diff --git "a/demos/PegInsertionSide-v1/motionplanning/trajectory.json" "b/demos/PegInsertionSide-v1/motionplanning/trajectory.json"
--- "a/demos/PegInsertionSide-v1/motionplanning/trajectory.json"
+++ "b/demos/PegInsertionSide-v1/motionplanning/trajectory.json"
@@ -1,334 +1,310 @@
 {
-  "env_info": {
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-    "env_kwargs": {
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-      "render_mode": "rgb_array",
-      "reward_mode": "dense",
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-      },
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-    "branch": "main"
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@@ -336,7 +312,7 @@
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@@ -347,7 +323,7 @@
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@@ -367,100 +343,100 @@
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@@ -468,7 +444,7 @@
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@@ -479,7 +455,7 @@
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@@ -488,111 +464,111 @@
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@@ -609,265 +585,265 @@
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       "reset_kwargs": {
         "options": {},
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       },
       "success": true
     }
   ],
+  "env_info": {
+    "env_id": "PegInsertionSide-v1",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "reward_mode": "dense",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto"
+    },
+    "max_episode_steps": 100
+  },
+  "commit_info": {
+    "commit_id": "9d5e0e01c3b13796dd1c9fc83213b315ce8a1946",
+    "branch": "main"
+  },
   "source_type": "motionplanning",
   "source_desc": "official motion planning solution from ManiSkill contributors"
 }
\ No newline at end of file