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+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
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+      "control_mode": "pd_joint_pos",
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+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated put-basket demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/toys_in_basket/0016/20260512_213236.json b/robot_trajectories/no_distraction/toys_in_basket/0016/20260512_213236.json
new file mode 100644
index 0000000000000000000000000000000000000000..2870348404e12948ceaa29ca432b98053afbde5c
--- /dev/null
+++ b/robot_trajectories/no_distraction/toys_in_basket/0016/20260512_213236.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "PutBasket-v1",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 25,
+      "control_mode": "pd_joint_pos",
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+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated put-basket demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/toys_in_basket/0017/20260512_213321.json b/robot_trajectories/no_distraction/toys_in_basket/0017/20260512_213321.json
new file mode 100644
index 0000000000000000000000000000000000000000..6a8140b8c0b74a8955a600ad4ac6b1ec42f97e73
--- /dev/null
+++ b/robot_trajectories/no_distraction/toys_in_basket/0017/20260512_213321.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "PutBasket-v1",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 27,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 418,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated put-basket demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/toys_in_basket/0022/20260512_213609.json b/robot_trajectories/no_distraction/toys_in_basket/0022/20260512_213609.json
new file mode 100644
index 0000000000000000000000000000000000000000..44751756ff6f70815226b66a80456fd7fcbafca6
--- /dev/null
+++ b/robot_trajectories/no_distraction/toys_in_basket/0022/20260512_213609.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "PutBasket-v1",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 34,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 466,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated put-basket demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/toys_in_basket/0023/20260512_213909.json b/robot_trajectories/no_distraction/toys_in_basket/0023/20260512_213909.json
new file mode 100644
index 0000000000000000000000000000000000000000..33bb7fe1ddf96ca9a6a1050a6c303a090ce32af5
--- /dev/null
+++ b/robot_trajectories/no_distraction/toys_in_basket/0023/20260512_213909.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "PutBasket-v1",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 41,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 414,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated put-basket demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/toys_in_basket/0026/20260512_214019.json b/robot_trajectories/no_distraction/toys_in_basket/0026/20260512_214019.json
new file mode 100644
index 0000000000000000000000000000000000000000..7e9f1830af56186b4d6e4d36633eb5e8dedf5ab6
--- /dev/null
+++ b/robot_trajectories/no_distraction/toys_in_basket/0026/20260512_214019.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "PutBasket-v1",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 44,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 430,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated put-basket demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/toys_in_basket/0028/20260512_214107.json b/robot_trajectories/no_distraction/toys_in_basket/0028/20260512_214107.json
new file mode 100644
index 0000000000000000000000000000000000000000..a8ed1b05dca33a8b8dd2f5fb69853630525ff62d
--- /dev/null
+++ b/robot_trajectories/no_distraction/toys_in_basket/0028/20260512_214107.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "PutBasket-v1",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 46,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 430,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated put-basket demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/toys_in_basket/0031/20260512_214243.json b/robot_trajectories/no_distraction/toys_in_basket/0031/20260512_214243.json
new file mode 100644
index 0000000000000000000000000000000000000000..3a54005920810b2fa012e84eee2693d73a2db10b
--- /dev/null
+++ b/robot_trajectories/no_distraction/toys_in_basket/0031/20260512_214243.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "PutBasket-v1",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 50,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 420,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated put-basket demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/toys_in_basket/0032/20260512_214307.json b/robot_trajectories/no_distraction/toys_in_basket/0032/20260512_214307.json
new file mode 100644
index 0000000000000000000000000000000000000000..81cd452aa174f22da853743531722f5898266d07
--- /dev/null
+++ b/robot_trajectories/no_distraction/toys_in_basket/0032/20260512_214307.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "PutBasket-v1",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 51,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 400,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated put-basket demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/toys_in_basket/0036/20260512_214502.json b/robot_trajectories/no_distraction/toys_in_basket/0036/20260512_214502.json
new file mode 100644
index 0000000000000000000000000000000000000000..e83f122bad25e9e424b6dc6e2ac0f4a1f857616b
--- /dev/null
+++ b/robot_trajectories/no_distraction/toys_in_basket/0036/20260512_214502.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "PutBasket-v1",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 56,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 385,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated put-basket demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/toys_in_basket/0037/20260512_214524.json b/robot_trajectories/no_distraction/toys_in_basket/0037/20260512_214524.json
new file mode 100644
index 0000000000000000000000000000000000000000..0a5cbf14ef4399c820aa1d05c795f91b5595f996
--- /dev/null
+++ b/robot_trajectories/no_distraction/toys_in_basket/0037/20260512_214524.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "PutBasket-v1",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 57,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 433,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated put-basket demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/toys_in_basket/0038/20260512_214548.json b/robot_trajectories/no_distraction/toys_in_basket/0038/20260512_214548.json
new file mode 100644
index 0000000000000000000000000000000000000000..ea0d15ae2a6d6b9b654d052a68c05d3efb50ba2b
--- /dev/null
+++ b/robot_trajectories/no_distraction/toys_in_basket/0038/20260512_214548.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "PutBasket-v1",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 58,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 539,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated put-basket demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/toys_in_basket/0039/20260512_214614.json b/robot_trajectories/no_distraction/toys_in_basket/0039/20260512_214614.json
new file mode 100644
index 0000000000000000000000000000000000000000..26a74da70dc181e1c360837eb882b1c5b34311ed
--- /dev/null
+++ b/robot_trajectories/no_distraction/toys_in_basket/0039/20260512_214614.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "PutBasket-v1",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 59,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 411,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated put-basket demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/toys_in_basket/0042/20260512_214827.json b/robot_trajectories/no_distraction/toys_in_basket/0042/20260512_214827.json
new file mode 100644
index 0000000000000000000000000000000000000000..f7eb308b63fc38d62d0f44a874156553c2939fdb
--- /dev/null
+++ b/robot_trajectories/no_distraction/toys_in_basket/0042/20260512_214827.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "PutBasket-v1",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 65,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 404,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated put-basket demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/toys_in_basket/0045/20260512_215004.json b/robot_trajectories/no_distraction/toys_in_basket/0045/20260512_215004.json
new file mode 100644
index 0000000000000000000000000000000000000000..cb415ad3fd09f1dc286d7c53412da8b83791dac5
--- /dev/null
+++ b/robot_trajectories/no_distraction/toys_in_basket/0045/20260512_215004.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "PutBasket-v1",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 69,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 397,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated put-basket demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/toys_in_basket/0047/20260512_215110.json b/robot_trajectories/no_distraction/toys_in_basket/0047/20260512_215110.json
new file mode 100644
index 0000000000000000000000000000000000000000..a4cbe0d8a00f00c7da0597fcbd1d1da96154aee9
--- /dev/null
+++ b/robot_trajectories/no_distraction/toys_in_basket/0047/20260512_215110.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "PutBasket-v1",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 72,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 389,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated put-basket demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/toys_in_basket/0051/20260512_215315.json b/robot_trajectories/no_distraction/toys_in_basket/0051/20260512_215315.json
new file mode 100644
index 0000000000000000000000000000000000000000..9941cd6b47de3d9783f8b832123c2ee28e696ad2
--- /dev/null
+++ b/robot_trajectories/no_distraction/toys_in_basket/0051/20260512_215315.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "PutBasket-v1",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 77,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 424,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated put-basket demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/toys_in_basket/0052/20260512_215406.json b/robot_trajectories/no_distraction/toys_in_basket/0052/20260512_215406.json
new file mode 100644
index 0000000000000000000000000000000000000000..4ced04f3907a438d542c926dabe0c0650c077144
--- /dev/null
+++ b/robot_trajectories/no_distraction/toys_in_basket/0052/20260512_215406.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "PutBasket-v1",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 79,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 422,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated put-basket demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/toys_in_basket/0055/20260512_215538.json b/robot_trajectories/no_distraction/toys_in_basket/0055/20260512_215538.json
new file mode 100644
index 0000000000000000000000000000000000000000..142336178b2481439283488aa56b544dc04a76c4
--- /dev/null
+++ b/robot_trajectories/no_distraction/toys_in_basket/0055/20260512_215538.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "PutBasket-v1",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 83,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 407,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated put-basket demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/toys_in_basket/0061/20260512_215848.json b/robot_trajectories/no_distraction/toys_in_basket/0061/20260512_215848.json
new file mode 100644
index 0000000000000000000000000000000000000000..f2978538c43ba9cfe44558d9faa3b7f4400a2558
--- /dev/null
+++ b/robot_trajectories/no_distraction/toys_in_basket/0061/20260512_215848.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "PutBasket-v1",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 91,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 437,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated put-basket demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/toys_in_basket/0066/20260512_220144.json b/robot_trajectories/no_distraction/toys_in_basket/0066/20260512_220144.json
new file mode 100644
index 0000000000000000000000000000000000000000..ecee40a2a8468520e3711807997f7923f2ddfbe3
--- /dev/null
+++ b/robot_trajectories/no_distraction/toys_in_basket/0066/20260512_220144.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "PutBasket-v1",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 98,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 495,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated put-basket demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/toys_in_basket/0067/20260512_220209.json b/robot_trajectories/no_distraction/toys_in_basket/0067/20260512_220209.json
new file mode 100644
index 0000000000000000000000000000000000000000..72daec237b7828b098f888747b29c8e39917a035
--- /dev/null
+++ b/robot_trajectories/no_distraction/toys_in_basket/0067/20260512_220209.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "PutBasket-v1",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 99,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 423,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated put-basket demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/toys_in_basket/0069/20260512_220350.json b/robot_trajectories/no_distraction/toys_in_basket/0069/20260512_220350.json
new file mode 100644
index 0000000000000000000000000000000000000000..0045a10abcde6d759811191758e8f5f64b1ccd73
--- /dev/null
+++ b/robot_trajectories/no_distraction/toys_in_basket/0069/20260512_220350.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "PutBasket-v1",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 103,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 461,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated put-basket demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/toys_in_basket/0070/20260512_220431.json b/robot_trajectories/no_distraction/toys_in_basket/0070/20260512_220431.json
new file mode 100644
index 0000000000000000000000000000000000000000..c41fb8e506bb95a162ed7cf7dd0bec6af3e1611f
--- /dev/null
+++ b/robot_trajectories/no_distraction/toys_in_basket/0070/20260512_220431.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "PutBasket-v1",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 105,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 434,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated put-basket demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/toys_in_basket/0071/20260512_220520.json b/robot_trajectories/no_distraction/toys_in_basket/0071/20260512_220520.json
new file mode 100644
index 0000000000000000000000000000000000000000..c202796aaccbe0967f3a726c73ea1c152b80c2f5
--- /dev/null
+++ b/robot_trajectories/no_distraction/toys_in_basket/0071/20260512_220520.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "PutBasket-v1",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 107,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 520,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated put-basket demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/toys_in_basket/0072/20260512_220546.json b/robot_trajectories/no_distraction/toys_in_basket/0072/20260512_220546.json
new file mode 100644
index 0000000000000000000000000000000000000000..221210892fdbac94dec21868c5c77ad9a73edf02
--- /dev/null
+++ b/robot_trajectories/no_distraction/toys_in_basket/0072/20260512_220546.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "PutBasket-v1",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 108,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 434,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated put-basket demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/toys_in_basket/0075/20260512_220722.json b/robot_trajectories/no_distraction/toys_in_basket/0075/20260512_220722.json
new file mode 100644
index 0000000000000000000000000000000000000000..f688d635d4a8a3b316d24b4ee3d6d5f6b4a33b90
--- /dev/null
+++ b/robot_trajectories/no_distraction/toys_in_basket/0075/20260512_220722.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "PutBasket-v1",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 112,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 412,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated put-basket demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/toys_in_basket/0076/20260512_220746.json b/robot_trajectories/no_distraction/toys_in_basket/0076/20260512_220746.json
new file mode 100644
index 0000000000000000000000000000000000000000..a76e9c4490392f8b95632e69da088542d6c811e8
--- /dev/null
+++ b/robot_trajectories/no_distraction/toys_in_basket/0076/20260512_220746.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "PutBasket-v1",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 113,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 391,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated put-basket demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/toys_in_basket/0080/20260512_220959.json b/robot_trajectories/no_distraction/toys_in_basket/0080/20260512_220959.json
new file mode 100644
index 0000000000000000000000000000000000000000..32307fcc1721e3d5ddaf5c9679066c49c1c37cfb
--- /dev/null
+++ b/robot_trajectories/no_distraction/toys_in_basket/0080/20260512_220959.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "PutBasket-v1",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 119,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 422,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated put-basket demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/toys_in_basket/0082/20260512_221047.json b/robot_trajectories/no_distraction/toys_in_basket/0082/20260512_221047.json
new file mode 100644
index 0000000000000000000000000000000000000000..61dbc64644162e3d8ff0fbf5bed7189278c54176
--- /dev/null
+++ b/robot_trajectories/no_distraction/toys_in_basket/0082/20260512_221047.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "PutBasket-v1",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 121,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 474,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated put-basket demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/toys_in_basket/0084/20260512_221135.json b/robot_trajectories/no_distraction/toys_in_basket/0084/20260512_221135.json
new file mode 100644
index 0000000000000000000000000000000000000000..832cf8c7d37c9e97123ff0260ce652d12c828af1
--- /dev/null
+++ b/robot_trajectories/no_distraction/toys_in_basket/0084/20260512_221135.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "PutBasket-v1",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 123,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 421,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated put-basket demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/toys_in_basket/0089/20260512_221357.json b/robot_trajectories/no_distraction/toys_in_basket/0089/20260512_221357.json
new file mode 100644
index 0000000000000000000000000000000000000000..094c13fc40626dae2ffcb22b8f696312d677c04c
--- /dev/null
+++ b/robot_trajectories/no_distraction/toys_in_basket/0089/20260512_221357.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "PutBasket-v1",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 129,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 429,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated put-basket demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/toys_in_basket/0094/20260512_221617.json b/robot_trajectories/no_distraction/toys_in_basket/0094/20260512_221617.json
new file mode 100644
index 0000000000000000000000000000000000000000..fb1987fd09748c48d434bd53ff1c240438273eb6
--- /dev/null
+++ b/robot_trajectories/no_distraction/toys_in_basket/0094/20260512_221617.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "PutBasket-v1",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 135,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 493,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated put-basket demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/toys_in_basket/0096/20260512_221707.json b/robot_trajectories/no_distraction/toys_in_basket/0096/20260512_221707.json
new file mode 100644
index 0000000000000000000000000000000000000000..e80dfe0c2c2d79d7145eef22902df0a1d15b11f0
--- /dev/null
+++ b/robot_trajectories/no_distraction/toys_in_basket/0096/20260512_221707.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "PutBasket-v1",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 137,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 460,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated put-basket demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/toys_in_basket/0097/20260512_221751.json b/robot_trajectories/no_distraction/toys_in_basket/0097/20260512_221751.json
new file mode 100644
index 0000000000000000000000000000000000000000..691cc128adc785dbeccf708b801827c976b22bdb
--- /dev/null
+++ b/robot_trajectories/no_distraction/toys_in_basket/0097/20260512_221751.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "PutBasket-v1",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 139,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 440,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated put-basket demonstration"
+}
\ No newline at end of file