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+{
+  "env_info": {
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+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
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+  "episodes": [
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+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/open_lid/0001/20260513_002531.json b/robot_trajectories/no_distraction/open_lid/0001/20260513_002531.json
new file mode 100644
index 0000000000000000000000000000000000000000..856179476253be8c28c3e7a9ed968aef5507d547
--- /dev/null
+++ b/robot_trajectories/no_distraction/open_lid/0001/20260513_002531.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "OpenLid-v1",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
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+      "reset_kwargs": {
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+      "success": true
+    }
+  ],
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+  "source_desc": "Automated open-lid demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/open_lid/0002/20260513_002538.json b/robot_trajectories/no_distraction/open_lid/0002/20260513_002538.json
new file mode 100644
index 0000000000000000000000000000000000000000..c94b716b01f5a3951714b2436f2ab85e57738763
--- /dev/null
+++ b/robot_trajectories/no_distraction/open_lid/0002/20260513_002538.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "OpenLid-v1",
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+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
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+  "commit_info": null,
+  "episodes": [
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+      "reset_kwargs": {
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+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated open-lid demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/open_lid/0003/20260513_002544.json b/robot_trajectories/no_distraction/open_lid/0003/20260513_002544.json
new file mode 100644
index 0000000000000000000000000000000000000000..18cdc354f7164196289d3e931e4fe08755d41ba7
--- /dev/null
+++ b/robot_trajectories/no_distraction/open_lid/0003/20260513_002544.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "OpenLid-v1",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
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+  "commit_info": null,
+  "episodes": [
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+      "reset_kwargs": {
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+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated open-lid demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/open_lid/0004/20260513_002551.json b/robot_trajectories/no_distraction/open_lid/0004/20260513_002551.json
new file mode 100644
index 0000000000000000000000000000000000000000..79a4034187bd5d3c5064103ef6a8abc8b4b05a71
--- /dev/null
+++ b/robot_trajectories/no_distraction/open_lid/0004/20260513_002551.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "OpenLid-v1",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
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+      "control_mode": "pd_joint_pos",
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+      "reset_kwargs": {
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+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated open-lid demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/open_lid/0006/20260513_002604.json b/robot_trajectories/no_distraction/open_lid/0006/20260513_002604.json
new file mode 100644
index 0000000000000000000000000000000000000000..d06c0719af4e26ca6020832f7397ee48dbd7ad7a
--- /dev/null
+++ b/robot_trajectories/no_distraction/open_lid/0006/20260513_002604.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "OpenLid-v1",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
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+      "control_mode": "pd_joint_pos",
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+      "reset_kwargs": {
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+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated open-lid demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/open_lid/0007/20260513_002610.json b/robot_trajectories/no_distraction/open_lid/0007/20260513_002610.json
new file mode 100644
index 0000000000000000000000000000000000000000..fa96028bb8fded93398154a9de7350a98a235b3c
--- /dev/null
+++ b/robot_trajectories/no_distraction/open_lid/0007/20260513_002610.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "OpenLid-v1",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
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+      "episode_seed": 8,
+      "control_mode": "pd_joint_pos",
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+      "reset_kwargs": {
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+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated open-lid demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/open_lid/0009/20260513_002623.json b/robot_trajectories/no_distraction/open_lid/0009/20260513_002623.json
new file mode 100644
index 0000000000000000000000000000000000000000..f2bd59260e96d0dcb3a2aa50865b0d0d2a037822
--- /dev/null
+++ b/robot_trajectories/no_distraction/open_lid/0009/20260513_002623.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "OpenLid-v1",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
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+      "control_mode": "pd_joint_pos",
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+      "reset_kwargs": {
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+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated open-lid demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/open_lid/0010/20260513_002629.json b/robot_trajectories/no_distraction/open_lid/0010/20260513_002629.json
new file mode 100644
index 0000000000000000000000000000000000000000..9025118c4d304bd0007bd9a673ef3914b10af61f
--- /dev/null
+++ b/robot_trajectories/no_distraction/open_lid/0010/20260513_002629.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "OpenLid-v1",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
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+      "episode_seed": 11,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 264,
+      "reset_kwargs": {
+        "options": null
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+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated open-lid demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/open_lid/0011/20260513_002636.json b/robot_trajectories/no_distraction/open_lid/0011/20260513_002636.json
new file mode 100644
index 0000000000000000000000000000000000000000..0ad98342e6fc374fed810eaa3520d9fa0b94a005
--- /dev/null
+++ b/robot_trajectories/no_distraction/open_lid/0011/20260513_002636.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "OpenLid-v1",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
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+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 268,
+      "reset_kwargs": {
+        "options": null
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+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated open-lid demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/open_lid/0012/20260513_002642.json b/robot_trajectories/no_distraction/open_lid/0012/20260513_002642.json
new file mode 100644
index 0000000000000000000000000000000000000000..1abfd9f43fdf53ef04215ed4abf9ceacf0abb204
--- /dev/null
+++ b/robot_trajectories/no_distraction/open_lid/0012/20260513_002642.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "OpenLid-v1",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
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+      "control_mode": "pd_joint_pos",
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+      "reset_kwargs": {
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+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated open-lid demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/open_lid/0013/20260513_002648.json b/robot_trajectories/no_distraction/open_lid/0013/20260513_002648.json
new file mode 100644
index 0000000000000000000000000000000000000000..20bba74b4c75e2c20a06139da80234f1e3977126
--- /dev/null
+++ b/robot_trajectories/no_distraction/open_lid/0013/20260513_002648.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "OpenLid-v1",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
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+      "episode_seed": 14,
+      "control_mode": "pd_joint_pos",
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+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated open-lid demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/open_lid/0014/20260513_002655.json b/robot_trajectories/no_distraction/open_lid/0014/20260513_002655.json
new file mode 100644
index 0000000000000000000000000000000000000000..3d2b20dede2ca9079071dc8b9c629ffd9b277356
--- /dev/null
+++ b/robot_trajectories/no_distraction/open_lid/0014/20260513_002655.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "OpenLid-v1",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
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+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 269,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated open-lid demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/open_lid/0016/20260513_002708.json b/robot_trajectories/no_distraction/open_lid/0016/20260513_002708.json
new file mode 100644
index 0000000000000000000000000000000000000000..52e6109554a5bd41f10795ea8c48c598be5ccc01
--- /dev/null
+++ b/robot_trajectories/no_distraction/open_lid/0016/20260513_002708.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "OpenLid-v1",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
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+      "control_mode": "pd_joint_pos",
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+      "reset_kwargs": {
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+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated open-lid demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/open_lid/0017/20260513_002714.json b/robot_trajectories/no_distraction/open_lid/0017/20260513_002714.json
new file mode 100644
index 0000000000000000000000000000000000000000..7646106c3087cbcc0b876b24f850cc9cf9b2caeb
--- /dev/null
+++ b/robot_trajectories/no_distraction/open_lid/0017/20260513_002714.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "OpenLid-v1",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
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+      "control_mode": "pd_joint_pos",
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+      "reset_kwargs": {
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+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated open-lid demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/open_lid/0020/20260513_002734.json b/robot_trajectories/no_distraction/open_lid/0020/20260513_002734.json
new file mode 100644
index 0000000000000000000000000000000000000000..0fb84e23f55b12a21f6fb7617cd341c7df8c0b01
--- /dev/null
+++ b/robot_trajectories/no_distraction/open_lid/0020/20260513_002734.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "OpenLid-v1",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
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+      "episode_seed": 21,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 268,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated open-lid demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/open_lid/0022/20260513_002746.json b/robot_trajectories/no_distraction/open_lid/0022/20260513_002746.json
new file mode 100644
index 0000000000000000000000000000000000000000..6bbf31d0652f80d81e4ab06d37cce7197aefea20
--- /dev/null
+++ b/robot_trajectories/no_distraction/open_lid/0022/20260513_002746.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "OpenLid-v1",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
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+      "episode_seed": 23,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 266,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated open-lid demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/open_lid/0023/20260513_002753.json b/robot_trajectories/no_distraction/open_lid/0023/20260513_002753.json
new file mode 100644
index 0000000000000000000000000000000000000000..26a39602fa5a74fc8886462ec4a8a2a2254716ac
--- /dev/null
+++ b/robot_trajectories/no_distraction/open_lid/0023/20260513_002753.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "OpenLid-v1",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
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+      "episode_seed": 24,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 265,
+      "reset_kwargs": {
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+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated open-lid demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/open_lid/0025/20260513_002806.json b/robot_trajectories/no_distraction/open_lid/0025/20260513_002806.json
new file mode 100644
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\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/open_lid/0026/20260513_002812.json b/robot_trajectories/no_distraction/open_lid/0026/20260513_002812.json
new file mode 100644
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@@ -0,0 +1,28 @@
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\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/open_lid/0027/20260513_002818.json b/robot_trajectories/no_distraction/open_lid/0027/20260513_002818.json
new file mode 100644
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@@ -0,0 +1,28 @@
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\ No newline at end of file
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new file mode 100644
index 0000000000000000000000000000000000000000..16bb1f1567c9eb08a4ad6fc1705aa0336c47f4c5
--- /dev/null
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@@ -0,0 +1,28 @@
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\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/open_lid/0029/20260513_002831.json b/robot_trajectories/no_distraction/open_lid/0029/20260513_002831.json
new file mode 100644
index 0000000000000000000000000000000000000000..626004a849413b7ca5b3325b051afcea85e557b7
--- /dev/null
+++ b/robot_trajectories/no_distraction/open_lid/0029/20260513_002831.json
@@ -0,0 +1,28 @@
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\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/open_lid/0031/20260513_002844.json b/robot_trajectories/no_distraction/open_lid/0031/20260513_002844.json
new file mode 100644
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--- /dev/null
+++ b/robot_trajectories/no_distraction/open_lid/0031/20260513_002844.json
@@ -0,0 +1,28 @@
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\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/open_lid/0032/20260513_002850.json b/robot_trajectories/no_distraction/open_lid/0032/20260513_002850.json
new file mode 100644
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--- /dev/null
+++ b/robot_trajectories/no_distraction/open_lid/0032/20260513_002850.json
@@ -0,0 +1,28 @@
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\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/open_lid/0034/20260513_002904.json b/robot_trajectories/no_distraction/open_lid/0034/20260513_002904.json
new file mode 100644
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--- /dev/null
+++ b/robot_trajectories/no_distraction/open_lid/0034/20260513_002904.json
@@ -0,0 +1,28 @@
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\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/open_lid/0035/20260513_002910.json b/robot_trajectories/no_distraction/open_lid/0035/20260513_002910.json
new file mode 100644
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--- /dev/null
+++ b/robot_trajectories/no_distraction/open_lid/0035/20260513_002910.json
@@ -0,0 +1,28 @@
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\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/open_lid/0036/20260513_002917.json b/robot_trajectories/no_distraction/open_lid/0036/20260513_002917.json
new file mode 100644
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--- /dev/null
+++ b/robot_trajectories/no_distraction/open_lid/0036/20260513_002917.json
@@ -0,0 +1,28 @@
+{
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\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/open_lid/0038/20260513_002930.json b/robot_trajectories/no_distraction/open_lid/0038/20260513_002930.json
new file mode 100644
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+++ b/robot_trajectories/no_distraction/open_lid/0038/20260513_002930.json
@@ -0,0 +1,28 @@
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\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/open_lid/0039/20260513_002937.json b/robot_trajectories/no_distraction/open_lid/0039/20260513_002937.json
new file mode 100644
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--- /dev/null
+++ b/robot_trajectories/no_distraction/open_lid/0039/20260513_002937.json
@@ -0,0 +1,28 @@
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\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/open_lid/0040/20260513_002943.json b/robot_trajectories/no_distraction/open_lid/0040/20260513_002943.json
new file mode 100644
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--- /dev/null
+++ b/robot_trajectories/no_distraction/open_lid/0040/20260513_002943.json
@@ -0,0 +1,28 @@
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+      "render_mode": "rgb_array",
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\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/open_lid/0041/20260513_002949.json b/robot_trajectories/no_distraction/open_lid/0041/20260513_002949.json
new file mode 100644
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--- /dev/null
+++ b/robot_trajectories/no_distraction/open_lid/0041/20260513_002949.json
@@ -0,0 +1,28 @@
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\ No newline at end of file
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new file mode 100644
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--- /dev/null
+++ b/robot_trajectories/no_distraction/open_lid/0042/20260513_002956.json
@@ -0,0 +1,28 @@
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+      "render_mode": "rgb_array",
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+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/open_lid/0043/20260513_003002.json b/robot_trajectories/no_distraction/open_lid/0043/20260513_003002.json
new file mode 100644
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--- /dev/null
+++ b/robot_trajectories/no_distraction/open_lid/0043/20260513_003002.json
@@ -0,0 +1,28 @@
+{
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+      "render_mode": "rgb_array",
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+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/open_lid/0044/20260513_003009.json b/robot_trajectories/no_distraction/open_lid/0044/20260513_003009.json
new file mode 100644
index 0000000000000000000000000000000000000000..e9ebe2178ff99c8f7538189aef0e3d8ac5d6af0c
--- /dev/null
+++ b/robot_trajectories/no_distraction/open_lid/0044/20260513_003009.json
@@ -0,0 +1,28 @@
+{
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+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
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\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/open_lid/0045/20260513_003015.json b/robot_trajectories/no_distraction/open_lid/0045/20260513_003015.json
new file mode 100644
index 0000000000000000000000000000000000000000..72f77f74b31dd2f1f5c6e1f7bf67f30d5749f117
--- /dev/null
+++ b/robot_trajectories/no_distraction/open_lid/0045/20260513_003015.json
@@ -0,0 +1,28 @@
+{
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+      "robot_uids": "panda_wristcam_hd",
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\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/open_lid/0046/20260513_003022.json b/robot_trajectories/no_distraction/open_lid/0046/20260513_003022.json
new file mode 100644
index 0000000000000000000000000000000000000000..3fae1c01988e02f7d2b24dfd80d4ce7a09910581
--- /dev/null
+++ b/robot_trajectories/no_distraction/open_lid/0046/20260513_003022.json
@@ -0,0 +1,28 @@
+{
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+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
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+  },
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+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/open_lid/0047/20260513_003028.json b/robot_trajectories/no_distraction/open_lid/0047/20260513_003028.json
new file mode 100644
index 0000000000000000000000000000000000000000..e857de454912b2ff31d6a9e56db498099181907b
--- /dev/null
+++ b/robot_trajectories/no_distraction/open_lid/0047/20260513_003028.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
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+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
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+    }
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+  "source_desc": "Automated open-lid demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/open_lid/0048/20260513_003035.json b/robot_trajectories/no_distraction/open_lid/0048/20260513_003035.json
new file mode 100644
index 0000000000000000000000000000000000000000..529a324f2720a5f297d616b650ef3939c960d1e6
--- /dev/null
+++ b/robot_trajectories/no_distraction/open_lid/0048/20260513_003035.json
@@ -0,0 +1,28 @@
+{
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+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
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+      "success": true
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+  "source_type": "motionplanning",
+  "source_desc": "Automated open-lid demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/open_lid/0051/20260513_003054.json b/robot_trajectories/no_distraction/open_lid/0051/20260513_003054.json
new file mode 100644
index 0000000000000000000000000000000000000000..9970d83234bf52fbb639f7403e27836ea7ae7a3e
--- /dev/null
+++ b/robot_trajectories/no_distraction/open_lid/0051/20260513_003054.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "OpenLid-v1",
+    "env_kwargs": {
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+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
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+  "episodes": [
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+      "success": true
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+  "source_type": "motionplanning",
+  "source_desc": "Automated open-lid demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/open_lid/0052/20260513_003101.json b/robot_trajectories/no_distraction/open_lid/0052/20260513_003101.json
new file mode 100644
index 0000000000000000000000000000000000000000..6a9b0d4304185e0eff6b7b58bb5ea8fb106ffc25
--- /dev/null
+++ b/robot_trajectories/no_distraction/open_lid/0052/20260513_003101.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "OpenLid-v1",
+    "env_kwargs": {
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+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
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+  },
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+  "episodes": [
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+      "reset_kwargs": {
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+      "success": true
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+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated open-lid demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/open_lid/0054/20260513_003114.json b/robot_trajectories/no_distraction/open_lid/0054/20260513_003114.json
new file mode 100644
index 0000000000000000000000000000000000000000..c2a172079a04f3d0aa6746908690304f8b4af266
--- /dev/null
+++ b/robot_trajectories/no_distraction/open_lid/0054/20260513_003114.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "OpenLid-v1",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
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+  },
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+  "episodes": [
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+      "reset_kwargs": {
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+      "success": true
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+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated open-lid demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/open_lid/0055/20260513_003121.json b/robot_trajectories/no_distraction/open_lid/0055/20260513_003121.json
new file mode 100644
index 0000000000000000000000000000000000000000..82c6454bcc960634e047618387101298e0070e28
--- /dev/null
+++ b/robot_trajectories/no_distraction/open_lid/0055/20260513_003121.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "OpenLid-v1",
+    "env_kwargs": {
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+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
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+      "reset_kwargs": {
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+      "success": true
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+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated open-lid demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/open_lid/0056/20260513_003127.json b/robot_trajectories/no_distraction/open_lid/0056/20260513_003127.json
new file mode 100644
index 0000000000000000000000000000000000000000..0210d77bca948bf2a25cede6f670fbc3c52a0946
--- /dev/null
+++ b/robot_trajectories/no_distraction/open_lid/0056/20260513_003127.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "OpenLid-v1",
+    "env_kwargs": {
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+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
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+  },
+  "commit_info": null,
+  "episodes": [
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+      "reset_kwargs": {
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+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated open-lid demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/open_lid/0059/20260513_003146.json b/robot_trajectories/no_distraction/open_lid/0059/20260513_003146.json
new file mode 100644
index 0000000000000000000000000000000000000000..a51f6eb0b7cd7a3c22184233964a6e559c649533
--- /dev/null
+++ b/robot_trajectories/no_distraction/open_lid/0059/20260513_003146.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "OpenLid-v1",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
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+  },
+  "commit_info": null,
+  "episodes": [
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+      "reset_kwargs": {
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+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated open-lid demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/open_lid/0061/20260513_003159.json b/robot_trajectories/no_distraction/open_lid/0061/20260513_003159.json
new file mode 100644
index 0000000000000000000000000000000000000000..e0bbda18def277b6aa29487db29a010f01356629
--- /dev/null
+++ b/robot_trajectories/no_distraction/open_lid/0061/20260513_003159.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "OpenLid-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
+  },
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+  "episodes": [
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+      "reset_kwargs": {
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+  "source_type": "motionplanning",
+  "source_desc": "Automated open-lid demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/open_lid/0062/20260513_003205.json b/robot_trajectories/no_distraction/open_lid/0062/20260513_003205.json
new file mode 100644
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--- /dev/null
+++ b/robot_trajectories/no_distraction/open_lid/0062/20260513_003205.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "OpenLid-v1",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
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+  },
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+  "episodes": [
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+      "reset_kwargs": {
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+  "source_type": "motionplanning",
+  "source_desc": "Automated open-lid demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/open_lid/0064/20260513_003218.json b/robot_trajectories/no_distraction/open_lid/0064/20260513_003218.json
new file mode 100644
index 0000000000000000000000000000000000000000..56c5257bcd1d9eab1f2e67aa2a3840dcc6d401c0
--- /dev/null
+++ b/robot_trajectories/no_distraction/open_lid/0064/20260513_003218.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "OpenLid-v1",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
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+  },
+  "commit_info": null,
+  "episodes": [
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+      "control_mode": "pd_joint_pos",
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+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated open-lid demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/open_lid/0065/20260513_003225.json b/robot_trajectories/no_distraction/open_lid/0065/20260513_003225.json
new file mode 100644
index 0000000000000000000000000000000000000000..31cea152354e0de96bc09435ae7977a3a7c0080e
--- /dev/null
+++ b/robot_trajectories/no_distraction/open_lid/0065/20260513_003225.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "OpenLid-v1",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
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+      "episode_seed": 66,
+      "control_mode": "pd_joint_pos",
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+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated open-lid demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/open_lid/0066/20260513_003231.json b/robot_trajectories/no_distraction/open_lid/0066/20260513_003231.json
new file mode 100644
index 0000000000000000000000000000000000000000..a20be5d333bac3ea48643f56f904c1068b17cd0d
--- /dev/null
+++ b/robot_trajectories/no_distraction/open_lid/0066/20260513_003231.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "OpenLid-v1",
+    "env_kwargs": {
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+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
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+      "reset_kwargs": {
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+      },
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+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated open-lid demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/open_lid/0068/20260513_003244.json b/robot_trajectories/no_distraction/open_lid/0068/20260513_003244.json
new file mode 100644
index 0000000000000000000000000000000000000000..52249b92761a45a87a6cb6c2fc34aed7aa11ce27
--- /dev/null
+++ b/robot_trajectories/no_distraction/open_lid/0068/20260513_003244.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "OpenLid-v1",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
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+      "episode_seed": 69,
+      "control_mode": "pd_joint_pos",
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+      "reset_kwargs": {
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+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated open-lid demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/open_lid/0070/20260513_003258.json b/robot_trajectories/no_distraction/open_lid/0070/20260513_003258.json
new file mode 100644
index 0000000000000000000000000000000000000000..a02282b666a26eee43a78793fb05bec8dd26d182
--- /dev/null
+++ b/robot_trajectories/no_distraction/open_lid/0070/20260513_003258.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "OpenLid-v1",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
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+      "control_mode": "pd_joint_pos",
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+      "reset_kwargs": {
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+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated open-lid demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/open_lid/0071/20260513_003304.json b/robot_trajectories/no_distraction/open_lid/0071/20260513_003304.json
new file mode 100644
index 0000000000000000000000000000000000000000..a38f02a2163146d519d043bac6177c98dec86c72
--- /dev/null
+++ b/robot_trajectories/no_distraction/open_lid/0071/20260513_003304.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "OpenLid-v1",
+    "env_kwargs": {
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+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
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+      "episode_seed": 72,
+      "control_mode": "pd_joint_pos",
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+      "reset_kwargs": {
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+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated open-lid demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/open_lid/0073/20260513_003317.json b/robot_trajectories/no_distraction/open_lid/0073/20260513_003317.json
new file mode 100644
index 0000000000000000000000000000000000000000..20379163cb67bb0bdadc7500f424c358f5d4cf12
--- /dev/null
+++ b/robot_trajectories/no_distraction/open_lid/0073/20260513_003317.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "OpenLid-v1",
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+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
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+  },
+  "commit_info": null,
+  "episodes": [
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+      "control_mode": "pd_joint_pos",
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+      "reset_kwargs": {
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+      },
+      "success": true
+    }
+  ],
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+  "source_desc": "Automated open-lid demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/open_lid/0075/20260513_003330.json b/robot_trajectories/no_distraction/open_lid/0075/20260513_003330.json
new file mode 100644
index 0000000000000000000000000000000000000000..c4cc2c32da7cd58487b2bc401f07c1797b651ed1
--- /dev/null
+++ b/robot_trajectories/no_distraction/open_lid/0075/20260513_003330.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "OpenLid-v1",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
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+      "control_mode": "pd_joint_pos",
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+      "reset_kwargs": {
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+      "success": true
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+  "source_desc": "Automated open-lid demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/open_lid/0076/20260513_003336.json b/robot_trajectories/no_distraction/open_lid/0076/20260513_003336.json
new file mode 100644
index 0000000000000000000000000000000000000000..44a191b6885eac788ab58456ee5caf727fb32486
--- /dev/null
+++ b/robot_trajectories/no_distraction/open_lid/0076/20260513_003336.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "OpenLid-v1",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
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+  },
+  "commit_info": null,
+  "episodes": [
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+      "episode_seed": 77,
+      "control_mode": "pd_joint_pos",
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+      "reset_kwargs": {
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+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated open-lid demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/open_lid/0078/20260513_003350.json b/robot_trajectories/no_distraction/open_lid/0078/20260513_003350.json
new file mode 100644
index 0000000000000000000000000000000000000000..08d010e4a58d11452d6e4550a7e8056fb43e3d5b
--- /dev/null
+++ b/robot_trajectories/no_distraction/open_lid/0078/20260513_003350.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "OpenLid-v1",
+    "env_kwargs": {
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+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
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+      "episode_seed": 79,
+      "control_mode": "pd_joint_pos",
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+      "reset_kwargs": {
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+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated open-lid demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/open_lid/0079/20260513_003356.json b/robot_trajectories/no_distraction/open_lid/0079/20260513_003356.json
new file mode 100644
index 0000000000000000000000000000000000000000..2f819d0b09132639d30c1772b5f18df601636804
--- /dev/null
+++ b/robot_trajectories/no_distraction/open_lid/0079/20260513_003356.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "OpenLid-v1",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
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+      "control_mode": "pd_joint_pos",
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+      "reset_kwargs": {
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+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated open-lid demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/open_lid/0080/20260513_003403.json b/robot_trajectories/no_distraction/open_lid/0080/20260513_003403.json
new file mode 100644
index 0000000000000000000000000000000000000000..9edfc426d0e3ff18705a655b0f86cd67fcd9d082
--- /dev/null
+++ b/robot_trajectories/no_distraction/open_lid/0080/20260513_003403.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "OpenLid-v1",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
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+      "episode_seed": 82,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 267,
+      "reset_kwargs": {
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+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated open-lid demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/open_lid/0082/20260513_003416.json b/robot_trajectories/no_distraction/open_lid/0082/20260513_003416.json
new file mode 100644
index 0000000000000000000000000000000000000000..80db1230e6a74027fec0836f0899d149cc6acdfd
--- /dev/null
+++ b/robot_trajectories/no_distraction/open_lid/0082/20260513_003416.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "OpenLid-v1",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
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+      "episode_seed": 84,
+      "control_mode": "pd_joint_pos",
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+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated open-lid demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/open_lid/0084/20260513_003429.json b/robot_trajectories/no_distraction/open_lid/0084/20260513_003429.json
new file mode 100644
index 0000000000000000000000000000000000000000..7717e417e9d63e167785fe9cc63808129122bca7
--- /dev/null
+++ b/robot_trajectories/no_distraction/open_lid/0084/20260513_003429.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "OpenLid-v1",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
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+      "episode_seed": 86,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 264,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated open-lid demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/open_lid/0093/20260513_003529.json b/robot_trajectories/no_distraction/open_lid/0093/20260513_003529.json
new file mode 100644
index 0000000000000000000000000000000000000000..2c4f2511251a79ebc0141e49ee7d58212e95ec94
--- /dev/null
+++ b/robot_trajectories/no_distraction/open_lid/0093/20260513_003529.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "OpenLid-v1",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
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+      "episode_seed": 95,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 268,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated open-lid demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/open_lid/0094/20260513_003535.json b/robot_trajectories/no_distraction/open_lid/0094/20260513_003535.json
new file mode 100644
index 0000000000000000000000000000000000000000..e2dbfd3b2ea68d7fc8084a5baae8a540e5336ec5
--- /dev/null
+++ b/robot_trajectories/no_distraction/open_lid/0094/20260513_003535.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "OpenLid-v1",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
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+      "episode_seed": 96,
+      "control_mode": "pd_joint_pos",
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+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated open-lid demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/open_lid/0095/20260513_003542.json b/robot_trajectories/no_distraction/open_lid/0095/20260513_003542.json
new file mode 100644
index 0000000000000000000000000000000000000000..beccd2659dbc716a04415eeb04a7d9c2c26ca989
--- /dev/null
+++ b/robot_trajectories/no_distraction/open_lid/0095/20260513_003542.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "OpenLid-v1",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
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+      "episode_seed": 97,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 269,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated open-lid demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/open_lid/0096/20260513_003549.json b/robot_trajectories/no_distraction/open_lid/0096/20260513_003549.json
new file mode 100644
index 0000000000000000000000000000000000000000..d697240bb0a638ebe395c63c98a0d2f6e9ff595a
--- /dev/null
+++ b/robot_trajectories/no_distraction/open_lid/0096/20260513_003549.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "OpenLid-v1",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
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+      "episode_seed": 98,
+      "control_mode": "pd_joint_pos",
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+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated open-lid demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/open_lid/0097/20260513_003555.json b/robot_trajectories/no_distraction/open_lid/0097/20260513_003555.json
new file mode 100644
index 0000000000000000000000000000000000000000..33fc21160116dc6ec0889bf4ebee307f5c2589ca
--- /dev/null
+++ b/robot_trajectories/no_distraction/open_lid/0097/20260513_003555.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "OpenLid-v1",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
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+      "episode_seed": 99,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 266,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated open-lid demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/open_lid/0098/20260513_003602.json b/robot_trajectories/no_distraction/open_lid/0098/20260513_003602.json
new file mode 100644
index 0000000000000000000000000000000000000000..8f5e9d67d45882831d75f42734788ae370517391
--- /dev/null
+++ b/robot_trajectories/no_distraction/open_lid/0098/20260513_003602.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "OpenLid-v1",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
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+      "episode_seed": 100,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 263,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated open-lid demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/open_lid/0099/20260513_003608.json b/robot_trajectories/no_distraction/open_lid/0099/20260513_003608.json
new file mode 100644
index 0000000000000000000000000000000000000000..d9b2ccc2e2a8b1e8c0fcc74f0b57b8c62a7ae693
--- /dev/null
+++ b/robot_trajectories/no_distraction/open_lid/0099/20260513_003608.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "OpenLid-v1",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
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+      "episode_seed": 101,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 271,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated open-lid demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/pick_cube/0005/20260512_205950.json b/robot_trajectories/no_distraction/pick_cube/0005/20260512_205950.json
new file mode 100644
index 0000000000000000000000000000000000000000..b632ebdcad64fe44249332700b620cca31b0edc2
--- /dev/null
+++ b/robot_trajectories/no_distraction/pick_cube/0005/20260512_205950.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": 6,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 156,
+      "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/0006/20260512_210000.json b/robot_trajectories/no_distraction/pick_cube/0006/20260512_210000.json
new file mode 100644
index 0000000000000000000000000000000000000000..392fcfaa751ef023dfcae217399375a6bf845d99
--- /dev/null
+++ b/robot_trajectories/no_distraction/pick_cube/0006/20260512_210000.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": 7,
+      "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/0008/20260512_210022.json b/robot_trajectories/no_distraction/pick_cube/0008/20260512_210022.json
new file mode 100644
index 0000000000000000000000000000000000000000..426089e68edb511878e4369f1eae1891339ca93f
--- /dev/null
+++ b/robot_trajectories/no_distraction/pick_cube/0008/20260512_210022.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": 9,
+      "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/0009/20260512_210032.json b/robot_trajectories/no_distraction/pick_cube/0009/20260512_210032.json
new file mode 100644
index 0000000000000000000000000000000000000000..7721ebd56135ddf0219c39fb3ab2dfd63e57836d
--- /dev/null
+++ b/robot_trajectories/no_distraction/pick_cube/0009/20260512_210032.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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