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+      "control_mode": "pd_joint_pos",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
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+      "control_mode": "pd_joint_pos",
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+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated stack-cups demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/stack_cups/0003/20260521_063445.json b/robot_trajectories/with_distraction/stack_cups/0003/20260521_063445.json
new file mode 100644
index 0000000000000000000000000000000000000000..8fd6dbbafaf7c0f2526971df888d519ee21f5b94
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0003/20260521_063445.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "StackCups-v1",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 7,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 517,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated stack-cups demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/stack_cups/0004/20260521_063509.json b/robot_trajectories/with_distraction/stack_cups/0004/20260521_063509.json
new file mode 100644
index 0000000000000000000000000000000000000000..ce22f0d45844fbf7fce18c962c07b37bd21217e5
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0004/20260521_063509.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "StackCups-v1",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
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+      "episode_seed": 8,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 528,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated stack-cups demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/stack_cups/0007/20260521_063828.json b/robot_trajectories/with_distraction/stack_cups/0007/20260521_063828.json
new file mode 100644
index 0000000000000000000000000000000000000000..29a193e3eab2a75fa1f5721851f5ff8cfc70b27d
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0007/20260521_063828.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "StackCups-v1",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 16,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 691,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated stack-cups demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/stack_cups/0010/20260521_064132.json b/robot_trajectories/with_distraction/stack_cups/0010/20260521_064132.json
new file mode 100644
index 0000000000000000000000000000000000000000..ce9f8ede2d3fa7e2aefbdc3093b65a077814a332
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0010/20260521_064132.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "StackCups-v1",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 24,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 502,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated stack-cups demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/stack_cups/0012/20260521_064431.json b/robot_trajectories/with_distraction/stack_cups/0012/20260521_064431.json
new file mode 100644
index 0000000000000000000000000000000000000000..2f557f997d6dd18c1b2cb7cd097a8881c657c9f2
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0012/20260521_064431.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "StackCups-v1",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 32,
+      "control_mode": "pd_joint_pos",
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+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated stack-cups demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/stack_cups/0013/20260521_064518.json b/robot_trajectories/with_distraction/stack_cups/0013/20260521_064518.json
new file mode 100644
index 0000000000000000000000000000000000000000..778feec423c79cc0abe89053d6df2c2dd73dff79
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0013/20260521_064518.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "StackCups-v1",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 34,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 643,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated stack-cups demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/stack_cups/0014/20260521_064945.json b/robot_trajectories/with_distraction/stack_cups/0014/20260521_064945.json
new file mode 100644
index 0000000000000000000000000000000000000000..7cd83772cf367e965b568557a186a169f44291c3
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0014/20260521_064945.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "StackCups-v1",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 45,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 474,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated stack-cups demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/stack_cups/0016/20260521_065130.json b/robot_trajectories/with_distraction/stack_cups/0016/20260521_065130.json
new file mode 100644
index 0000000000000000000000000000000000000000..20ba99692192eaaa3f65e2afedfe72f1d7d06400
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0016/20260521_065130.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "StackCups-v1",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 50,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 539,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated stack-cups demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/stack_cups/0020/20260521_065601.json b/robot_trajectories/with_distraction/stack_cups/0020/20260521_065601.json
new file mode 100644
index 0000000000000000000000000000000000000000..3807b7f7354cf4e2950e514b734b70620095d249
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0020/20260521_065601.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "StackCups-v1",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 62,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 612,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated stack-cups demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/stack_cups/0023/20260521_070007.json b/robot_trajectories/with_distraction/stack_cups/0023/20260521_070007.json
new file mode 100644
index 0000000000000000000000000000000000000000..58f1da232d313c6d3473e82ff8a8ba630c75b796
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0023/20260521_070007.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "StackCups-v1",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 72,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 487,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated stack-cups demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/stack_cups/0025/20260521_070338.json b/robot_trajectories/with_distraction/stack_cups/0025/20260521_070338.json
new file mode 100644
index 0000000000000000000000000000000000000000..4b45301059c607ef39effb809a29c8a552cfd78a
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0025/20260521_070338.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "StackCups-v1",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 81,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 636,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated stack-cups demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/stack_cups/0026/20260521_070806.json b/robot_trajectories/with_distraction/stack_cups/0026/20260521_070806.json
new file mode 100644
index 0000000000000000000000000000000000000000..dd1646b4b35cf51c881e6abccad713ac86a4b643
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0026/20260521_070806.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "StackCups-v1",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 93,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 513,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated stack-cups demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/stack_cups/0027/20260521_071058.json b/robot_trajectories/with_distraction/stack_cups/0027/20260521_071058.json
new file mode 100644
index 0000000000000000000000000000000000000000..b1de62b1874c31cfb34e935439d853990fc7327d
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0027/20260521_071058.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "StackCups-v1",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 100,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 559,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated stack-cups demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/stack_cups/0028/20260521_071124.json b/robot_trajectories/with_distraction/stack_cups/0028/20260521_071124.json
new file mode 100644
index 0000000000000000000000000000000000000000..0d5f938e5f6d269618f9c7987ce6f37c8a729653
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0028/20260521_071124.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "StackCups-v1",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 101,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 489,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated stack-cups demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/stack_cups/0029/20260521_071148.json b/robot_trajectories/with_distraction/stack_cups/0029/20260521_071148.json
new file mode 100644
index 0000000000000000000000000000000000000000..c34a0d0e0b0f5c6a73d8ee1d2e3834843d6d5b5b
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0029/20260521_071148.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "StackCups-v1",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 102,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 466,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated stack-cups demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/stack_cups/0032/20260521_071502.json b/robot_trajectories/with_distraction/stack_cups/0032/20260521_071502.json
new file mode 100644
index 0000000000000000000000000000000000000000..473225cebd2235085919e61eacdae1e67e091612
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0032/20260521_071502.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "StackCups-v1",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 110,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 576,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated stack-cups demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/stack_cups/0034/20260521_071713.json b/robot_trajectories/with_distraction/stack_cups/0034/20260521_071713.json
new file mode 100644
index 0000000000000000000000000000000000000000..a4606e0e59ee53b495cc8948c8fbdc2297f382e3
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0034/20260521_071713.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "StackCups-v1",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 116,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 466,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated stack-cups demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/stack_cups/0035/20260521_071737.json b/robot_trajectories/with_distraction/stack_cups/0035/20260521_071737.json
new file mode 100644
index 0000000000000000000000000000000000000000..e644ec81331046580961b3283ff9d1c40f384796
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0035/20260521_071737.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "StackCups-v1",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 117,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 498,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated stack-cups demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/stack_cups/0039/20260521_072013.json b/robot_trajectories/with_distraction/stack_cups/0039/20260521_072013.json
new file mode 100644
index 0000000000000000000000000000000000000000..fa340b41c2ef515e53acaf927bac56001569355f
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0039/20260521_072013.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "StackCups-v1",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 124,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 506,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated stack-cups demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/stack_cups/0040/20260521_072057.json b/robot_trajectories/with_distraction/stack_cups/0040/20260521_072057.json
new file mode 100644
index 0000000000000000000000000000000000000000..7bf98df156d3d1ef060d8ca0a2e562efc653b0e8
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0040/20260521_072057.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "StackCups-v1",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 126,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 643,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated stack-cups demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/stack_cups/0041/20260521_072125.json b/robot_trajectories/with_distraction/stack_cups/0041/20260521_072125.json
new file mode 100644
index 0000000000000000000000000000000000000000..7fa0df0d7dcc52c7b6d7c6dad1cb5cdf4d35ebfc
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0041/20260521_072125.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "StackCups-v1",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 127,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 495,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated stack-cups demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/stack_cups/0043/20260521_072401.json b/robot_trajectories/with_distraction/stack_cups/0043/20260521_072401.json
new file mode 100644
index 0000000000000000000000000000000000000000..fe2a8d23b829b1c2b9338dc50943f31f00d71a89
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0043/20260521_072401.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "StackCups-v1",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 133,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 482,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated stack-cups demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/stack_cups/0044/20260521_072426.json b/robot_trajectories/with_distraction/stack_cups/0044/20260521_072426.json
new file mode 100644
index 0000000000000000000000000000000000000000..f102f65d704a4215b49735868f3f82e84f1d44c3
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0044/20260521_072426.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "StackCups-v1",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 134,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 547,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated stack-cups demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/stack_cups/0046/20260521_073119.json b/robot_trajectories/with_distraction/stack_cups/0046/20260521_073119.json
new file mode 100644
index 0000000000000000000000000000000000000000..6e03aadf8ea89b8c02f8fa936e2424067af1a44e
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0046/20260521_073119.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "StackCups-v1",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 152,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 461,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated stack-cups demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/stack_cups/0047/20260521_073231.json b/robot_trajectories/with_distraction/stack_cups/0047/20260521_073231.json
new file mode 100644
index 0000000000000000000000000000000000000000..f22d6342def8e9dfacdaf24ebd47adbd36cd9d8d
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0047/20260521_073231.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "StackCups-v1",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 155,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 471,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated stack-cups demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/stack_cups/0048/20260521_073321.json b/robot_trajectories/with_distraction/stack_cups/0048/20260521_073321.json
new file mode 100644
index 0000000000000000000000000000000000000000..f9bd3b91ad496397620ed6764483f1ac9e2417d4
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0048/20260521_073321.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "StackCups-v1",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 157,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 509,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated stack-cups demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/stack_cups/0051/20260521_073532.json b/robot_trajectories/with_distraction/stack_cups/0051/20260521_073532.json
new file mode 100644
index 0000000000000000000000000000000000000000..8a9dca658800a2eb713f0330c79e0578a72a7451
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0051/20260521_073532.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "StackCups-v1",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 163,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 487,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated stack-cups demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/stack_cups/0052/20260521_073725.json b/robot_trajectories/with_distraction/stack_cups/0052/20260521_073725.json
new file mode 100644
index 0000000000000000000000000000000000000000..797edf1e29447a2d4ee8e3c87b64c3ccebf74460
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0052/20260521_073725.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "StackCups-v1",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 168,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 507,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated stack-cups demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/stack_cups/0054/20260521_073906.json b/robot_trajectories/with_distraction/stack_cups/0054/20260521_073906.json
new file mode 100644
index 0000000000000000000000000000000000000000..5ce2140f1098b5bc88468f8f92f1717773f5bcc5
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0054/20260521_073906.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "StackCups-v1",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 172,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 474,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated stack-cups demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/stack_cups/0055/20260521_073930.json b/robot_trajectories/with_distraction/stack_cups/0055/20260521_073930.json
new file mode 100644
index 0000000000000000000000000000000000000000..ca28b238e11d1b7ba3502219214adee66d457b28
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0055/20260521_073930.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "StackCups-v1",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 173,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 480,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated stack-cups demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/stack_cups/0056/20260521_074012.json b/robot_trajectories/with_distraction/stack_cups/0056/20260521_074012.json
new file mode 100644
index 0000000000000000000000000000000000000000..dcc3196a5a1d5821f078c881576f7f64816b9d93
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0056/20260521_074012.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "StackCups-v1",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 175,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 544,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated stack-cups demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/stack_cups/0059/20260521_074304.json b/robot_trajectories/with_distraction/stack_cups/0059/20260521_074304.json
new file mode 100644
index 0000000000000000000000000000000000000000..32f4cb5bec45bfdbcac35b93951e9a6688ab3414
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0059/20260521_074304.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "StackCups-v1",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 182,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 499,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated stack-cups demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/stack_cups/0062/20260521_074649.json b/robot_trajectories/with_distraction/stack_cups/0062/20260521_074649.json
new file mode 100644
index 0000000000000000000000000000000000000000..f39e89cd53d6fa70f93af75fde34c9c6d2e16a9e
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0062/20260521_074649.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "StackCups-v1",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 191,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 479,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated stack-cups demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/stack_cups/0064/20260521_075314.json b/robot_trajectories/with_distraction/stack_cups/0064/20260521_075314.json
new file mode 100644
index 0000000000000000000000000000000000000000..205cc53a0f42f9bd0a90a3ab0b4d7d2c79583df6
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0064/20260521_075314.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "StackCups-v1",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 207,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 520,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated stack-cups demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/stack_cups/0065/20260521_075402.json b/robot_trajectories/with_distraction/stack_cups/0065/20260521_075402.json
new file mode 100644
index 0000000000000000000000000000000000000000..e143efc9ce7090b7a9277488cb25baaeaeca96ca
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0065/20260521_075402.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "StackCups-v1",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
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+      "episode_seed": 209,
+      "control_mode": "pd_joint_pos",
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+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated stack-cups demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/stack_cups/0068/20260521_075957.json b/robot_trajectories/with_distraction/stack_cups/0068/20260521_075957.json
new file mode 100644
index 0000000000000000000000000000000000000000..18f4055d750ad2c12aaa208a984d7d35405d6679
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0068/20260521_075957.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "StackCups-v1",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 224,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 562,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated stack-cups demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/stack_cups/0070/20260521_080306.json b/robot_trajectories/with_distraction/stack_cups/0070/20260521_080306.json
new file mode 100644
index 0000000000000000000000000000000000000000..03b0915187d35669a15bb2444af6cf697673aacb
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0070/20260521_080306.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "StackCups-v1",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 232,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 468,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated stack-cups demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/stack_cups/0073/20260521_080502.json b/robot_trajectories/with_distraction/stack_cups/0073/20260521_080502.json
new file mode 100644
index 0000000000000000000000000000000000000000..414bfbd0e3bef7b1fcae54ed6cc703481ae6105d
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0073/20260521_080502.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "StackCups-v1",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 237,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 537,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated stack-cups demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/stack_cups/0076/20260521_081033.json b/robot_trajectories/with_distraction/stack_cups/0076/20260521_081033.json
new file mode 100644
index 0000000000000000000000000000000000000000..e913b30f69f655b15ab216a98e90f96ccca5117d
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0076/20260521_081033.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "StackCups-v1",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 251,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 474,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated stack-cups demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/stack_cups/0078/20260521_081415.json b/robot_trajectories/with_distraction/stack_cups/0078/20260521_081415.json
new file mode 100644
index 0000000000000000000000000000000000000000..9eaa1cb409f53bcc988a2e3bc5371e62bd6b7e30
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0078/20260521_081415.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "StackCups-v1",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 261,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 515,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated stack-cups demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/stack_cups/0079/20260521_081441.json b/robot_trajectories/with_distraction/stack_cups/0079/20260521_081441.json
new file mode 100644
index 0000000000000000000000000000000000000000..0c2bad375e6be068799105fef6047ef384ee48a7
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0079/20260521_081441.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "StackCups-v1",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 262,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 583,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated stack-cups demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/stack_cups/0093/20260521_083107.json b/robot_trajectories/with_distraction/stack_cups/0093/20260521_083107.json
new file mode 100644
index 0000000000000000000000000000000000000000..8f2fea6f4aeb03e29df91b3c96b6b15ac0d30522
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0093/20260521_083107.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "StackCups-v1",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 303,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 514,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated stack-cups demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/stack_cups/0095/20260521_083353.json b/robot_trajectories/with_distraction/stack_cups/0095/20260521_083353.json
new file mode 100644
index 0000000000000000000000000000000000000000..3b2a8a43ea16ad864f6586c006ab036c7f8c37c1
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0095/20260521_083353.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "StackCups-v1",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 310,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 499,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated stack-cups demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/stack_cups/0098/20260521_083819.json b/robot_trajectories/with_distraction/stack_cups/0098/20260521_083819.json
new file mode 100644
index 0000000000000000000000000000000000000000..c77be9bcd2f29aed1c71865609090ac2a722a8c4
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0098/20260521_083819.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "StackCups-v1",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 321,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 548,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated stack-cups demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/with_distraction/stack_cups/0099/20260521_083941.json b/robot_trajectories/with_distraction/stack_cups/0099/20260521_083941.json
new file mode 100644
index 0000000000000000000000000000000000000000..1d6670bc0ab09826a828b16e301f381dd4af979f
--- /dev/null
+++ b/robot_trajectories/with_distraction/stack_cups/0099/20260521_083941.json
@@ -0,0 +1,29 @@
+{
+  "env_info": {
+    "env_id": "StackCups-v1",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos",
+      "distract": true
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 325,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 466,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated stack-cups demonstration"
+}
\ No newline at end of file