diff --git a/envs/quad3d_payload/benchmark_envs/forest_2robots_exp.yaml b/envs/quad3d_payload/benchmark_envs/forest_2robots_exp.yaml
index 0eb2203..5c17c1d 100644
--- a/envs/quad3d_payload/benchmark_envs/forest_2robots_exp.yaml
+++ b/envs/quad3d_payload/benchmark_envs/forest_2robots_exp.yaml
@@ -42,4 +42,4 @@ robots:
     -0.8414709848078965, 0.0, 0.0, 0.0, 0.001290770382734231, 0.5403007640548437,
     -0.8414709848078965, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0,
     0.0, 1.0, 0.0, 0.0, 0.0]
-  type: point_2
+  type: point_2_exp
diff --git a/envs/quad3d_payload/benchmark_envs/forest_3robots_exp.yaml b/envs/quad3d_payload/benchmark_envs/forest_3robots_exp.yaml
index 902d123..e611aa2 100644
--- a/envs/quad3d_payload/benchmark_envs/forest_3robots_exp.yaml
+++ b/envs/quad3d_payload/benchmark_envs/forest_3robots_exp.yaml
@@ -44,4 +44,4 @@ robots:
     0.0, 0.0, 0.0, 0.264889052247188, 0.4709143995738667, -0.8414709848078965, 0.0,
     0.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0,
     0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0]
-  type: point_3
+  type: point_3_exp
diff --git a/envs/quad3d_payload/benchmark_envs/window_2robots_exp.yaml b/envs/quad3d_payload/benchmark_envs/window_2robots_exp.yaml
new file mode 100644
index 0000000..82c9c12
--- /dev/null
+++ b/envs/quad3d_payload/benchmark_envs/window_2robots_exp.yaml
@@ -0,0 +1,23 @@
+environment:
+  max: [1000, 1000,  1.0]
+  min: [-1000, -1000,  -0.1]
+  obstacles:
+    - center: [0.0, 0.4, 0.0]
+      size: [0.2, 0.2, 3.0]
+      type: box
+    - center: [0.0, -0.4, 0.0]
+      size: [0.2, 0.2, 3.0]
+      type: box
+name: quad3d_payload_empty_0
+robots:
+- goal: [1.0, 0.0, 0.0, 0.0, 0.0, 0.0, -0.0004302571580335733, -0.5403021345554789,
+    -0.8414709848078965, 0.0, 0.0, 0.0, 0.001290770382734231, 0.5403007640548437,
+    -0.8414709848078965, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0,
+    0.0, 1.0, 0.0, 0.0, 0.0]
+  l: [0.5, 0.5]
+  quadsNum: 2
+  start: [-1.0, 0.0, 0.0, 0.0, 0.0, 0.0, -0.0004302571580335733, -0.5403021345554789,
+    -0.8414709848078965, 0.0, 0.0, 0.0, 0.001290770382734231, 0.5403007640548437,
+    -0.8414709848078965, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0,
+    0.0, 1.0, 0.0, 0.0, 0.0]
+  type: point_2_exp
diff --git a/envs/quad3d_payload/benchmark_envs/window_3robots_exp.yaml b/envs/quad3d_payload/benchmark_envs/window_3robots_exp.yaml
new file mode 100644
index 0000000..88d5e63
--- /dev/null
+++ b/envs/quad3d_payload/benchmark_envs/window_3robots_exp.yaml
@@ -0,0 +1,25 @@
+environment:
+  max: [1000, 1000, 1.0]
+  min: [-1000, -1000, -1.0]
+  obstacles:
+    - center: [0.0, 0.4, 0.0]
+      size: [0.2, 0.2, 3.0]
+      type: box
+    - center: [0.0, -0.4, 0.0]
+      size: [0.2, 0.2, 3.0]
+      type: box
+name: quad3d_payload_empty_0
+robots:
+- goal: [1.0, 0.0, 0.0, 0.0, 0.0, 0.0, -0.0004302571580335733, -0.5403021345554789,
+    -0.8414709848078965, 0.0, 0.0, 0.0, -0.5403023058681398, -0.0, -0.8414709848078965,
+    0.0, 0.0, 0.0, 0.264889052247188, 0.4709143995738667, -0.8414709848078965, 0.0,
+    0.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0,
+    0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0]
+  l: [0.5, 0.5, 0.5]
+  quadsNum: 3
+  start: [-1.0, 0.0, 0.0, 0.0, 0.0, 0.0, -0.0004302571580335733, -0.5403021345554789,
+    -0.8414709848078965, 0.0, 0.0, 0.0, -0.5403023058681398, -0.0, -0.8414709848078965,
+    0.0, 0.0, 0.0, 0.264889052247188, 0.4709143995738667, -0.8414709848078965, 0.0,
+    0.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0,
+    0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0]
+  type: point_3_exp