diff --git "a/demos/v0/rigid_body/PegInsertionSide-v0/trajectory.json" "b/demos/v0/rigid_body/PegInsertionSide-v0/trajectory.json"
new file mode 100644--- /dev/null
+++ "b/demos/v0/rigid_body/PegInsertionSide-v0/trajectory.json"
@@ -0,0 +1,18016 @@
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+}
\ No newline at end of file