7c32c7aabb9da2741f1503dd9705776651747394462c4
+size 698822
diff --git a/robot_trajectories/with_distraction/stack_cups/0080/0.mp4 b/robot_trajectories/with_distraction/stack_cups/0080/0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..66106e847c6a74b9b0a11b0be6c472fdf0c415be
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0080/0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3510b76e83f3f7af765a270ffd70bceab2b45a85366ed3b9ce4e82d8b447a22c
+size 682172
diff --git a/robot_trajectories/with_distraction/stack_cups/0080/20260521_081623.h5 b/robot_trajectories/with_distraction/stack_cups/0080/20260521_081623.h5
new file mode 100644
index 0000000000000000000000000000000000000000..4eb72d381567942bc0927b5a4c6eb36101b979bc
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0080/20260521_081623.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7fab1ff0db71462b1d49bdd0765ce7723351945ffcbbd583f9a68a55670c93ed
+size 364737
diff --git a/robot_trajectories/with_distraction/stack_cups/0080/20260521_081623.json b/robot_trajectories/with_distraction/stack_cups/0080/20260521_081623.json
new file mode 100644
index 0000000000000000000000000000000000000000..6be85bf7f9cbc7ad4c7c27c09b541aac35dc389e
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0080/20260521_081623.json
@@ -0,0 +1,29 @@
+{
+  "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",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 266,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 617,
+      "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/with_distraction/stack_cups/0080/base_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0080/base_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..011e6891b0c096ec4b6c8d8dffcde972dff20775
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0080/base_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d760ab551ff6a1c2429e278fceac351cdd121e601cd327d2d7a289b28158f65e
+size 770697
diff --git a/robot_trajectories/with_distraction/stack_cups/0080/left_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0080/left_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e8e69c67d54ac4d05dc81721031d559c47f967ca
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0080/left_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:26b291f3b24b6cbcab762d6b36bdf744056a0d13060f3cc1f3d1798b22a88050
+size 812450
diff --git a/robot_trajectories/with_distraction/stack_cups/0080/overhead_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0080/overhead_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..10b8cbd2ed36b73370ea4b11c8917a5f19a043b3
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0080/overhead_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a4408a9f362be477a51f712c4607a50777b6b57d1755e348badcde662627dfb6
+size 1108319
diff --git a/robot_trajectories/with_distraction/stack_cups/0080/right_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0080/right_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e543ad6970385b01a55c6cae7be3219cc5961dc4
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0080/right_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d0879092910ccdc4066883478d9f8241dffe643c46bdf68d81c03afb9da8c73c
+size 793494
diff --git a/robot_trajectories/with_distraction/stack_cups/0081/20260521_081708.json b/robot_trajectories/with_distraction/stack_cups/0081/20260521_081708.json
new file mode 100644
index 0000000000000000000000000000000000000000..80c187c4884538c930693f85d94c0bca53acd3ee
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0081/20260521_081708.json
@@ -0,0 +1,29 @@
+{
+  "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",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 268,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 545,
+      "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/with_distraction/stack_cups/0082/20260521_081827.json b/robot_trajectories/with_distraction/stack_cups/0082/20260521_081827.json
new file mode 100644
index 0000000000000000000000000000000000000000..ff25510ebe2ea202dcb940465f8bdbeb9434a4c6
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0082/20260521_081827.json
@@ -0,0 +1,29 @@
+{
+  "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",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 272,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 503,
+      "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/with_distraction/stack_cups/0083/20260521_081959.json b/robot_trajectories/with_distraction/stack_cups/0083/20260521_081959.json
new file mode 100644
index 0000000000000000000000000000000000000000..a2377bc08aaf83095a5ad8e4e6d119b826cec9e3
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0083/20260521_081959.json
@@ -0,0 +1,29 @@
+{
+  "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",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 276,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 482,
+      "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/with_distraction/stack_cups/0084/20260521_082024.h5 b/robot_trajectories/with_distraction/stack_cups/0084/20260521_082024.h5
new file mode 100644
index 0000000000000000000000000000000000000000..eea450ccf7df69044b09589a0c94e7d8fa066d07
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0084/20260521_082024.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cd01c9814c56669d370e33e386babc9b7815267741449f216fbfb6ea2d57e303
+size 296651
diff --git a/robot_trajectories/with_distraction/stack_cups/0084/20260521_082024.json b/robot_trajectories/with_distraction/stack_cups/0084/20260521_082024.json
new file mode 100644
index 0000000000000000000000000000000000000000..b3c79a5ab1534e45f104c4c94575883a74953663
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0084/20260521_082024.json
@@ -0,0 +1,29 @@
+{
+  "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",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 277,
+      "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
diff --git a/robot_trajectories/with_distraction/stack_cups/0084/base_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0084/base_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..421f1157caae5059477a7c7598640d730ee4f738
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0084/base_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f1aaae57b985b774a449c5b8754644629dbfbfb721aed4b82e1b7ba5729381c9
+size 511256
diff --git a/robot_trajectories/with_distraction/stack_cups/0084/left_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0084/left_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..bea9d91de0ad1417893982f269cf1fea8127ae32
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0084/left_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:895dda4d0bac62e07ed10db5e8c7a598f1135d5da2edf787ee5b42599eb8f970
+size 577905
diff --git a/robot_trajectories/with_distraction/stack_cups/0084/right_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0084/right_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..77a4aeb3a5368563fddccae2611d62b852958f17
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0084/right_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a74ef9156182aabce989ff3bdd2dfbcb27bb989221bbb70bb191fe7d1f2545ab
+size 553511
diff --git a/robot_trajectories/with_distraction/stack_cups/0085/20260521_082224.json b/robot_trajectories/with_distraction/stack_cups/0085/20260521_082224.json
new file mode 100644
index 0000000000000000000000000000000000000000..d4784fa2d1e705deb079349254ce0cc1a8f3fc9c
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0085/20260521_082224.json
@@ -0,0 +1,29 @@
+{
+  "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",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 281,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 685,
+      "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/with_distraction/stack_cups/0086/20260521_082352.json b/robot_trajectories/with_distraction/stack_cups/0086/20260521_082352.json
new file mode 100644
index 0000000000000000000000000000000000000000..68592c0a42fea9ebdc1245645a4df885224ed18b
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0086/20260521_082352.json
@@ -0,0 +1,29 @@
+{
+  "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",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 284,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 483,
+      "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/with_distraction/stack_cups/0087/20260521_082417.json b/robot_trajectories/with_distraction/stack_cups/0087/20260521_082417.json
new file mode 100644
index 0000000000000000000000000000000000000000..51bf0bf88540a580edd5c6ae310caf9f588bb3df
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0087/20260521_082417.json
@@ -0,0 +1,29 @@
+{
+  "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",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 285,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 514,
+      "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/with_distraction/stack_cups/0088/20260521_082634.json b/robot_trajectories/with_distraction/stack_cups/0088/20260521_082634.json
new file mode 100644
index 0000000000000000000000000000000000000000..6cb629bfa298fce01b55153be9427101c089c670
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0088/20260521_082634.json
@@ -0,0 +1,29 @@
+{
+  "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",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 291,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 517,
+      "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/with_distraction/stack_cups/0089/20260521_082659.json b/robot_trajectories/with_distraction/stack_cups/0089/20260521_082659.json
new file mode 100644
index 0000000000000000000000000000000000000000..e8d6d9c33df4c8a8fbd5107a7ccd78c5a513de06
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0089/20260521_082659.json
@@ -0,0 +1,29 @@
+{
+  "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",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 292,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 562,
+      "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/with_distraction/stack_cups/0090/20260521_082803.json b/robot_trajectories/with_distraction/stack_cups/0090/20260521_082803.json
new file mode 100644
index 0000000000000000000000000000000000000000..8ae24d7aec9a80c70573d53824d09f5915135331
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0090/20260521_082803.json
@@ -0,0 +1,29 @@
+{
+  "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",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 295,
+      "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/with_distraction/stack_cups/0091/20260521_082828.json b/robot_trajectories/with_distraction/stack_cups/0091/20260521_082828.json
new file mode 100644
index 0000000000000000000000000000000000000000..afeaef0222b4130eeeee72b6f94f88acd27bbf27
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0091/20260521_082828.json
@@ -0,0 +1,29 @@
+{
+  "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",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 296,
+      "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/with_distraction/stack_cups/0092/20260521_082910.json b/robot_trajectories/with_distraction/stack_cups/0092/20260521_082910.json
new file mode 100644
index 0000000000000000000000000000000000000000..98dee161b092155d20f6f0da23103c64d9d9a33c
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0092/20260521_082910.json
@@ -0,0 +1,29 @@
+{
+  "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",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 298,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 568,
+      "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/with_distraction/stack_cups/0093/0.mp4 b/robot_trajectories/with_distraction/stack_cups/0093/0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..742d9599f74b0876604c7b585be1672c3e19196f
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0093/0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f87a8314a1374df4249b6ba37a3843b374437992d037611e4f74996456b982f8
+size 509902
diff --git a/robot_trajectories/with_distraction/stack_cups/0093/20260521_083107.h5 b/robot_trajectories/with_distraction/stack_cups/0093/20260521_083107.h5
new file mode 100644
index 0000000000000000000000000000000000000000..b12ea6c43ab29f71ce74ef2281d1b4b7f48f90a4
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0093/20260521_083107.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:571747f27744a639bbb7b7998937ff44a09f22f6f5d2b46600a7efa919266633
+size 305306
diff --git a/robot_trajectories/with_distraction/stack_cups/0093/base_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0093/base_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6b21753a128f1d72671b03404c750ff3c85527ab
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0093/base_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:05cd32bc78ca8bb83686d83fee60cbabb8c2b16e0ecb7f16dfcf825d7f2df305
+size 560245
diff --git a/robot_trajectories/with_distraction/stack_cups/0093/hand_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0093/hand_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a52590101a304858f29bd14bacdfb9b42aeccb38
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0093/hand_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f6eb9b56ebd2b1981b75f6b043f511057d900ced3e8a15502e4f625f01fe18c4
+size 1825721
diff --git a/robot_trajectories/with_distraction/stack_cups/0093/left_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0093/left_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5df466d9537866265a1fede97a01625507a77e75
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0093/left_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:02b107fbdd411c82ec22630f9241ade0cc3ef6adfccc3c6bf59b7e55264c97d1
+size 615647
diff --git a/robot_trajectories/with_distraction/stack_cups/0093/overhead_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0093/overhead_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..837ca8516842f859152e7382f82b2dc14316d941
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0093/overhead_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5388a48b94c41370bd1d57c08fc68b4127452ea24621e6f8807a9a6c844e5572
+size 743852
diff --git a/robot_trajectories/with_distraction/stack_cups/0093/right_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0093/right_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e68fc2009468e2221ced201d35412d780641c6e1
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0093/right_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:56a25af094391bca499792216dd348c0d25210c43b8aa9a82823a4f7b6a598d4
+size 650775
diff --git a/robot_trajectories/with_distraction/stack_cups/0094/0.mp4 b/robot_trajectories/with_distraction/stack_cups/0094/0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9f0d929db518a998e2108b4c50f5b82e916b4826
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0094/0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fd5355f8f3ed20f05cbf5fb4f5251f70b3fd8ef02d485cef0bdc96d17fa0d214
+size 533444
diff --git a/robot_trajectories/with_distraction/stack_cups/0094/20260521_083253.h5 b/robot_trajectories/with_distraction/stack_cups/0094/20260521_083253.h5
new file mode 100644
index 0000000000000000000000000000000000000000..61098cc9d60fdd6a2011fb4a96a8ffde9ae35067
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0094/20260521_083253.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:019912bba5e64ca93530920342f9a8985cb14a7e7853d94f3dca40a28df8c9db
+size 282726
diff --git a/robot_trajectories/with_distraction/stack_cups/0094/20260521_083253.json b/robot_trajectories/with_distraction/stack_cups/0094/20260521_083253.json
new file mode 100644
index 0000000000000000000000000000000000000000..b3dbc80bd5a8343deba987ce28f83b10f752581c
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0094/20260521_083253.json
@@ -0,0 +1,29 @@
+{
+  "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",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 307,
+      "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/with_distraction/stack_cups/0094/base_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0094/base_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..62f940760e4c1300fb929436cdf624c30727244a
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0094/base_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6fd04b7f56640e79f6ed1cf320a01cca6f392fadb2eb315d04793abb9b4bc0bf
+size 596311
diff --git a/robot_trajectories/with_distraction/stack_cups/0094/hand_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0094/hand_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..bbada688a07526fc79a9777d34203f485a191f14
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0094/hand_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3887e270f27dc4dfc5527d9df7ffdb6f1abfc6eb198965bc4beee0279515cd2d
+size 1870899
diff --git a/robot_trajectories/with_distraction/stack_cups/0094/left_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0094/left_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..71f28a7f411c977a1790fbfb794efb6e0ec01513
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0094/left_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b0f92147c3c5c48ed8b8318e0aee45bf780b882a46d5f82bec5cb78d9d30b244
+size 652171
diff --git a/robot_trajectories/with_distraction/stack_cups/0094/overhead_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0094/overhead_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f8f5598bce5df2e14a31dd84cd45f1fa8adb2cb4
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0094/overhead_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3e9b27a332c0aa306547e127bc6283d13b085685b01897ef2da84eefcf5ac290
+size 836262
diff --git a/robot_trajectories/with_distraction/stack_cups/0094/right_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0094/right_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..713c72d255e87f12459f1a35872dc9b899a245c1
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0094/right_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1776c21cf464022721d205d5f9a2730d85c4734eb5231e319e1a682a8a5f73b5
+size 677755
diff --git a/robot_trajectories/with_distraction/stack_cups/0095/0.mp4 b/robot_trajectories/with_distraction/stack_cups/0095/0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ed0601aa8f9be1d0553f83c1f709dfd6ac9e2739
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0095/0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c81deaa7d0af6853f6e52731b775b4b93afd81f8f5aa0d6fd43c9395088afb06
+size 479231
diff --git a/robot_trajectories/with_distraction/stack_cups/0095/20260521_083353.h5 b/robot_trajectories/with_distraction/stack_cups/0095/20260521_083353.h5
new file mode 100644
index 0000000000000000000000000000000000000000..aae0a8a9d7c3b5a628f84f3290566229e11b4d75
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0095/20260521_083353.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4c9327014e2485050c9ae4d3e8b56de4c7b6297d3ed735c579d9ddabd1428035
+size 296651
diff --git a/robot_trajectories/with_distraction/stack_cups/0095/base_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0095/base_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b480f3dd384781070121639dd4ca870f1cd777bc
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0095/base_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c452d3238a20e8a97305731740ba640f59dc35d881e839d58ed5111e5ff4881c
+size 598362
diff --git a/robot_trajectories/with_distraction/stack_cups/0095/hand_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0095/hand_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..abe43bbccee34c0dd211e81d46449d5ec5a2221d
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0095/hand_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:951413706109ad0ffde671ed0373ccaa448b2165c7cee7780b39d9b2e83ece3e
+size 1711446
diff --git a/robot_trajectories/with_distraction/stack_cups/0095/left_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0095/left_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..281c1e35418fa7b00d7b77b5c6a4f0789e6bfefe
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0095/left_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:992d7868d0a0932c4475757e01ffcc0e6c974ab618a3f5457837aa8a111c840c
+size 579051
diff --git a/robot_trajectories/with_distraction/stack_cups/0095/overhead_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0095/overhead_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e71370054db98c8dc4e83314508bd27dc4f3646a
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0095/overhead_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:392ad19fb66b3b51acb0e462be29a140eae0e36487ba7582ff27442d11c1de02
+size 737836
diff --git a/robot_trajectories/with_distraction/stack_cups/0095/right_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0095/right_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d87e896ccfcfeb6c62c9f142b0d17f47f619bd51
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0095/right_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e80286a093c21c1d69ac433ed0df1672935f25f31cba1f866ac3bc9f219b72e2
+size 598664
diff --git a/robot_trajectories/with_distraction/stack_cups/0096/20260521_083536.json b/robot_trajectories/with_distraction/stack_cups/0096/20260521_083536.json
new file mode 100644
index 0000000000000000000000000000000000000000..ab8ebe6907adec5181945a606de657e74d1c83c6
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0096/20260521_083536.json
@@ -0,0 +1,29 @@
+{
+  "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",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 314,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 469,
+      "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/with_distraction/stack_cups/0097/20260521_083600.json b/robot_trajectories/with_distraction/stack_cups/0097/20260521_083600.json
new file mode 100644
index 0000000000000000000000000000000000000000..d70f5aca61c85db108b6da20fd4b20277159925c
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0097/20260521_083600.json
@@ -0,0 +1,29 @@
+{
+  "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",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 315,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 526,
+      "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/with_distraction/stack_cups/0098/0.mp4 b/robot_trajectories/with_distraction/stack_cups/0098/0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7064dd78116824db4a6d36e869c865708001043e
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0098/0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:449f2698b92e48f8dd1ecb62aa6da3c14bffc515b3c0a6ffe1a82206246e576f
+size 565543
diff --git a/robot_trajectories/with_distraction/stack_cups/0098/20260521_083819.h5 b/robot_trajectories/with_distraction/stack_cups/0098/20260521_083819.h5
new file mode 100644
index 0000000000000000000000000000000000000000..506d01a65e0357d0289b23b1d18ec1e29987a066
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0098/20260521_083819.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0a807ff0c0a7140133cdeb7d8b62ecdd0a9868c4e85ab21929b637dbe9417355
+size 296376
diff --git a/robot_trajectories/with_distraction/stack_cups/0098/base_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0098/base_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..811612399e6930e8ea2e7c3c8eadcf2768f77f4b
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0098/base_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:62f58da595c42fc718d4d310591c29944676db97e2374ad12d364bc9af8543c5
+size 633278
diff --git a/robot_trajectories/with_distraction/stack_cups/0098/hand_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0098/hand_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..29802356fc5683ecaff1e77f0ab94a94eec49d09
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0098/hand_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:53e85bc32edaadbc0807687665ec01e9e0b615d938b30d624542d8ff20b7e5f8
+size 1905407
diff --git a/robot_trajectories/with_distraction/stack_cups/0098/left_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0098/left_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b13003990f05317ff563ff7867e70512fb307885
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0098/left_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3c4c135ededafeee73c226b7e0f55819fedb37e3d60256edc8264811f2cb4bb1
+size 696720
diff --git a/robot_trajectories/with_distraction/stack_cups/0098/overhead_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0098/overhead_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..04dbce803e3e987508dce1120bf32f2860a1b46f
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0098/overhead_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:12c41704e7f013e9e303c69925652b04d5968355eaddab03792443b9959a53b2
+size 896402
diff --git a/robot_trajectories/with_distraction/stack_cups/0098/right_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0098/right_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..59878460b30e48f698e1d546cfd09c853a9e4340
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0098/right_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ef5a8dc603b60bee5638f7ef695ead914ce9cdea10953baa93743dd2573f0243
+size 696730
diff --git a/robot_trajectories/with_distraction/stack_cups/0099/0.mp4 b/robot_trajectories/with_distraction/stack_cups/0099/0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1a23d1c272e36023159d597f97a22322ae746af9
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0099/0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f93f1bc7e36747306c25a525d9fa4b5f6b1dd3fb06c3b7066379718e2b93b4f8
+size 453960
diff --git a/robot_trajectories/with_distraction/stack_cups/0099/20260521_083941.h5 b/robot_trajectories/with_distraction/stack_cups/0099/20260521_083941.h5
new file mode 100644
index 0000000000000000000000000000000000000000..b27be21e71d578deb0bc19aaec330bf82a7b6797
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0099/20260521_083941.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:39f4519699542abf377161304ccb9c5f2e5fc59e89065a6df3fbd84e6d9e6e88
+size 277610
diff --git a/robot_trajectories/with_distraction/stack_cups/0099/base_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0099/base_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..687d3bccc100699be5fc68ab94aa8e8becf543cd
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0099/base_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:230f56bc9318efcabc990c5d8d64a36c494d10e54cec942defb4ed855320e60b
+size 532314
diff --git a/robot_trajectories/with_distraction/stack_cups/0099/hand_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0099/hand_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6d73d63acae807e715f27ff373f5d9db16ed42ab
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0099/hand_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ed3eb45bfecb8fc3e546867599dd70465250ee92ca46afc09c84a1f90537076d
+size 1615424
diff --git a/robot_trajectories/with_distraction/stack_cups/0099/left_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0099/left_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4853157be1a2431e850ef29654fdd088134ca492
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0099/left_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6a6135ab5ea107ce65ae41e08e5c30ff0d730ad0fce198357f508b094fd27e56
+size 555989
diff --git a/robot_trajectories/with_distraction/stack_cups/0099/overhead_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0099/overhead_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ed0c76ace8cabda86d8c65f83ef65dadbecc9cfd
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0099/overhead_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7e243a8050ae12cd4504d90912513ce2a0c201e3b4a0218eb057ef27000c7102
+size 581179
diff --git a/robot_trajectories/with_distraction/stack_cups/0099/right_camera.mp4 b/robot_trajectories/with_distraction/stack_cups/0099/right_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a83c2d995c157519936b6adc6f4436f8f365eda8
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0099/right_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:25d8ec922ebf059d6ecaa1814aa87a547874153243ecbd97f193625b9b4f2e69
+size 542442