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+++ b/robot_trajectories/no_distraction/pick_cube/0010/20260512_210045.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "PickCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
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+      "episode_seed": 11,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 128,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated pick demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/pick_cube/0012/20260512_210105.json b/robot_trajectories/no_distraction/pick_cube/0012/20260512_210105.json
new file mode 100644
index 0000000000000000000000000000000000000000..22a11ce083794f8644a2364a1ff6cacad255c331
--- /dev/null
+++ b/robot_trajectories/no_distraction/pick_cube/0012/20260512_210105.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "PickCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 13,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 140,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated pick demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/pick_cube/0013/20260512_210116.json b/robot_trajectories/no_distraction/pick_cube/0013/20260512_210116.json
new file mode 100644
index 0000000000000000000000000000000000000000..f13826900b02ce3f90945beaefa1644adf7a8070
--- /dev/null
+++ b/robot_trajectories/no_distraction/pick_cube/0013/20260512_210116.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "PickCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 14,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 133,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated pick demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/pick_cube/0014/20260512_210127.json b/robot_trajectories/no_distraction/pick_cube/0014/20260512_210127.json
new file mode 100644
index 0000000000000000000000000000000000000000..16a642f4fb352bb5ec8e6673e06b6fa15705b4fa
--- /dev/null
+++ b/robot_trajectories/no_distraction/pick_cube/0014/20260512_210127.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "PickCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 15,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 176,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated pick demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/pick_cube/0020/20260512_210230.json b/robot_trajectories/no_distraction/pick_cube/0020/20260512_210230.json
new file mode 100644
index 0000000000000000000000000000000000000000..c03d3a37c1631e102d7da495f6429c25c64b8053
--- /dev/null
+++ b/robot_trajectories/no_distraction/pick_cube/0020/20260512_210230.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "PickCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 21,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 133,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated pick demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/pick_cube/0023/20260512_210302.json b/robot_trajectories/no_distraction/pick_cube/0023/20260512_210302.json
new file mode 100644
index 0000000000000000000000000000000000000000..87a30d173475368e0fc2b65cab5fdf8f7e8a4bef
--- /dev/null
+++ b/robot_trajectories/no_distraction/pick_cube/0023/20260512_210302.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "PickCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 24,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 150,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated pick demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/pick_cube/0025/20260512_210324.json b/robot_trajectories/no_distraction/pick_cube/0025/20260512_210324.json
new file mode 100644
index 0000000000000000000000000000000000000000..721efac180fb6b99a2817afb690320ac8f00104b
--- /dev/null
+++ b/robot_trajectories/no_distraction/pick_cube/0025/20260512_210324.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "PickCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 26,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 139,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated pick demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/pick_cube/0027/20260512_210345.json b/robot_trajectories/no_distraction/pick_cube/0027/20260512_210345.json
new file mode 100644
index 0000000000000000000000000000000000000000..02300ceeca296a0f9d66b4ccd792b7f3a7156364
--- /dev/null
+++ b/robot_trajectories/no_distraction/pick_cube/0027/20260512_210345.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "PickCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 28,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 137,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated pick demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/pick_cube/0028/20260512_210356.json b/robot_trajectories/no_distraction/pick_cube/0028/20260512_210356.json
new file mode 100644
index 0000000000000000000000000000000000000000..1a94e52422b08baed046a2aef92338f9ec95c37c
--- /dev/null
+++ b/robot_trajectories/no_distraction/pick_cube/0028/20260512_210356.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "PickCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 29,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 134,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated pick demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/pick_cube/0029/20260512_210406.json b/robot_trajectories/no_distraction/pick_cube/0029/20260512_210406.json
new file mode 100644
index 0000000000000000000000000000000000000000..5e97c8f4c647af6e89783f6a1cef9cef34a63d85
--- /dev/null
+++ b/robot_trajectories/no_distraction/pick_cube/0029/20260512_210406.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "PickCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 30,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 136,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated pick demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/pick_cube/0032/20260512_210439.json b/robot_trajectories/no_distraction/pick_cube/0032/20260512_210439.json
new file mode 100644
index 0000000000000000000000000000000000000000..4b362c31bbe1684674e252827646386a99bf5dd9
--- /dev/null
+++ b/robot_trajectories/no_distraction/pick_cube/0032/20260512_210439.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "PickCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 33,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 152,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated pick demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/pick_cube/0034/20260512_210501.json b/robot_trajectories/no_distraction/pick_cube/0034/20260512_210501.json
new file mode 100644
index 0000000000000000000000000000000000000000..bc7b56b17bf0585db1080836601fe6c5a3f9f5c0
--- /dev/null
+++ b/robot_trajectories/no_distraction/pick_cube/0034/20260512_210501.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "PickCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 35,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 134,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated pick demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/pick_cube/0035/20260512_210511.json b/robot_trajectories/no_distraction/pick_cube/0035/20260512_210511.json
new file mode 100644
index 0000000000000000000000000000000000000000..c2ceb6262c7e417abf1ec40b56844d82a825bd99
--- /dev/null
+++ b/robot_trajectories/no_distraction/pick_cube/0035/20260512_210511.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "PickCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 36,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 145,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated pick demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/pick_cube/0039/20260512_210555.json b/robot_trajectories/no_distraction/pick_cube/0039/20260512_210555.json
new file mode 100644
index 0000000000000000000000000000000000000000..209a301965217e7357b26ac8f9ed85f0d038caa9
--- /dev/null
+++ b/robot_trajectories/no_distraction/pick_cube/0039/20260512_210555.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "PickCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 40,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 141,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated pick demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/pick_cube/0040/20260512_210606.json b/robot_trajectories/no_distraction/pick_cube/0040/20260512_210606.json
new file mode 100644
index 0000000000000000000000000000000000000000..2b07cbf24d313c7549286c35518c18c4c49e13b8
--- /dev/null
+++ b/robot_trajectories/no_distraction/pick_cube/0040/20260512_210606.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "PickCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 41,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 124,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated pick demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/pick_cube/0041/20260512_210616.json b/robot_trajectories/no_distraction/pick_cube/0041/20260512_210616.json
new file mode 100644
index 0000000000000000000000000000000000000000..800ecb0d7b007affa3d54325abc03dc4608f6006
--- /dev/null
+++ b/robot_trajectories/no_distraction/pick_cube/0041/20260512_210616.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "PickCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 42,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 135,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated pick demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/pick_cube/0043/20260512_210637.json b/robot_trajectories/no_distraction/pick_cube/0043/20260512_210637.json
new file mode 100644
index 0000000000000000000000000000000000000000..261c6fe01bbe8494f4524077685ca61ac7774926
--- /dev/null
+++ b/robot_trajectories/no_distraction/pick_cube/0043/20260512_210637.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "PickCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 44,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 139,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated pick demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/pick_cube/0044/20260512_210648.json b/robot_trajectories/no_distraction/pick_cube/0044/20260512_210648.json
new file mode 100644
index 0000000000000000000000000000000000000000..57d99d1d277bbeba5a29a9ec95b3329744dd5ed9
--- /dev/null
+++ b/robot_trajectories/no_distraction/pick_cube/0044/20260512_210648.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "PickCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 45,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 124,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated pick demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/pick_cube/0046/20260512_210709.json b/robot_trajectories/no_distraction/pick_cube/0046/20260512_210709.json
new file mode 100644
index 0000000000000000000000000000000000000000..ec3d52101746fe9185aa33fd9486ae6f5d792527
--- /dev/null
+++ b/robot_trajectories/no_distraction/pick_cube/0046/20260512_210709.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "PickCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 47,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 145,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated pick demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/pick_cube/0048/20260512_210731.json b/robot_trajectories/no_distraction/pick_cube/0048/20260512_210731.json
new file mode 100644
index 0000000000000000000000000000000000000000..b507af6d66ec818e4f79d61c1df4c988e324f721
--- /dev/null
+++ b/robot_trajectories/no_distraction/pick_cube/0048/20260512_210731.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "PickCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 49,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 198,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated pick demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/pick_cube/0051/20260512_210804.json b/robot_trajectories/no_distraction/pick_cube/0051/20260512_210804.json
new file mode 100644
index 0000000000000000000000000000000000000000..c0a759e0c318499a097c7f5de78644ce1e00aecc
--- /dev/null
+++ b/robot_trajectories/no_distraction/pick_cube/0051/20260512_210804.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "PickCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 52,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 161,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated pick demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/pick_cube/0054/20260512_210836.json b/robot_trajectories/no_distraction/pick_cube/0054/20260512_210836.json
new file mode 100644
index 0000000000000000000000000000000000000000..53632db97dec8a2f6113fe9c2bf8780d64e75c76
--- /dev/null
+++ b/robot_trajectories/no_distraction/pick_cube/0054/20260512_210836.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "PickCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 55,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 147,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated pick demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/pick_cube/0055/20260512_210847.json b/robot_trajectories/no_distraction/pick_cube/0055/20260512_210847.json
new file mode 100644
index 0000000000000000000000000000000000000000..b3afa96556e24ccc653c78f6c4ec3382e520197e
--- /dev/null
+++ b/robot_trajectories/no_distraction/pick_cube/0055/20260512_210847.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "PickCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 56,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 136,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated pick demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/pick_cube/0056/20260512_210858.json b/robot_trajectories/no_distraction/pick_cube/0056/20260512_210858.json
new file mode 100644
index 0000000000000000000000000000000000000000..b5b40f6ba15ce9b4f8889c1e487b98b932ed2e6c
--- /dev/null
+++ b/robot_trajectories/no_distraction/pick_cube/0056/20260512_210858.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "PickCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 57,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 127,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated pick demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/pick_cube/0059/20260512_210930.json b/robot_trajectories/no_distraction/pick_cube/0059/20260512_210930.json
new file mode 100644
index 0000000000000000000000000000000000000000..a533624665957dea920b159070b58a49088f8be6
--- /dev/null
+++ b/robot_trajectories/no_distraction/pick_cube/0059/20260512_210930.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "PickCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 60,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 177,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated pick demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/pick_cube/0062/20260512_211002.json b/robot_trajectories/no_distraction/pick_cube/0062/20260512_211002.json
new file mode 100644
index 0000000000000000000000000000000000000000..31ed21866254cba246bdaa6ca6667b166e37e418
--- /dev/null
+++ b/robot_trajectories/no_distraction/pick_cube/0062/20260512_211002.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "PickCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 63,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 135,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated pick demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/pick_cube/0064/20260512_211024.json b/robot_trajectories/no_distraction/pick_cube/0064/20260512_211024.json
new file mode 100644
index 0000000000000000000000000000000000000000..e2d78180e36e356bbd476e4afee8a2995db93190
--- /dev/null
+++ b/robot_trajectories/no_distraction/pick_cube/0064/20260512_211024.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "PickCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 65,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 143,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated pick demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/pick_cube/0065/20260512_211035.json b/robot_trajectories/no_distraction/pick_cube/0065/20260512_211035.json
new file mode 100644
index 0000000000000000000000000000000000000000..6499c099da1ab7145cc6396539348950c3208421
--- /dev/null
+++ b/robot_trajectories/no_distraction/pick_cube/0065/20260512_211035.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "PickCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 66,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 126,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated pick demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/pick_cube/0068/20260512_211106.json b/robot_trajectories/no_distraction/pick_cube/0068/20260512_211106.json
new file mode 100644
index 0000000000000000000000000000000000000000..d40c32c058e86840f662c18ed4592d7117f0d910
--- /dev/null
+++ b/robot_trajectories/no_distraction/pick_cube/0068/20260512_211106.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "PickCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 69,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 128,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated pick demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/pick_cube/0073/20260512_211200.json b/robot_trajectories/no_distraction/pick_cube/0073/20260512_211200.json
new file mode 100644
index 0000000000000000000000000000000000000000..606d188075504720bcfd49d6be9de25af108a379
--- /dev/null
+++ b/robot_trajectories/no_distraction/pick_cube/0073/20260512_211200.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "PickCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 74,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 161,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated pick demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/pick_cube/0076/20260512_211233.json b/robot_trajectories/no_distraction/pick_cube/0076/20260512_211233.json
new file mode 100644
index 0000000000000000000000000000000000000000..69db4e1c4e27cd60f730fa583dcdaf333246add9
--- /dev/null
+++ b/robot_trajectories/no_distraction/pick_cube/0076/20260512_211233.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "PickCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 77,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 131,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated pick demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/pick_cube/0078/20260512_211254.json b/robot_trajectories/no_distraction/pick_cube/0078/20260512_211254.json
new file mode 100644
index 0000000000000000000000000000000000000000..69e36a940da0485e76ccaefb3b81f9b5b6abe3b4
--- /dev/null
+++ b/robot_trajectories/no_distraction/pick_cube/0078/20260512_211254.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "PickCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 79,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 127,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated pick demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/pick_cube/0079/20260512_211305.json b/robot_trajectories/no_distraction/pick_cube/0079/20260512_211305.json
new file mode 100644
index 0000000000000000000000000000000000000000..b63633fe0a1a92e78e8ef124f3e028fe598eeaa1
--- /dev/null
+++ b/robot_trajectories/no_distraction/pick_cube/0079/20260512_211305.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "PickCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 80,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 153,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated pick demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/pick_cube/0093/20260512_211534.json b/robot_trajectories/no_distraction/pick_cube/0093/20260512_211534.json
new file mode 100644
index 0000000000000000000000000000000000000000..4fe2e2b89c9d8abbeaada3cc2426e15dd0fe6b6a
--- /dev/null
+++ b/robot_trajectories/no_distraction/pick_cube/0093/20260512_211534.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "PickCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 94,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 190,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated pick demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/pick_cube/0095/20260512_211557.json b/robot_trajectories/no_distraction/pick_cube/0095/20260512_211557.json
new file mode 100644
index 0000000000000000000000000000000000000000..169ae516185b04c64adc781afd51c37bc6c1cefb
--- /dev/null
+++ b/robot_trajectories/no_distraction/pick_cube/0095/20260512_211557.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "PickCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 96,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 133,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated pick demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/pick_cube/0098/20260512_211629.json b/robot_trajectories/no_distraction/pick_cube/0098/20260512_211629.json
new file mode 100644
index 0000000000000000000000000000000000000000..3455e130d02a6b03ac3c2e013508cb94217b0f8a
--- /dev/null
+++ b/robot_trajectories/no_distraction/pick_cube/0098/20260512_211629.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "PickCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 99,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 121,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated pick demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/pick_cube/0099/20260512_211639.json b/robot_trajectories/no_distraction/pick_cube/0099/20260512_211639.json
new file mode 100644
index 0000000000000000000000000000000000000000..0568e96f7eac86700217d0d592169f88f77626a7
--- /dev/null
+++ b/robot_trajectories/no_distraction/pick_cube/0099/20260512_211639.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "PickCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 100,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 146,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated pick demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/push_cube/0000/20260514_063039.json b/robot_trajectories/no_distraction/push_cube/0000/20260514_063039.json
new file mode 100644
index 0000000000000000000000000000000000000000..b1823281251f7e5d666680a6b105bc9f887e78ff
--- /dev/null
+++ b/robot_trajectories/no_distraction/push_cube/0000/20260514_063039.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "PushCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 1,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 138,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated simple push demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/push_cube/0001/20260514_063043.json b/robot_trajectories/no_distraction/push_cube/0001/20260514_063043.json
new file mode 100644
index 0000000000000000000000000000000000000000..7593337bda1f4ed50f5bbc0b0af20827c0f16cfe
--- /dev/null
+++ b/robot_trajectories/no_distraction/push_cube/0001/20260514_063043.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "PushCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 2,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 136,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated simple push demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/push_cube/0002/20260514_063046.json b/robot_trajectories/no_distraction/push_cube/0002/20260514_063046.json
new file mode 100644
index 0000000000000000000000000000000000000000..8d5cfb5767e0b93e1649244697176c96178ad90f
--- /dev/null
+++ b/robot_trajectories/no_distraction/push_cube/0002/20260514_063046.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "PushCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 3,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 125,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated simple push demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/push_cube/0003/20260514_063049.json b/robot_trajectories/no_distraction/push_cube/0003/20260514_063049.json
new file mode 100644
index 0000000000000000000000000000000000000000..94ea3f011b52da98d80d80525a8f431add486385
--- /dev/null
+++ b/robot_trajectories/no_distraction/push_cube/0003/20260514_063049.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "PushCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 4,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 130,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated simple push demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/push_cube/0004/20260514_063052.json b/robot_trajectories/no_distraction/push_cube/0004/20260514_063052.json
new file mode 100644
index 0000000000000000000000000000000000000000..2abc7b671145fa57e28dc6bfcfb3645b1566f169
--- /dev/null
+++ b/robot_trajectories/no_distraction/push_cube/0004/20260514_063052.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "PushCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 5,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 142,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated simple push demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/push_cube/0005/20260514_063056.json b/robot_trajectories/no_distraction/push_cube/0005/20260514_063056.json
new file mode 100644
index 0000000000000000000000000000000000000000..fb7effd5aa07b3736feeac8324330545b98d7718
--- /dev/null
+++ b/robot_trajectories/no_distraction/push_cube/0005/20260514_063056.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "PushCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 7,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 130,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated simple push demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/push_cube/0006/20260514_063059.json b/robot_trajectories/no_distraction/push_cube/0006/20260514_063059.json
new file mode 100644
index 0000000000000000000000000000000000000000..4beac2667229ee9cf54eab8f560d5d2bb0322fd9
--- /dev/null
+++ b/robot_trajectories/no_distraction/push_cube/0006/20260514_063059.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "PushCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 8,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 137,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated simple push demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/push_cube/0007/20260514_063102.json b/robot_trajectories/no_distraction/push_cube/0007/20260514_063102.json
new file mode 100644
index 0000000000000000000000000000000000000000..e1de47e31f1e995452176085bb3731d5d4eec0f4
--- /dev/null
+++ b/robot_trajectories/no_distraction/push_cube/0007/20260514_063102.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "PushCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 9,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 134,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated simple push demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/push_cube/0008/20260514_063105.json b/robot_trajectories/no_distraction/push_cube/0008/20260514_063105.json
new file mode 100644
index 0000000000000000000000000000000000000000..6dbb6ce016e7654e2b9a60c0173c204a8393e305
--- /dev/null
+++ b/robot_trajectories/no_distraction/push_cube/0008/20260514_063105.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "PushCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 10,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 131,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated simple push demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/push_cube/0009/20260514_063108.json b/robot_trajectories/no_distraction/push_cube/0009/20260514_063108.json
new file mode 100644
index 0000000000000000000000000000000000000000..2a648f3ea3ed559a8d4f1f37ff68ca63539af4e8
--- /dev/null
+++ b/robot_trajectories/no_distraction/push_cube/0009/20260514_063108.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "PushCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 11,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 139,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated simple push demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/push_cube/0010/20260514_063111.json b/robot_trajectories/no_distraction/push_cube/0010/20260514_063111.json
new file mode 100644
index 0000000000000000000000000000000000000000..ae5be034fa0c05c35ff17d91105f3e362468cd70
--- /dev/null
+++ b/robot_trajectories/no_distraction/push_cube/0010/20260514_063111.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "PushCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 12,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 129,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated simple push demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/push_cube/0011/20260514_063115.json b/robot_trajectories/no_distraction/push_cube/0011/20260514_063115.json
new file mode 100644
index 0000000000000000000000000000000000000000..8b93d818e4e4f1ac10f863d5763123fdf7b58213
--- /dev/null
+++ b/robot_trajectories/no_distraction/push_cube/0011/20260514_063115.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "PushCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 13,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 131,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated simple push demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/push_cube/0012/20260514_063118.json b/robot_trajectories/no_distraction/push_cube/0012/20260514_063118.json
new file mode 100644
index 0000000000000000000000000000000000000000..5df533a3f8ac5fa7886a8fbdd670accf067cc652
--- /dev/null
+++ b/robot_trajectories/no_distraction/push_cube/0012/20260514_063118.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "PushCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 14,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 144,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated simple push demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/push_cube/0013/20260514_063121.json b/robot_trajectories/no_distraction/push_cube/0013/20260514_063121.json
new file mode 100644
index 0000000000000000000000000000000000000000..142ea749a191b47bf3ab3f60d713c31cd943f00e
--- /dev/null
+++ b/robot_trajectories/no_distraction/push_cube/0013/20260514_063121.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "PushCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 15,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 134,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated simple push demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/push_cube/0014/20260514_063124.json b/robot_trajectories/no_distraction/push_cube/0014/20260514_063124.json
new file mode 100644
index 0000000000000000000000000000000000000000..85c96dbd872f179ddb89b6e95629f17a759ad4c8
--- /dev/null
+++ b/robot_trajectories/no_distraction/push_cube/0014/20260514_063124.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "PushCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 16,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 138,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated simple push demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/push_cube/0015/20260514_063127.json b/robot_trajectories/no_distraction/push_cube/0015/20260514_063127.json
new file mode 100644
index 0000000000000000000000000000000000000000..f59c5581a6e42dfec068219e7fad92ebc4cab28d
--- /dev/null
+++ b/robot_trajectories/no_distraction/push_cube/0015/20260514_063127.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "PushCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 17,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 131,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated simple push demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/push_cube/0016/20260514_063130.json b/robot_trajectories/no_distraction/push_cube/0016/20260514_063130.json
new file mode 100644
index 0000000000000000000000000000000000000000..2a4d9a126a68e085189c2c989fe45dea7f724915
--- /dev/null
+++ b/robot_trajectories/no_distraction/push_cube/0016/20260514_063130.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "PushCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 18,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 130,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated simple push demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/push_cube/0017/20260514_063133.json b/robot_trajectories/no_distraction/push_cube/0017/20260514_063133.json
new file mode 100644
index 0000000000000000000000000000000000000000..e63d9d8d3d03106fb9387169297a43269bdd0687
--- /dev/null
+++ b/robot_trajectories/no_distraction/push_cube/0017/20260514_063133.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "PushCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
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+      "episode_seed": 19,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 150,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated simple push demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/push_cube/0018/20260514_063137.json b/robot_trajectories/no_distraction/push_cube/0018/20260514_063137.json
new file mode 100644
index 0000000000000000000000000000000000000000..d44003a60840cb3df862b332e33895488c11f455
--- /dev/null
+++ b/robot_trajectories/no_distraction/push_cube/0018/20260514_063137.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "PushCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
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+      "episode_seed": 20,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 138,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated simple push demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/push_cube/0019/20260514_063140.json b/robot_trajectories/no_distraction/push_cube/0019/20260514_063140.json
new file mode 100644
index 0000000000000000000000000000000000000000..693de548b5d776faa2525b5710d20d1e6f90a91d
--- /dev/null
+++ b/robot_trajectories/no_distraction/push_cube/0019/20260514_063140.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "PushCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
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+      "episode_seed": 21,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 130,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated simple push demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/push_cube/0020/20260514_063143.json b/robot_trajectories/no_distraction/push_cube/0020/20260514_063143.json
new file mode 100644
index 0000000000000000000000000000000000000000..72a90a5894f830d2b66dbefd8b8fa47ffdf10898
--- /dev/null
+++ b/robot_trajectories/no_distraction/push_cube/0020/20260514_063143.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "PushCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 22,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 131,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated simple push demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/push_cube/0021/20260514_063146.json b/robot_trajectories/no_distraction/push_cube/0021/20260514_063146.json
new file mode 100644
index 0000000000000000000000000000000000000000..95d10c0aed1773371bfb25ab0b6201e2bb7818e6
--- /dev/null
+++ b/robot_trajectories/no_distraction/push_cube/0021/20260514_063146.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "PushCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 23,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 130,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated simple push demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/push_cube/0022/20260514_063150.json b/robot_trajectories/no_distraction/push_cube/0022/20260514_063150.json
new file mode 100644
index 0000000000000000000000000000000000000000..2856e3c1951b2f3fb39c213a5733ef07b9bec2d7
--- /dev/null
+++ b/robot_trajectories/no_distraction/push_cube/0022/20260514_063150.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "PushCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 24,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 139,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated simple push demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/push_cube/0023/20260514_063153.json b/robot_trajectories/no_distraction/push_cube/0023/20260514_063153.json
new file mode 100644
index 0000000000000000000000000000000000000000..f60f5cd23dbd6b8aec6da8d16d6c3191b4e0902a
--- /dev/null
+++ b/robot_trajectories/no_distraction/push_cube/0023/20260514_063153.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "PushCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 25,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 137,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated simple push demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/push_cube/0024/20260514_063156.json b/robot_trajectories/no_distraction/push_cube/0024/20260514_063156.json
new file mode 100644
index 0000000000000000000000000000000000000000..0402c693bd5cf8f5e29133151a510f5f5a374802
--- /dev/null
+++ b/robot_trajectories/no_distraction/push_cube/0024/20260514_063156.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "PushCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 26,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 142,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated simple push demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/push_cube/0025/20260514_063159.json b/robot_trajectories/no_distraction/push_cube/0025/20260514_063159.json
new file mode 100644
index 0000000000000000000000000000000000000000..4029ccd9d1621e48fddd24568a1851d299acd79d
--- /dev/null
+++ b/robot_trajectories/no_distraction/push_cube/0025/20260514_063159.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "PushCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 27,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 144,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated simple push demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/push_cube/0026/20260514_063202.json b/robot_trajectories/no_distraction/push_cube/0026/20260514_063202.json
new file mode 100644
index 0000000000000000000000000000000000000000..e75a983cde2dacd24ae5ac7f4e90ab8da32f27af
--- /dev/null
+++ b/robot_trajectories/no_distraction/push_cube/0026/20260514_063202.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "PushCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 28,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 135,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated simple push demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/push_cube/0027/20260514_063205.json b/robot_trajectories/no_distraction/push_cube/0027/20260514_063205.json
new file mode 100644
index 0000000000000000000000000000000000000000..94db24a14ad8b948881f5514be1a3acadab97e7f
--- /dev/null
+++ b/robot_trajectories/no_distraction/push_cube/0027/20260514_063205.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "PushCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "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 simple push demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/push_cube/0028/20260514_063209.json b/robot_trajectories/no_distraction/push_cube/0028/20260514_063209.json
new file mode 100644
index 0000000000000000000000000000000000000000..c4b5d1c0a83ddc98ded4b620705b114080e6cfbd
--- /dev/null
+++ b/robot_trajectories/no_distraction/push_cube/0028/20260514_063209.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "PushCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 30,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 139,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated simple push demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/push_cube/0029/20260514_063212.json b/robot_trajectories/no_distraction/push_cube/0029/20260514_063212.json
new file mode 100644
index 0000000000000000000000000000000000000000..c114e9492c89022b9cae488605ea44404e901091
--- /dev/null
+++ b/robot_trajectories/no_distraction/push_cube/0029/20260514_063212.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "PushCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 31,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 137,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated simple push demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/push_cube/0030/20260514_063215.json b/robot_trajectories/no_distraction/push_cube/0030/20260514_063215.json
new file mode 100644
index 0000000000000000000000000000000000000000..c1fac5a64696ff957f6bc355be48bb1c0b5d6d80
--- /dev/null
+++ b/robot_trajectories/no_distraction/push_cube/0030/20260514_063215.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "PushCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 32,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 138,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated simple push demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/push_cube/0031/20260514_063218.json b/robot_trajectories/no_distraction/push_cube/0031/20260514_063218.json
new file mode 100644
index 0000000000000000000000000000000000000000..2e82fadb69a2148de0c642bc3b176143190cd34b
--- /dev/null
+++ b/robot_trajectories/no_distraction/push_cube/0031/20260514_063218.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "PushCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 33,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 136,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated simple push demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/push_cube/0032/20260514_063222.json b/robot_trajectories/no_distraction/push_cube/0032/20260514_063222.json
new file mode 100644
index 0000000000000000000000000000000000000000..21afeb62d5934055ced05587d112d06b55d0b310
--- /dev/null
+++ b/robot_trajectories/no_distraction/push_cube/0032/20260514_063222.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "PushCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 34,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 139,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated simple push demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/push_cube/0033/20260514_063225.json b/robot_trajectories/no_distraction/push_cube/0033/20260514_063225.json
new file mode 100644
index 0000000000000000000000000000000000000000..6bd18c9a93df9b033d9f5c810e12f53221e0e158
--- /dev/null
+++ b/robot_trajectories/no_distraction/push_cube/0033/20260514_063225.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "PushCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 35,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 131,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated simple push demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/push_cube/0034/20260514_063228.json b/robot_trajectories/no_distraction/push_cube/0034/20260514_063228.json
new file mode 100644
index 0000000000000000000000000000000000000000..7b149648cc19d1033ec281c1faf7df3447de924a
--- /dev/null
+++ b/robot_trajectories/no_distraction/push_cube/0034/20260514_063228.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "PushCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 36,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 130,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated simple push demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/push_cube/0035/20260514_063231.json b/robot_trajectories/no_distraction/push_cube/0035/20260514_063231.json
new file mode 100644
index 0000000000000000000000000000000000000000..fc6afbb0602330aa7844d840fc68290404192d4a
--- /dev/null
+++ b/robot_trajectories/no_distraction/push_cube/0035/20260514_063231.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "PushCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
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+      "episode_seed": 37,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 137,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated simple push demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/push_cube/0036/20260514_063234.json b/robot_trajectories/no_distraction/push_cube/0036/20260514_063234.json
new file mode 100644
index 0000000000000000000000000000000000000000..d57343b4d8ce315f5846a06228080bf498e60dcf
--- /dev/null
+++ b/robot_trajectories/no_distraction/push_cube/0036/20260514_063234.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "PushCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
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+      "episode_seed": 38,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 130,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated simple push demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/push_cube/0037/20260514_063237.json b/robot_trajectories/no_distraction/push_cube/0037/20260514_063237.json
new file mode 100644
index 0000000000000000000000000000000000000000..a91e4e6531e863c3655a3dfdd23adc415b6196ad
--- /dev/null
+++ b/robot_trajectories/no_distraction/push_cube/0037/20260514_063237.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "PushCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
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+      "episode_seed": 39,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 129,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated simple push demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/push_cube/0038/20260514_063240.json b/robot_trajectories/no_distraction/push_cube/0038/20260514_063240.json
new file mode 100644
index 0000000000000000000000000000000000000000..cde4b5d583c6ee4e1c3d6ea365b7b36a31ed1a42
--- /dev/null
+++ b/robot_trajectories/no_distraction/push_cube/0038/20260514_063240.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "PushCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 40,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 128,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated simple push demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/push_cube/0039/20260514_063243.json b/robot_trajectories/no_distraction/push_cube/0039/20260514_063243.json
new file mode 100644
index 0000000000000000000000000000000000000000..f7afb56bc870bc45f875c56c5fff5fb964629eb0
--- /dev/null
+++ b/robot_trajectories/no_distraction/push_cube/0039/20260514_063243.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "PushCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 41,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 134,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated simple push demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/push_cube/0040/20260514_063246.json b/robot_trajectories/no_distraction/push_cube/0040/20260514_063246.json
new file mode 100644
index 0000000000000000000000000000000000000000..6778301b68391553c0f6c16d458e68fd545905d9
--- /dev/null
+++ b/robot_trajectories/no_distraction/push_cube/0040/20260514_063246.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "PushCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 42,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 146,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated simple push demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/push_cube/0041/20260514_063250.json b/robot_trajectories/no_distraction/push_cube/0041/20260514_063250.json
new file mode 100644
index 0000000000000000000000000000000000000000..320934316bb84d3dccd5edf81f72f8f4b59944b7
--- /dev/null
+++ b/robot_trajectories/no_distraction/push_cube/0041/20260514_063250.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "PushCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 43,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 129,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated simple push demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/push_cube/0042/20260514_063253.json b/robot_trajectories/no_distraction/push_cube/0042/20260514_063253.json
new file mode 100644
index 0000000000000000000000000000000000000000..ec448cb1fe1f62b67db63343121c235a6847dafc
--- /dev/null
+++ b/robot_trajectories/no_distraction/push_cube/0042/20260514_063253.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "PushCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 44,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 139,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated simple push demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/push_cube/0043/20260514_063256.json b/robot_trajectories/no_distraction/push_cube/0043/20260514_063256.json
new file mode 100644
index 0000000000000000000000000000000000000000..0e4e4714c4ecfb8dfbb5a82a813e9c85d8803afb
--- /dev/null
+++ b/robot_trajectories/no_distraction/push_cube/0043/20260514_063256.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "PushCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 45,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 132,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated simple push demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/push_cube/0044/20260514_063259.json b/robot_trajectories/no_distraction/push_cube/0044/20260514_063259.json
new file mode 100644
index 0000000000000000000000000000000000000000..b5cdf83dd3bc54ca9ec65bceaf91a9ed4bdaac34
--- /dev/null
+++ b/robot_trajectories/no_distraction/push_cube/0044/20260514_063259.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "PushCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 46,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 140,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated simple push demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/push_cube/0045/20260514_063302.json b/robot_trajectories/no_distraction/push_cube/0045/20260514_063302.json
new file mode 100644
index 0000000000000000000000000000000000000000..86026db1c50a6cfc0f054869ca14fb208552ac88
--- /dev/null
+++ b/robot_trajectories/no_distraction/push_cube/0045/20260514_063302.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "PushCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 47,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 125,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated simple push demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/push_cube/0046/20260514_063305.json b/robot_trajectories/no_distraction/push_cube/0046/20260514_063305.json
new file mode 100644
index 0000000000000000000000000000000000000000..f68515c155bce16e102568128baedf262aae9441
--- /dev/null
+++ b/robot_trajectories/no_distraction/push_cube/0046/20260514_063305.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "PushCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 48,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 130,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated simple push demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/push_cube/0047/20260514_063308.json b/robot_trajectories/no_distraction/push_cube/0047/20260514_063308.json
new file mode 100644
index 0000000000000000000000000000000000000000..f719d08ea7e74794c5b7a7e4cfc5cc030a7e2978
--- /dev/null
+++ b/robot_trajectories/no_distraction/push_cube/0047/20260514_063308.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "PushCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 49,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 128,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated simple push demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/push_cube/0048/20260514_063311.json b/robot_trajectories/no_distraction/push_cube/0048/20260514_063311.json
new file mode 100644
index 0000000000000000000000000000000000000000..f276aa66f549cb9e8695c8c36dd4769da9fa0240
--- /dev/null
+++ b/robot_trajectories/no_distraction/push_cube/0048/20260514_063311.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "PushCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 50,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 143,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated simple push demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/push_cube/0049/20260514_063315.json b/robot_trajectories/no_distraction/push_cube/0049/20260514_063315.json
new file mode 100644
index 0000000000000000000000000000000000000000..93afbc61e5787c8eb50243d19778f4c71163f118
--- /dev/null
+++ b/robot_trajectories/no_distraction/push_cube/0049/20260514_063315.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "PushCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 51,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 146,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated simple push demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/push_cube/0050/20260514_063318.json b/robot_trajectories/no_distraction/push_cube/0050/20260514_063318.json
new file mode 100644
index 0000000000000000000000000000000000000000..167651ecbd4951a8f93307bc3eaf7abdf5cd78e6
--- /dev/null
+++ b/robot_trajectories/no_distraction/push_cube/0050/20260514_063318.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "PushCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 52,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 138,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated simple push demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/push_cube/0051/20260514_063321.json b/robot_trajectories/no_distraction/push_cube/0051/20260514_063321.json
new file mode 100644
index 0000000000000000000000000000000000000000..cf48961b4a0af016faa8b6db65dcae2c23fd1e84
--- /dev/null
+++ b/robot_trajectories/no_distraction/push_cube/0051/20260514_063321.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "PushCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 53,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 137,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated simple push demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/push_cube/0052/20260514_063325.json b/robot_trajectories/no_distraction/push_cube/0052/20260514_063325.json
new file mode 100644
index 0000000000000000000000000000000000000000..3de90ce0490b497c61f296e708e3fe3ede594c20
--- /dev/null
+++ b/robot_trajectories/no_distraction/push_cube/0052/20260514_063325.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "PushCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 55,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 140,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated simple push demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/push_cube/0053/20260514_063328.json b/robot_trajectories/no_distraction/push_cube/0053/20260514_063328.json
new file mode 100644
index 0000000000000000000000000000000000000000..f0bf607c941f78fdbe38be0b54c6ad82c8f68940
--- /dev/null
+++ b/robot_trajectories/no_distraction/push_cube/0053/20260514_063328.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "PushCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 56,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 146,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated simple push demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/push_cube/0054/20260514_063331.json b/robot_trajectories/no_distraction/push_cube/0054/20260514_063331.json
new file mode 100644
index 0000000000000000000000000000000000000000..94e17bd8d8868bc482805e19075c6a7e15c6b5a4
--- /dev/null
+++ b/robot_trajectories/no_distraction/push_cube/0054/20260514_063331.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "PushCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 57,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 132,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated simple push demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/push_cube/0055/20260514_063334.json b/robot_trajectories/no_distraction/push_cube/0055/20260514_063334.json
new file mode 100644
index 0000000000000000000000000000000000000000..9e8178cc002be61e0836125308205d585c626bfc
--- /dev/null
+++ b/robot_trajectories/no_distraction/push_cube/0055/20260514_063334.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "PushCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 58,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 130,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated simple push demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/push_cube/0056/20260514_063338.json b/robot_trajectories/no_distraction/push_cube/0056/20260514_063338.json
new file mode 100644
index 0000000000000000000000000000000000000000..7571fde64c1296c86e6d444cfb48c0094fbce7dd
--- /dev/null
+++ b/robot_trajectories/no_distraction/push_cube/0056/20260514_063338.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "PushCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 59,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 138,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated simple push demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/push_cube/0057/20260514_063341.json b/robot_trajectories/no_distraction/push_cube/0057/20260514_063341.json
new file mode 100644
index 0000000000000000000000000000000000000000..d3a5b4c274ff6a678fe3b37080205ea608f79f26
--- /dev/null
+++ b/robot_trajectories/no_distraction/push_cube/0057/20260514_063341.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "PushCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 60,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 128,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated simple push demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/push_cube/0058/20260514_063344.json b/robot_trajectories/no_distraction/push_cube/0058/20260514_063344.json
new file mode 100644
index 0000000000000000000000000000000000000000..9b0fbe8ab498bdafba8d9fc6924e3cc5e0cab392
--- /dev/null
+++ b/robot_trajectories/no_distraction/push_cube/0058/20260514_063344.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "PushCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 61,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 127,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated simple push demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/push_cube/0059/20260514_063347.json b/robot_trajectories/no_distraction/push_cube/0059/20260514_063347.json
new file mode 100644
index 0000000000000000000000000000000000000000..ce225bce659eb301e329027b25000f59e22a16ee
--- /dev/null
+++ b/robot_trajectories/no_distraction/push_cube/0059/20260514_063347.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "PushCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 62,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 135,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated simple push demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/push_cube/0060/20260514_063350.json b/robot_trajectories/no_distraction/push_cube/0060/20260514_063350.json
new file mode 100644
index 0000000000000000000000000000000000000000..4f559dfc68e25e52b0c1496833f151ac2dd1aadd
--- /dev/null
+++ b/robot_trajectories/no_distraction/push_cube/0060/20260514_063350.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "PushCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 63,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 136,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated simple push demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/push_cube/0061/20260514_063353.json b/robot_trajectories/no_distraction/push_cube/0061/20260514_063353.json
new file mode 100644
index 0000000000000000000000000000000000000000..82bd46f74e9438b2c4b758be41fe647f84906c75
--- /dev/null
+++ b/robot_trajectories/no_distraction/push_cube/0061/20260514_063353.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "PushCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 64,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 129,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated simple push demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/push_cube/0062/20260514_063356.json b/robot_trajectories/no_distraction/push_cube/0062/20260514_063356.json
new file mode 100644
index 0000000000000000000000000000000000000000..c33e1d550ba1d61cada52392c361945f0ef7522f
--- /dev/null
+++ b/robot_trajectories/no_distraction/push_cube/0062/20260514_063356.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "PushCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 65,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 154,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated simple push demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/push_cube/0063/20260514_063359.json b/robot_trajectories/no_distraction/push_cube/0063/20260514_063359.json
new file mode 100644
index 0000000000000000000000000000000000000000..3d476e042ebea56458c9b52abf55533e58ed6dd7
--- /dev/null
+++ b/robot_trajectories/no_distraction/push_cube/0063/20260514_063359.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "PushCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 66,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 130,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated simple push demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/push_cube/0064/20260514_063403.json b/robot_trajectories/no_distraction/push_cube/0064/20260514_063403.json
new file mode 100644
index 0000000000000000000000000000000000000000..b11288efa34fe01277bdeb18dddb9696c90fd41d
--- /dev/null
+++ b/robot_trajectories/no_distraction/push_cube/0064/20260514_063403.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "PushCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 67,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 139,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated simple push demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/push_cube/0065/20260514_063406.json b/robot_trajectories/no_distraction/push_cube/0065/20260514_063406.json
new file mode 100644
index 0000000000000000000000000000000000000000..f9ac10d9fccf0bba96e26b434be365d300f0b933
--- /dev/null
+++ b/robot_trajectories/no_distraction/push_cube/0065/20260514_063406.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "PushCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 68,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 132,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated simple push demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/push_cube/0066/20260514_063409.json b/robot_trajectories/no_distraction/push_cube/0066/20260514_063409.json
new file mode 100644
index 0000000000000000000000000000000000000000..35869fd48ce6da6866317f49373faa3f88133569
--- /dev/null
+++ b/robot_trajectories/no_distraction/push_cube/0066/20260514_063409.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "PushCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 69,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 141,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated simple push demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/push_cube/0067/20260514_063412.json b/robot_trajectories/no_distraction/push_cube/0067/20260514_063412.json
new file mode 100644
index 0000000000000000000000000000000000000000..90074ae71e450af954b2b6743b7709516828cc29
--- /dev/null
+++ b/robot_trajectories/no_distraction/push_cube/0067/20260514_063412.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "PushCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 70,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 130,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated simple push demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/push_cube/0068/20260514_063415.json b/robot_trajectories/no_distraction/push_cube/0068/20260514_063415.json
new file mode 100644
index 0000000000000000000000000000000000000000..b6be37d131c6703aab380b3e2cf917e220889829
--- /dev/null
+++ b/robot_trajectories/no_distraction/push_cube/0068/20260514_063415.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "PushCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 71,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 130,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated simple push demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/push_cube/0069/20260514_063418.json b/robot_trajectories/no_distraction/push_cube/0069/20260514_063418.json
new file mode 100644
index 0000000000000000000000000000000000000000..bfce2f0e11a9760bbbbfc94f6e1181eb275cf520
--- /dev/null
+++ b/robot_trajectories/no_distraction/push_cube/0069/20260514_063418.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "PushCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 72,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 133,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated simple push demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/push_cube/0070/20260514_063421.json b/robot_trajectories/no_distraction/push_cube/0070/20260514_063421.json
new file mode 100644
index 0000000000000000000000000000000000000000..adf96ed45672a35ffd7f5d4087ce87d38f1da54b
--- /dev/null
+++ b/robot_trajectories/no_distraction/push_cube/0070/20260514_063421.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "PushCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
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+      "control_mode": "pd_joint_pos",
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+      "reset_kwargs": {
+        "options": null
+      },
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+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated simple push demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/push_cube/0071/20260514_063424.json b/robot_trajectories/no_distraction/push_cube/0071/20260514_063424.json
new file mode 100644
index 0000000000000000000000000000000000000000..fde23c7fd0a619ab9c1b8f2dcdc6fbf1319e2ff4
--- /dev/null
+++ b/robot_trajectories/no_distraction/push_cube/0071/20260514_063424.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "PushCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
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+      "episode_id": 0,
+      "episode_seed": 74,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 138,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated simple push demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/push_cube/0072/20260514_063428.json b/robot_trajectories/no_distraction/push_cube/0072/20260514_063428.json
new file mode 100644
index 0000000000000000000000000000000000000000..a8c21012e38e36791d8001e2dd4e0f0bc03bd543
--- /dev/null
+++ b/robot_trajectories/no_distraction/push_cube/0072/20260514_063428.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "PushCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
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+      "episode_seed": 75,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 135,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated simple push demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/push_cube/0073/20260514_063431.json b/robot_trajectories/no_distraction/push_cube/0073/20260514_063431.json
new file mode 100644
index 0000000000000000000000000000000000000000..8241c727d39fbd6e934294ebe714f2c1b06f83d3
--- /dev/null
+++ b/robot_trajectories/no_distraction/push_cube/0073/20260514_063431.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "PushCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 76,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 138,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated simple push demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/push_cube/0074/20260514_063435.json b/robot_trajectories/no_distraction/push_cube/0074/20260514_063435.json
new file mode 100644
index 0000000000000000000000000000000000000000..14937174b648668f0ffdba97250b91f66a93a1b1
--- /dev/null
+++ b/robot_trajectories/no_distraction/push_cube/0074/20260514_063435.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "PushCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 77,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 134,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated simple push demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/push_cube/0075/20260514_063438.json b/robot_trajectories/no_distraction/push_cube/0075/20260514_063438.json
new file mode 100644
index 0000000000000000000000000000000000000000..7df457841b4e544ada6f3134413d8ee08ab9b982
--- /dev/null
+++ b/robot_trajectories/no_distraction/push_cube/0075/20260514_063438.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "PushCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 78,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 129,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated simple push demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/push_cube/0076/20260514_063441.json b/robot_trajectories/no_distraction/push_cube/0076/20260514_063441.json
new file mode 100644
index 0000000000000000000000000000000000000000..fe432906af0e61a4ab02d81fa522fd2542982bdd
--- /dev/null
+++ b/robot_trajectories/no_distraction/push_cube/0076/20260514_063441.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "PushCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 79,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 135,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated simple push demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/push_cube/0077/20260514_063444.json b/robot_trajectories/no_distraction/push_cube/0077/20260514_063444.json
new file mode 100644
index 0000000000000000000000000000000000000000..e9de2e9629128947f9bd36ea05f6141516cd7d5b
--- /dev/null
+++ b/robot_trajectories/no_distraction/push_cube/0077/20260514_063444.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "PushCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 80,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 136,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated simple push demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/push_cube/0078/20260514_063447.json b/robot_trajectories/no_distraction/push_cube/0078/20260514_063447.json
new file mode 100644
index 0000000000000000000000000000000000000000..657b94832a7a882dcbbedaba12c5a48cf15e7507
--- /dev/null
+++ b/robot_trajectories/no_distraction/push_cube/0078/20260514_063447.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "PushCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 81,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 144,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated simple push demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/push_cube/0079/20260514_063450.json b/robot_trajectories/no_distraction/push_cube/0079/20260514_063450.json
new file mode 100644
index 0000000000000000000000000000000000000000..447ee57913443c78f681594260bbccf7668842c1
--- /dev/null
+++ b/robot_trajectories/no_distraction/push_cube/0079/20260514_063450.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "PushCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 82,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 131,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated simple push demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/push_cube/0080/20260514_063453.json b/robot_trajectories/no_distraction/push_cube/0080/20260514_063453.json
new file mode 100644
index 0000000000000000000000000000000000000000..0325f888296ccc93d11db62ecf7cd09dc5263133
--- /dev/null
+++ b/robot_trajectories/no_distraction/push_cube/0080/20260514_063453.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "PushCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 83,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 143,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated simple push demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/push_cube/0081/20260514_063457.json b/robot_trajectories/no_distraction/push_cube/0081/20260514_063457.json
new file mode 100644
index 0000000000000000000000000000000000000000..eccf9b338e209ff7a9e5f806dcdd4ff50711613a
--- /dev/null
+++ b/robot_trajectories/no_distraction/push_cube/0081/20260514_063457.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "PushCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 84,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 137,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated simple push demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/push_cube/0082/20260514_063500.json b/robot_trajectories/no_distraction/push_cube/0082/20260514_063500.json
new file mode 100644
index 0000000000000000000000000000000000000000..c2f376d65f19477c4bd39dd625f196cf134e53d6
--- /dev/null
+++ b/robot_trajectories/no_distraction/push_cube/0082/20260514_063500.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "PushCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 85,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 144,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated simple push demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/push_cube/0083/20260514_063504.json b/robot_trajectories/no_distraction/push_cube/0083/20260514_063504.json
new file mode 100644
index 0000000000000000000000000000000000000000..37982190e125ddb70c028896c967528efe1e768c
--- /dev/null
+++ b/robot_trajectories/no_distraction/push_cube/0083/20260514_063504.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "PushCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 86,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 139,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated simple push demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/push_cube/0084/20260514_063507.json b/robot_trajectories/no_distraction/push_cube/0084/20260514_063507.json
new file mode 100644
index 0000000000000000000000000000000000000000..7f6b7205518ec28c3f5353a3698648b79ad6d557
--- /dev/null
+++ b/robot_trajectories/no_distraction/push_cube/0084/20260514_063507.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "PushCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 87,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 125,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated simple push demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/push_cube/0085/20260514_063510.json b/robot_trajectories/no_distraction/push_cube/0085/20260514_063510.json
new file mode 100644
index 0000000000000000000000000000000000000000..3ceb3c0338c0a9e6bc0ab3a09b5553455fb053d6
--- /dev/null
+++ b/robot_trajectories/no_distraction/push_cube/0085/20260514_063510.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "PushCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 88,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 138,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated simple push demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/push_cube/0086/20260514_063513.json b/robot_trajectories/no_distraction/push_cube/0086/20260514_063513.json
new file mode 100644
index 0000000000000000000000000000000000000000..f816f19a5ae2728e16459f7cd8ecebe2fad2664a
--- /dev/null
+++ b/robot_trajectories/no_distraction/push_cube/0086/20260514_063513.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "PushCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 89,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 139,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated simple push demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/push_cube/0087/20260514_063516.json b/robot_trajectories/no_distraction/push_cube/0087/20260514_063516.json
new file mode 100644
index 0000000000000000000000000000000000000000..d07352a70bbdae222eb7ede0340e8d7b14b48387
--- /dev/null
+++ b/robot_trajectories/no_distraction/push_cube/0087/20260514_063516.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "PushCube-v2",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 90,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 136,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated simple push demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/push_cube/0088/20260514_063520.json b/robot_trajectories/no_distraction/push_cube/0088/20260514_063520.json
new file mode 100644
index 0000000000000000000000000000000000000000..7c8cd1f5da9eba51cb62696bb19d8339f2335ce2
--- /dev/null
+++ b/robot_trajectories/no_distraction/push_cube/0088/20260514_063520.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "PushCube-v2",
+    "env_kwargs": {
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