diff --git "a/demos/PushCube-v1/rl/trajectory.none.pd_ee_delta_pose.physx_cuda.json" "b/demos/PushCube-v1/rl/trajectory.none.pd_ee_delta_pose.physx_cuda.json"
--- "a/demos/PushCube-v1/rl/trajectory.none.pd_ee_delta_pose.physx_cuda.json"
+++ "b/demos/PushCube-v1/rl/trajectory.none.pd_ee_delta_pose.physx_cuda.json"
@@ -25,8 +25,7 @@
       "control_mode": "pd_ee_delta_pose",
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+      "success": true
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@@ -34,8 +33,7 @@
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@@ -43,8 +41,7 @@
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@@ -52,44 +49,39 @@
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@@ -97,35 +89,31 @@
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@@ -133,17 +121,15 @@
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@@ -151,8 +137,7 @@
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@@ -160,8 +145,7 @@
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@@ -169,8 +153,7 @@
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@@ -178,17 +161,15 @@
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@@ -196,17 +177,15 @@
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@@ -214,8 +193,7 @@
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@@ -223,44 +201,39 @@
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@@ -268,8 +241,7 @@
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@@ -277,26 +249,23 @@
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@@ -304,17 +273,15 @@
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@@ -331,17 +297,15 @@
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@@ -367,8 +329,7 @@
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@@ -376,8 +337,7 @@
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@@ -385,8 +345,7 @@
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@@ -394,26 +353,23 @@
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@@ -421,17 +377,15 @@
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@@ -439,17 +393,15 @@
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@@ -457,26 +409,23 @@
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@@ -484,8 +433,7 @@
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@@ -493,17 +441,15 @@
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@@ -511,8 +457,7 @@
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@@ -520,8 +465,7 @@
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@@ -529,35 +473,31 @@
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@@ -6280,53 +5585,47 @@
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@@ -6793,8 +6041,7 @@
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@@ -6811,35 +6057,31 @@
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@@ -6847,26 +6089,23 @@
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@@ -6874,8 +6113,7 @@
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@@ -6883,26 +6121,23 @@
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@@ -6910,8 +6145,7 @@
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@@ -6919,17 +6153,15 @@
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@@ -6955,35 +6185,31 @@
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@@ -6991,35 +6217,31 @@
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@@ -7504,35 +6673,31 @@
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@@ -7540,26 +6705,23 @@
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@@ -7567,8 +6729,7 @@
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@@ -7603,8 +6761,7 @@
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@@ -7612,17 +6769,15 @@
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@@ -7630,8 +6785,7 @@
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@@ -7639,71 +6793,63 @@
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@@ -8341,17 +7417,15 @@
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@@ -8944,8 +7953,7 @@
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@@ -9034,8 +8033,7 @@
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@@ -9043,8 +8041,7 @@
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@@ -9052,44 +8049,39 @@
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@@ -9097,17 +8089,15 @@
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       "control_mode": "pd_ee_delta_pose",
-      "elapsed_steps": 50,
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       "reset_kwargs": {},
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-      "episode_length": 26
+      "success": true
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     {
       "episode_id": 1016,
@@ -9115,35 +8105,31 @@
       "control_mode": "pd_ee_delta_pose",
       "elapsed_steps": 50,
       "reset_kwargs": {},
-      "success": true,
-      "episode_length": 50
+      "success": true
     },
     {
       "episode_id": 1017,
       "episode_seed": 2099816463,
       "control_mode": "pd_ee_delta_pose",
-      "elapsed_steps": 50,
+      "elapsed_steps": 22,
       "reset_kwargs": {},
-      "success": true,
-      "episode_length": 22
+      "success": true
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     {
       "episode_id": 1018,
       "episode_seed": 507677799,
       "control_mode": "pd_ee_delta_pose",
-      "elapsed_steps": 50,
+      "elapsed_steps": 11,
       "reset_kwargs": {},
-      "success": true,
-      "episode_length": 11
+      "success": true
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     {
       "episode_id": 1019,
       "episode_seed": 264210884,
       "control_mode": "pd_ee_delta_pose",
-      "elapsed_steps": 50,
+      "elapsed_steps": 11,
       "reset_kwargs": {},
-      "success": true,
-      "episode_length": 11
+      "success": true
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     {
       "episode_id": 1020,
@@ -9151,17 +8137,15 @@
       "control_mode": "pd_ee_delta_pose",
       "elapsed_steps": 50,
       "reset_kwargs": {},
-      "success": true,
-      "episode_length": 50
+      "success": true
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     {
       "episode_id": 1021,
       "episode_seed": 1588222896,
       "control_mode": "pd_ee_delta_pose",
-      "elapsed_steps": 50,
+      "elapsed_steps": 24,
       "reset_kwargs": {},
-      "success": true,
-      "episode_length": 24
+      "success": true
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     {
       "episode_id": 1022,
@@ -9169,8 +8153,7 @@
       "control_mode": "pd_ee_delta_pose",
       "elapsed_steps": 50,
       "reset_kwargs": {},
-      "success": true,
-      "episode_length": 50
+      "success": true
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     {
       "episode_id": 1023,
@@ -9178,8 +8161,7 @@
       "control_mode": "pd_ee_delta_pose",
       "elapsed_steps": 50,
       "reset_kwargs": {},
-      "success": true,
-      "episode_length": 50
+      "success": true
     }
   ],
   "source_type": "rl",