diff --git a/.github/workflows/pythontests.yml b/.github/workflows/pythontests.yml
index e80e4485..747f62ee 100644
--- a/.github/workflows/pythontests.yml
+++ b/.github/workflows/pythontests.yml
@@ -33,10 +33,9 @@ jobs:
       run: pip install -e .
     - name: Run tests and generate coverage report
       run: |
-        python -m unittest discover -s testing/ -p "*_test.py"
+        coverage run -m unittest discover -s testing/ -p "*_test.py"
     - name: Upload coverage to Codecov
       uses: codecov/codecov-action@v1
       with:
-        flags: no-planners
         name: codecov-report
         fail_ci_if_error: false
diff --git a/codecov.yml b/codecov.yml
index d492ce7c..5a1354a0 100644
--- a/codecov.yml
+++ b/codecov.yml
@@ -1,4 +1,9 @@
 codecov:
+    status:
+        project:
+            default:
+                target: auto
+                threshold: 1%
     require_ci_to_pass: yes
     max_report_age: off
 
diff --git a/src/overcooked_ai_py/agents/benchmarking.py b/src/overcooked_ai_py/agents/benchmarking.py
index cea21aed..f220adf5 100644
--- a/src/overcooked_ai_py/agents/benchmarking.py
+++ b/src/overcooked_ai_py/agents/benchmarking.py
@@ -8,6 +8,7 @@
 from overcooked_ai_py.mdp.overcooked_mdp import OvercookedGridworld, Action, OvercookedState
 from overcooked_ai_py.mdp.overcooked_env import OvercookedEnv
 from overcooked_ai_py.mdp.layout_generator import LayoutGenerator
+from overcooked_ai_py.mdp.overcooked_trajectory import DEFAULT_TRAJ_KEYS
 
 
 class AgentEvaluator(object):
@@ -151,7 +152,7 @@ def get_agent_pair_trajs(self, a0, a1=None, num_games=100, game_length=None, sta
         return trajs_0, trajs_1
 
     @staticmethod
-    def check_trajectories(trajectories, from_json=False):
+    def check_trajectories(trajectories, from_json=False, **kwargs):
         """
         Checks that of trajectories are in standard format and are consistent with dynamics of mdp.
         If the trajectories were saves as json, do not check that they have standard traj keys.
@@ -159,12 +160,12 @@ def check_trajectories(trajectories, from_json=False):
         if not from_json:
             AgentEvaluator._check_standard_traj_keys(set(trajectories.keys()))
         AgentEvaluator._check_right_types(trajectories)
-        AgentEvaluator._check_trajectories_dynamics(trajectories)
+        AgentEvaluator._check_trajectories_dynamics(trajectories, **kwargs)
         # TODO: Check shapes?
 
     @staticmethod
     def _check_standard_traj_keys(traj_keys_set):
-        default_traj_keys = OvercookedEnv.DEFAULT_TRAJ_KEYS
+        default_traj_keys = DEFAULT_TRAJ_KEYS
         assert traj_keys_set == set(default_traj_keys), "Keys of traj dict did not match standard form.\nMissing keys: {}\nAdditional keys: {}".format(
             [k for k in default_traj_keys if k not in traj_keys_set], [k for k in traj_keys_set if k not in default_traj_keys]
         )
@@ -181,10 +182,11 @@ def _check_right_types(trajectories):
             # TODO: check that are all lists
 
     @staticmethod
-    def _check_trajectories_dynamics(trajectories):
+    def _check_trajectories_dynamics(trajectories, verbose=True):
         if any(env_params["_variable_mdp"] for env_params in trajectories["env_params"]):
-            print("Skipping trajectory consistency checking because MDP was recognized as variable. "
-                  "Trajectory consistency checking is not yet supported for variable MDPs.")
+            if verbose:
+                print("Skipping trajectory consistency checking because MDP was recognized as variable. "
+                    "Trajectory consistency checking is not yet supported for variable MDPs.")
             return
 
         _, envs = AgentEvaluator.get_mdps_and_envs_from_trajectories(trajectories)
@@ -241,7 +243,7 @@ def load_trajectories(filename):
     @staticmethod
     def save_traj_as_json(trajectory, filename):
         """Saves the `idx`th trajectory as a list of state action pairs"""
-        assert set(OvercookedEnv.DEFAULT_TRAJ_KEYS) == set(trajectory.keys()), "{} vs\n{}".format(OvercookedEnv.DEFAULT_TRAJ_KEYS, trajectory.keys())
+        assert set(DEFAULT_TRAJ_KEYS) == set(trajectory.keys()), "{} vs\n{}".format(DEFAULT_TRAJ_KEYS, trajectory.keys())
         AgentEvaluator.check_trajectories(trajectory)
         trajectory = AgentEvaluator.make_trajectories_json_serializable(trajectory)
         save_as_json(trajectory, filename)
diff --git a/src/overcooked_ai_py/data/testing/test_display/expected.txt b/src/overcooked_ai_py/data/testing/test_display/expected.txt
new file mode 100644
index 00000000..a58c8b0b
--- /dev/null
+++ b/src/overcooked_ai_py/data/testing/test_display/expected.txt
@@ -0,0 +1,269 @@
+X       X       P       X       X       
+
+O                       ↑1      O       
+
+X       ↑0                      X       
+
+X       D       X       S       X       
+
+
+Timestep: 1
+Joint action taken: ('stay', 'stay') 	 Reward: 0 + shaping_factor * [0, 0]
+Action probs by index: [None, None]  
+X       X       P       X       X       
+
+O                       ↑1      O       
+
+X       ↑0                      X       
+
+X       D       X       S       X       
+
+
+
+Timestep: 2
+Joint action taken: ('←', '→') 	 Reward: 0 + shaping_factor * [0, 0]
+Action probs by index: [None, None]  
+X       X       P       X       X       
+
+O                       →1      O       
+
+X       ←0                      X       
+
+X       D       X       S       X       
+
+
+
+Timestep: 3
+Joint action taken: ('←', '→') 	 Reward: 0 + shaping_factor * [0, 0]
+Action probs by index: [None, None]  
+X       X       P       X       X       
+
+O                       →1      O       
+
+X       ←0                      X       
+
+X       D       X       S       X       
+
+
+
+Timestep: 4
+Joint action taken: ('stay', 'stay') 	 Reward: 0 + shaping_factor * [0, 0]
+Action probs by index: [None, None]  
+X       X       P       X       X       
+
+O                       →1      O       
+
+X       ←0                      X       
+
+X       D       X       S       X       
+
+
+
+Timestep: 5
+Joint action taken: ('stay', 'stay') 	 Reward: 0 + shaping_factor * [0, 0]
+Action probs by index: [None, None]  
+X       X       P       X       X       
+
+O                       →1      O       
+
+X       ←0                      X       
+
+X       D       X       S       X       
+
+
+
+Timestep: 6
+Joint action taken: ('stay', 'stay') 	 Reward: 0 + shaping_factor * [0, 0]
+Action probs by index: [None, None]  
+X       X       P       X       X       
+
+O                       →1      O       
+
+X       ←0                      X       
+
+X       D       X       S       X       
+
+
+
+Timestep: 7
+Joint action taken: ('stay', 'stay') 	 Reward: 0 + shaping_factor * [0, 0]
+Action probs by index: [None, None]  
+X       X       P       X       X       
+
+O                       →1      O       
+
+X       ←0                      X       
+
+X       D       X       S       X       
+
+
+
+Timestep: 8
+Joint action taken: ('stay', 'stay') 	 Reward: 0 + shaping_factor * [0, 0]
+Action probs by index: [None, None]  
+X       X       P       X       X       
+
+O                       →1      O       
+
+X       ←0                      X       
+
+X       D       X       S       X       
+
+
+
+Timestep: 9
+Joint action taken: ('stay', 'stay') 	 Reward: 0 + shaping_factor * [0, 0]
+Action probs by index: [None, None]  
+X       X       P       X       X       
+
+O                       →1      O       
+
+X       ←0                      X       
+
+X       D       X       S       X       
+
+
+
+Timestep: 10
+Joint action taken: ('stay', 'stay') 	 Reward: 0 + shaping_factor * [0, 0]
+Action probs by index: [None, None]  
+X       X       P       X       X       
+
+O                       →1      O       
+
+X       ←0                      X       
+
+X       D       X       S       X       
+
+
+
+Timestep: 11
+Joint action taken: ('stay', 'stay') 	 Reward: 0 + shaping_factor * [0, 0]
+Action probs by index: [None, None]  
+X       X       P       X       X       
+
+O                       →1      O       
+
+X       ←0                      X       
+
+X       D       X       S       X       
+
+
+
+Timestep: 12
+Joint action taken: ('stay', 'stay') 	 Reward: 0 + shaping_factor * [0, 0]
+Action probs by index: [None, None]  
+X       X       P       X       X       
+
+O                       →1      O       
+
+X       ←0                      X       
+
+X       D       X       S       X       
+
+
+
+Timestep: 13
+Joint action taken: ('stay', 'stay') 	 Reward: 0 + shaping_factor * [0, 0]
+Action probs by index: [None, None]  
+X       X       P       X       X       
+
+O                       →1      O       
+
+X       ←0                      X       
+
+X       D       X       S       X       
+
+
+
+Timestep: 14
+Joint action taken: ('stay', 'stay') 	 Reward: 0 + shaping_factor * [0, 0]
+Action probs by index: [None, None]  
+X       X       P       X       X       
+
+O                       →1      O       
+
+X       ←0                      X       
+
+X       D       X       S       X       
+
+
+
+Timestep: 15
+Joint action taken: ('stay', 'stay') 	 Reward: 0 + shaping_factor * [0, 0]
+Action probs by index: [None, None]  
+X       X       P       X       X       
+
+O                       →1      O       
+
+X       ←0                      X       
+
+X       D       X       S       X       
+
+
+
+Timestep: 16
+Joint action taken: ('stay', 'stay') 	 Reward: 0 + shaping_factor * [0, 0]
+Action probs by index: [None, None]  
+X       X       P       X       X       
+
+O                       →1      O       
+
+X       ←0                      X       
+
+X       D       X       S       X       
+
+
+
+Timestep: 17
+Joint action taken: ('stay', 'stay') 	 Reward: 0 + shaping_factor * [0, 0]
+Action probs by index: [None, None]  
+X       X       P       X       X       
+
+O                       →1      O       
+
+X       ←0                      X       
+
+X       D       X       S       X       
+
+
+
+Timestep: 18
+Joint action taken: ('stay', 'stay') 	 Reward: 0 + shaping_factor * [0, 0]
+Action probs by index: [None, None]  
+X       X       P       X       X       
+
+O                       →1      O       
+
+X       ←0                      X       
+
+X       D       X       S       X       
+
+
+
+Timestep: 19
+Joint action taken: ('stay', 'stay') 	 Reward: 0 + shaping_factor * [0, 0]
+Action probs by index: [None, None]  
+X       X       P       X       X       
+
+O                       →1      O       
+
+X       ←0                      X       
+
+X       D       X       S       X       
+
+
+
+Timestep: 20
+Joint action taken: ('stay', 'stay') 	 Reward: 0 + shaping_factor * [0, 0]
+Action probs by index: [None, None]  
+X       X       P       X       X       
+
+O                       →1      O       
+
+X       ←0                      X       
+
+X       D       X       S       X       
+
+
+
diff --git a/src/overcooked_ai_py/data/testing/test_display_phi/expected.txt b/src/overcooked_ai_py/data/testing/test_display_phi/expected.txt
new file mode 100644
index 00000000..83008efc
--- /dev/null
+++ b/src/overcooked_ai_py/data/testing/test_display_phi/expected.txt
@@ -0,0 +1,309 @@
+X       X       P       X       X       
+
+O                       ↑1      O       
+
+X       ↑0                      X       
+
+X       D       X       S       X       
+
+
+Timestep: 1
+Joint action taken: ('stay', 'stay') 	 Reward: 0 + shaping_factor * [0, 0]
+Action probs by index: [None, None] 
+State potential = 30.633689117862914	 Δ potential = -0.3063368911786277
+
+X       X       P       X       X       
+
+O                       ↑1      O       
+
+X       ↑0                      X       
+
+X       D       X       S       X       
+
+
+
+Timestep: 2
+Joint action taken: ('←', '→') 	 Reward: 0 + shaping_factor * [0, 0]
+Action probs by index: [None, None] 
+State potential = 30.633689117862914	 Δ potential = -0.3063368911786277
+
+X       X       P       X       X       
+
+O                       →1      O       
+
+X       ←0                      X       
+
+X       D       X       S       X       
+
+
+
+Timestep: 3
+Joint action taken: ('←', '→') 	 Reward: 0 + shaping_factor * [0, 0]
+Action probs by index: [None, None] 
+State potential = 30.633689117862914	 Δ potential = -0.3063368911786277
+
+X       X       P       X       X       
+
+O                       →1      O       
+
+X       ←0                      X       
+
+X       D       X       S       X       
+
+
+
+Timestep: 4
+Joint action taken: ('stay', 'stay') 	 Reward: 0 + shaping_factor * [0, 0]
+Action probs by index: [None, None] 
+State potential = 30.633689117862914	 Δ potential = -0.3063368911786277
+
+X       X       P       X       X       
+
+O                       →1      O       
+
+X       ←0                      X       
+
+X       D       X       S       X       
+
+
+
+Timestep: 5
+Joint action taken: ('stay', 'stay') 	 Reward: 0 + shaping_factor * [0, 0]
+Action probs by index: [None, None] 
+State potential = 30.633689117862914	 Δ potential = -0.3063368911786277
+
+X       X       P       X       X       
+
+O                       →1      O       
+
+X       ←0                      X       
+
+X       D       X       S       X       
+
+
+
+Timestep: 6
+Joint action taken: ('stay', 'stay') 	 Reward: 0 + shaping_factor * [0, 0]
+Action probs by index: [None, None] 
+State potential = 30.633689117862914	 Δ potential = -0.3063368911786277
+
+X       X       P       X       X       
+
+O                       →1      O       
+
+X       ←0                      X       
+
+X       D       X       S       X       
+
+
+
+Timestep: 7
+Joint action taken: ('stay', 'stay') 	 Reward: 0 + shaping_factor * [0, 0]
+Action probs by index: [None, None] 
+State potential = 30.633689117862914	 Δ potential = -0.3063368911786277
+
+X       X       P       X       X       
+
+O                       →1      O       
+
+X       ←0                      X       
+
+X       D       X       S       X       
+
+
+
+Timestep: 8
+Joint action taken: ('stay', 'stay') 	 Reward: 0 + shaping_factor * [0, 0]
+Action probs by index: [None, None] 
+State potential = 30.633689117862914	 Δ potential = -0.3063368911786277
+
+X       X       P       X       X       
+
+O                       →1      O       
+
+X       ←0                      X       
+
+X       D       X       S       X       
+
+
+
+Timestep: 9
+Joint action taken: ('stay', 'stay') 	 Reward: 0 + shaping_factor * [0, 0]
+Action probs by index: [None, None] 
+State potential = 30.633689117862914	 Δ potential = -0.3063368911786277
+
+X       X       P       X       X       
+
+O                       →1      O       
+
+X       ←0                      X       
+
+X       D       X       S       X       
+
+
+
+Timestep: 10
+Joint action taken: ('stay', 'stay') 	 Reward: 0 + shaping_factor * [0, 0]
+Action probs by index: [None, None] 
+State potential = 30.633689117862914	 Δ potential = -0.3063368911786277
+
+X       X       P       X       X       
+
+O                       →1      O       
+
+X       ←0                      X       
+
+X       D       X       S       X       
+
+
+
+Timestep: 11
+Joint action taken: ('stay', 'stay') 	 Reward: 0 + shaping_factor * [0, 0]
+Action probs by index: [None, None] 
+State potential = 30.633689117862914	 Δ potential = -0.3063368911786277
+
+X       X       P       X       X       
+
+O                       →1      O       
+
+X       ←0                      X       
+
+X       D       X       S       X       
+
+
+
+Timestep: 12
+Joint action taken: ('stay', 'stay') 	 Reward: 0 + shaping_factor * [0, 0]
+Action probs by index: [None, None] 
+State potential = 30.633689117862914	 Δ potential = -0.3063368911786277
+
+X       X       P       X       X       
+
+O                       →1      O       
+
+X       ←0                      X       
+
+X       D       X       S       X       
+
+
+
+Timestep: 13
+Joint action taken: ('stay', 'stay') 	 Reward: 0 + shaping_factor * [0, 0]
+Action probs by index: [None, None] 
+State potential = 30.633689117862914	 Δ potential = -0.3063368911786277
+
+X       X       P       X       X       
+
+O                       →1      O       
+
+X       ←0                      X       
+
+X       D       X       S       X       
+
+
+
+Timestep: 14
+Joint action taken: ('stay', 'stay') 	 Reward: 0 + shaping_factor * [0, 0]
+Action probs by index: [None, None] 
+State potential = 30.633689117862914	 Δ potential = -0.3063368911786277
+
+X       X       P       X       X       
+
+O                       →1      O       
+
+X       ←0                      X       
+
+X       D       X       S       X       
+
+
+
+Timestep: 15
+Joint action taken: ('stay', 'stay') 	 Reward: 0 + shaping_factor * [0, 0]
+Action probs by index: [None, None] 
+State potential = 30.633689117862914	 Δ potential = -0.3063368911786277
+
+X       X       P       X       X       
+
+O                       →1      O       
+
+X       ←0                      X       
+
+X       D       X       S       X       
+
+
+
+Timestep: 16
+Joint action taken: ('stay', 'stay') 	 Reward: 0 + shaping_factor * [0, 0]
+Action probs by index: [None, None] 
+State potential = 30.633689117862914	 Δ potential = -0.3063368911786277
+
+X       X       P       X       X       
+
+O                       →1      O       
+
+X       ←0                      X       
+
+X       D       X       S       X       
+
+
+
+Timestep: 17
+Joint action taken: ('stay', 'stay') 	 Reward: 0 + shaping_factor * [0, 0]
+Action probs by index: [None, None] 
+State potential = 30.633689117862914	 Δ potential = -0.3063368911786277
+
+X       X       P       X       X       
+
+O                       →1      O       
+
+X       ←0                      X       
+
+X       D       X       S       X       
+
+
+
+Timestep: 18
+Joint action taken: ('stay', 'stay') 	 Reward: 0 + shaping_factor * [0, 0]
+Action probs by index: [None, None] 
+State potential = 30.633689117862914	 Δ potential = -0.3063368911786277
+
+X       X       P       X       X       
+
+O                       →1      O       
+
+X       ←0                      X       
+
+X       D       X       S       X       
+
+
+
+Timestep: 19
+Joint action taken: ('stay', 'stay') 	 Reward: 0 + shaping_factor * [0, 0]
+Action probs by index: [None, None] 
+State potential = 30.633689117862914	 Δ potential = -0.3063368911786277
+
+X       X       P       X       X       
+
+O                       →1      O       
+
+X       ←0                      X       
+
+X       D       X       S       X       
+
+
+
+Timestep: 20
+Joint action taken: ('stay', 'stay') 	 Reward: 0 + shaping_factor * [0, 0]
+Action probs by index: [None, None] 
+State potential = 30.633689117862914	 Δ potential = -0.3063368911786277
+
+X       X       P       X       X       
+
+O                       →1      O       
+
+X       ←0                      X       
+
+X       D       X       S       X       
+
+
+
diff --git a/src/overcooked_ai_py/data/testing/test_mdp_dynamics/expected.json b/src/overcooked_ai_py/data/testing/test_mdp_dynamics/expected.json
index ef35e569..0df38f58 100644
--- a/src/overcooked_ai_py/data/testing/test_mdp_dynamics/expected.json
+++ b/src/overcooked_ai_py/data/testing/test_mdp_dynamics/expected.json
@@ -1 +1 @@
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1499}]]}
\ No newline at end of file
diff --git a/src/overcooked_ai_py/data/testing/test_state_featurization/expected.pickle b/src/overcooked_ai_py/data/testing/test_state_featurization/expected.pickle
deleted file mode 100644
index 4268c7fc..00000000
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diff --git a/src/overcooked_ai_py/data/testing/test_state_featurization/expected_0.pickle b/src/overcooked_ai_py/data/testing/test_state_featurization/expected_0.pickle
new file mode 100644
index 00000000..245222bb
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diff --git a/src/overcooked_ai_py/data/testing/test_state_featurization/expected_1.pickle b/src/overcooked_ai_py/data/testing/test_state_featurization/expected_1.pickle
new file mode 100644
index 00000000..b4315615
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diff --git a/src/overcooked_ai_py/data/testing/test_state_featurization/expected_2.pickle b/src/overcooked_ai_py/data/testing/test_state_featurization/expected_2.pickle
new file mode 100644
index 00000000..63fcb829
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diff --git a/src/overcooked_ai_py/mdp/overcooked_env.py b/src/overcooked_ai_py/mdp/overcooked_env.py
index 7dcd75c2..0b151aeb 100644
--- a/src/overcooked_ai_py/mdp/overcooked_env.py
+++ b/src/overcooked_ai_py/mdp/overcooked_env.py
@@ -4,6 +4,7 @@
 from overcooked_ai_py.utils import mean_and_std_err, append_dictionaries
 from overcooked_ai_py.mdp.actions import Action
 from overcooked_ai_py.mdp.overcooked_mdp import OvercookedGridworld, EVENT_TYPES
+from overcooked_ai_py.mdp.overcooked_trajectory import TIMESTEP_TRAJ_KEYS, EPISODE_TRAJ_KEYS, DEFAULT_TRAJ_KEYS
 from overcooked_ai_py.planning.planners import MediumLevelActionManager, MotionPlanner, NO_COUNTERS_PARAMS
 
 DEFAULT_ENV_PARAMS = {
@@ -22,37 +23,14 @@ class OvercookedEnv(object):
     E.g. of how to instantiate OvercookedEnv:
     > mdp = OvercookedGridworld(...)
     > env = OvercookedEnv.from_mdp(mdp, horizon=400)
-
-    The standard format for Overcooked trajectories is:
-    trajs = {
-        # With shape (n_episodes, game_len), where game_len might vary across games:
-        "ep_states":    [ [traj_1_states], [traj_2_states], ... ],                          # Individual trajectory states
-        "ep_actions":   [ [traj_1_joint_actions], [traj_2_joint_actions], ... ],            # Trajectory joint actions, by agent
-        "ep_rewards":   [ [traj_1_timestep_rewards], [traj_2_timestep_rewards], ... ],      # (Sparse) reward values by timestep
-        "ep_dones":     [ [traj_1_timestep_dones], [traj_2_timestep_dones], ... ],          # Done values (should be all 0s except last one for each traj) TODO: add this to traj checks
-        "ep_infos":     [ [traj_1_timestep_infos], [traj_2_traj_1_timestep_infos], ... ],   # Info dictionaries
-
-        # With shape (n_episodes, ):
-        "ep_returns":   [ cumulative_traj1_reward, cumulative_traj2_reward, ... ],          # Sum of sparse rewards across each episode
-        "ep_lengths":   [ traj1_length, traj2_length, ... ],                                # Lengths (in env timesteps) of each episode
-        "mdp_params":   [ traj1_mdp_params, traj2_mdp_params, ... ],                        # Custom Mdp params to for each episode
-        "env_params":   [ traj1_env_params, traj2_env_params, ... ],                        # Custom Env params for each episode
-
-        # Custom metadata key value pairs
-        "metadatas":    [{custom metadata key:value pairs for traj 1}, {...}, ...]          # Each metadata dictionary is of similar format to the trajectories dictionary
-    }
     """
 
-    TIMESTEP_TRAJ_KEYS = ["ep_states", "ep_actions", "ep_rewards", "ep_dones", "ep_infos"]
-    EPISODE_TRAJ_KEYS = ["ep_returns", "ep_lengths", "mdp_params", "env_params", "metadatas"]
-    DEFAULT_TRAJ_KEYS = TIMESTEP_TRAJ_KEYS + EPISODE_TRAJ_KEYS + ["metadatas"]
-
 
     #########################
     # INSTANTIATION METHODS #
     #########################
 
-    def __init__(self, mdp_generator_fn, start_state_fn=None, horizon=MAX_HORIZON, mlam_params=NO_COUNTERS_PARAMS, info_level=1, num_mdp=1, initial_info={}):
+    def __init__(self, mdp_generator_fn, start_state_fn=None, horizon=MAX_HORIZON, mlam_params=NO_COUNTERS_PARAMS, info_level=0, num_mdp=1, initial_info={}):
         """
         mdp_generator_fn (callable):    A no-argument function that returns a OvercookedGridworld instance
         start_state_fn (callable):      Function that returns start state for the MDP, called at each environment reset
@@ -85,7 +63,8 @@ def __init__(self, mdp_generator_fn, start_state_fn=None, horizon=MAX_HORIZON, m
     @property
     def mlam(self):
         if self._mlam is None:
-            print("Computing MediumLevelActionManager")
+            if self.info_level > 0:
+                print("Computing MediumLevelActionManager")
             self._mlam = MediumLevelActionManager.from_pickle_or_compute(self.mdp, self.mlam_params,
                                                                   force_compute=False)
         return self._mlam
@@ -96,6 +75,8 @@ def mp(self):
             if self._mlam is not None:
                 self._mp = self.mlam.motion_planner
             else:
+                if self.info_level > 0:
+                    print("Computing MotionPlanner")
                 self._mp = MotionPlanner.from_pickle_or_compute(self.mdp, self.mlam_params["counter_goals"],
                                                                 force_compute=False)
         return self._mp
@@ -235,11 +216,11 @@ def lossless_state_encoding_mdp(self, state):
         """
         return self.mdp.lossless_state_encoding(state, self.horizon)
 
-    def featurize_state_mdp(self, state):
+    def featurize_state_mdp(self, state, num_pots=2):
         """
         Wrapper of the mdp's featurize_state
         """
-        return self.mdp.featurize_state(state, self.mlam, self.horizon)
+        return self.mdp.featurize_state(state, self.mlam, num_pots=num_pots)
 
     def reset(self, regen_mdp=True, outside_info={}):
         """
@@ -383,7 +364,7 @@ def run_agents(self, agent_pair, include_final_state=False, display=False, dir=N
 
         total_sparse = sum(self.game_stats["cumulative_sparse_rewards_by_agent"])
         total_shaped = sum(self.game_stats["cumulative_shaped_rewards_by_agent"])
-        return np.array(trajectory), self.state.timestep, total_sparse, total_shaped
+        return np.array(trajectory, dtype=object), self.state.timestep, total_sparse, total_shaped
 
     def get_rollouts(self, agent_pair, num_games, display=False, dir=None, final_state=False, display_phi=False,
                      display_until=np.Inf, metadata_fn=None, metadata_info_fn=None, info=True):
@@ -399,7 +380,7 @@ def get_rollouts(self, agent_pair, num_games, display=False, dir=None, final_sta
 
         NOTE: this is the standard trajectories format used throughout the codebase
         """
-        trajectories = { k:[] for k in self.DEFAULT_TRAJ_KEYS }
+        trajectories = { k:[] for k in DEFAULT_TRAJ_KEYS }
         metadata_fn = (lambda x: {}) if metadata_fn is None else metadata_fn
         metadata_info_fn = (lambda x: "") if metadata_info_fn is None else metadata_info_fn
         range_iterator = tqdm.trange(num_games, desc="", leave=True) if info else range(num_games)
@@ -443,7 +424,7 @@ def get_rollouts(self, agent_pair, num_games, display=False, dir=None, final_sta
 
         # TODO: should probably transfer check methods over to Env class
         from overcooked_ai_py.agents.benchmarking import AgentEvaluator
-        AgentEvaluator.check_trajectories(trajectories)
+        AgentEvaluator.check_trajectories(trajectories, verbose=info)
         return trajectories
 
 
diff --git a/src/overcooked_ai_py/mdp/overcooked_mdp.py b/src/overcooked_ai_py/mdp/overcooked_mdp.py
index 2ebb7ddf..fb6cd925 100644
--- a/src/overcooked_ai_py/mdp/overcooked_mdp.py
+++ b/src/overcooked_ai_py/mdp/overcooked_mdp.py
@@ -1,4 +1,4 @@
-import itertools, copy
+import itertools, copy, warnings
 import numpy as np
 from functools import reduce
 from collections import defaultdict, Counter
@@ -591,7 +591,7 @@ def to_dict(self):
     @staticmethod
     def from_dict(player_dict):
         player_dict = copy.deepcopy(player_dict)
-        held_obj = player_dict["held_object"]
+        held_obj = player_dict.get("held_object", None)
         if held_obj is not None:
             player_dict["held_object"] = SoupState.from_dict(held_obj)
         return PlayerState(**player_dict)
@@ -1070,7 +1070,6 @@ def get_state_transition(self, state, joint_action, display_phi=False, motion_pl
         (not soup deliveries).
         """
         events_infos = { event : [False] * self.num_players for event in EVENT_TYPES }
-
         assert not self.is_terminal(state), "Trying to find successor of a terminal state: {}".format(state)
         for action, action_set in zip(joint_action, self.get_actions(state)):
             if action not in action_set:
@@ -1836,6 +1835,13 @@ def state_string(self, state):
 
     @property
     def lossless_state_encoding_shape(self):
+        warnings.warn(
+            "Using the `lossless_state_encoding_shape` property is deprecated. Please use `get_lossless_state_encoding_shape` method instead",
+            DeprecationWarning
+        )
+        return np.array(list(self.shape) + [26])
+
+    def get_lossless_state_encoding_shape(self):
         return np.array(list(self.shape) + [26])
 
 
@@ -1954,29 +1960,150 @@ def process_for_player(primary_agent_idx):
 
     @property
     def featurize_state_shape(self):
-        return np.array([62])
+        warnings.warn(
+            "Using the `featurize_state_shape` property is deprecated. Please use `get_featurize_state_shape` method instead",
+            DeprecationWarning
+        )
+        return self.get_featurize_state_shape(2)
+
+    def get_featurize_state_shape(self, num_pots=2):
+        num_pot_features = 10
+        base_features = 28
+        total_features = self.num_players * (num_pots * num_pot_features + base_features)
+        return (total_features,)
 
-    def featurize_state(self, overcooked_state, mlam, horizon=400):
+    def featurize_state(self, overcooked_state, mlam, num_pots=2, **kwargs):
         """
-        Encode state with some manually designed features.
-        NOTE: currently works for just two players.
+        Encode state with some manually designed features. Works for arbitrary number of players
+
+        Arguments:
+            overcooked_state (OvercookedState): state we wish to featurize
+            mlam (MediumLevelActionManager): to be used for distance computations necessary for our higher-level feature encodings
+            num_pots (int): Encode the state (ingredients, whether cooking or not, etc) of the 'num_pots' closest pots to each player. 
+                If i < num_pots pots are reachable by player i, then pots [i+1, num_pots] are encoded as all zeros. Changing this 
+                impacts the shape of the feature encoding
+        
+        Returns:
+            ordered_features (list[np.Array]): The ith element contains a player-centric featurized view for the ith player
+
+            The encoding for player i is as follows:
+
+                [player_i_features, other_player_features player_i_dist_to_other_players, player_i_position]
+
+                player_{i}_features (length num_pots*10 + 24):
+                    pi_orientation: length 4 one-hot-encoding of direction currently facing
+                    pi_obj: length 4 one-hot-encoding of object currently being held (all 0s if no object held)
+                    pi_wall_{j}: {0, 1} boolean value of whether player i has wall immediately in direction j
+                    pi_closest_{onion|tomato|dish|soup|serving|empty_counter}: (dx, dy) where dx = x dist to item, dy = y dist to item. (0, 0) if item is currently held
+                    pi_cloest_soup_n_{onions|tomatoes}: int value for number of this ingredient in closest soup
+                    pi_closest_pot_{j}_exists: {0, 1} depending on whether jth closest pot found. If 0, then all other pot features are 0. Note: can
+                        be 0 even if there are more than j pots on layout, if the pot is not reachable by player i
+                    pi_closest_pot_{j}_{is_empty|is_full|is_cooking|is_ready}: {0, 1} depending on boolean value for jth closest pot
+                    pi_closest_pot_{j}_{num_onions|num_tomatoes}: int value for number of this ingredient in jth closest pot
+                    pi_closest_pot_{j}_cook_time: int value for seconds remaining on soup. -1 if no soup is cooking
+                    pi_closest_pot_{j}: (dx, dy) to jth closest pot from player i location
+
+                other_player_features (length (num_players - 1)*(num_pots*10 + 24)):
+                    ordered concatenation of player_{j}_features for j != i
+                
+                player_i_dist_to_other_players (length (num_players - 1)*2):
+                    [player_j.pos - player_i.pos for j != i]
+
+                player_i_position (length 2)
         """
 
         all_features = {}
 
-        def make_closest_feature(idx, name, locations):
-            "Compute (x, y) deltas to closest feature of type `name`, and save it in the features dict"
-            all_features["p{}_closest_{}".format(idx, name)] = self.get_deltas_to_closest_location(player, locations,
-                                                                                                   mlam)
+        def concat_dicts(a, b):
+            return {**a, **b}
+
+        def make_closest_feature(idx, player, name, locations):
+            """
+            Compute (x, y) deltas to closest feature of type `name`, and save it in the features dict
+            """
+            feat_dict = {}
+            obj = None
+            held_obj = player.held_object
+            held_obj_name = held_obj.name if held_obj else "none"
+            if held_obj_name == name:
+                obj = held_obj
+                feat_dict["p{}_closest_{}".format(i, name)] = (0, 0)
+            else:
+                loc, deltas = self.get_deltas_to_closest_location(player, locations, mlam)
+                if loc and overcooked_state.has_object(loc):
+                    obj = overcooked_state.get_object(loc)
+                feat_dict["p{}_closest_{}".format(idx, name)] = deltas
+
+            if name == 'soup':
+                num_onions = num_tomatoes = 0
+                if obj:
+                    ingredients_cnt = Counter(obj.ingredients)
+                    num_onions, num_tomatoes = ingredients_cnt['onion'], ingredients_cnt['tomato']
+                feat_dict["p{}_closest_soup_n_onions".format(i)] = [num_onions]
+                feat_dict["p{}_closest_soup_n_tomatoes".format(i)] = [num_tomatoes]
+
+            return feat_dict
+
+        def make_pot_feature(idx, player, pot_idx, pot_loc, pot_states):
+            """
+            Encode pot at pot_loc relative to 'player'
+            """
+            # Pot doesn't exist
+            feat_dict = {}
+            if not pot_loc:
+                feat_dict["p{}_closest_pot_{}_exists".format(idx, pot_idx)] = [0]
+                feat_dict["p{}_closest_pot_{}_is_empty".format(idx, pot_idx)] = [0]
+                feat_dict["p{}_closest_pot_{}_is_full".format(idx, pot_idx)] = [0]
+                feat_dict["p{}_closest_pot_{}_is_cooking".format(idx, pot_idx)] = [0]
+                feat_dict["p{}_closest_pot_{}_is_ready".format(idx, pot_idx)] = [0]
+                feat_dict["p{}_closest_pot_{}_num_onions".format(idx, pot_idx)] = [0]
+                feat_dict["p{}_closest_pot_{}_num_tomatoes".format(idx, pot_idx)] = [0]
+                feat_dict["p{}_closest_pot_{}_cook_time".format(idx, pot_idx)] = [0]
+                feat_dict["p{}_closest_pot_{}".format(idx, pot_idx)] = (0, 0)
+                return feat_dict
+            
+            # Get position information
+            deltas = self.get_deltas_to_location(player, pot_loc)
+
+            # Get pot state info
+            is_empty = int(pot_loc in self.get_empty_pots(pot_states))
+            is_full = int(pot_loc in self.get_full_pots(pot_states))
+            is_cooking = int(pot_loc in self.get_cooking_pots(pot_states))
+            is_ready = int(pot_loc in self.get_ready_pots(pot_states))
+
+            # Get soup state info
+            num_onions = num_tomatoes = 0
+            cook_time_remaining = 0
+            if not is_empty:
+                soup = overcooked_state.get_object(pot_loc)
+                ingredients_cnt = Counter(soup.ingredients)
+                num_onions, num_tomatoes = ingredients_cnt['onion'], ingredients_cnt['tomato']
+                cook_time_remaining = 0 if soup.is_idle else soup.cook_time_remaining
+            
+            # Encode pot and soup info
+            feat_dict["p{}_closest_pot_{}_exists".format(idx, pot_idx)] = [1]
+            feat_dict["p{}_closest_pot_{}_is_empty".format(idx, pot_idx)] = [is_empty]
+            feat_dict["p{}_closest_pot_{}_is_full".format(idx, pot_idx)] = [is_full]
+            feat_dict["p{}_closest_pot_{}_is_cooking".format(idx, pot_idx)] = [is_cooking]
+            feat_dict["p{}_closest_pot_{}_is_ready".format(idx, pot_idx)] = [is_ready]
+            feat_dict["p{}_closest_pot_{}_num_onions".format(idx, pot_idx)] = [num_onions]
+            feat_dict["p{}_closest_pot_{}_num_tomatoes".format(idx, pot_idx)] = [num_tomatoes]
+            feat_dict["p{}_closest_pot_{}_cook_time".format(idx, pot_idx)] = [cook_time_remaining]
+            feat_dict["p{}_closest_pot_{}".format(idx, pot_idx)] = deltas
+
+            return feat_dict
+
+            
+
 
-        IDX_TO_OBJ = ["onion", "soup", "dish"]
+        IDX_TO_OBJ = ["onion", "soup", "dish", "tomato"]
         OBJ_TO_IDX = {o_name: idx for idx, o_name in enumerate(IDX_TO_OBJ)}
 
         counter_objects = self.get_counter_objects_dict(overcooked_state)
-        pot_state = self.get_pot_states(overcooked_state)
+        pot_states = self.get_pot_states(overcooked_state)
 
-        # Player Info
         for i, player in enumerate(overcooked_state.players):
+            # Player info
             orientation_idx = Direction.DIRECTION_TO_INDEX[player.orientation]
             all_features["p{}_orientation".format(i)] = np.eye(4)[orientation_idx]
             obj = player.held_object
@@ -1989,68 +2116,82 @@ def make_closest_feature(idx, name, locations):
                 obj_idx = OBJ_TO_IDX[held_obj_name]
                 all_features["p{}_objs".format(i)] = np.eye(len(IDX_TO_OBJ))[obj_idx]
 
-            # Closest feature of each type
-            if held_obj_name == "onion":
-                all_features["p{}_closest_onion".format(i)] = (0, 0)
-            else:
-                make_closest_feature(i, "onion", self.get_onion_dispenser_locations() + counter_objects["onion"])
-
-            make_closest_feature(i, "empty_pot", pot_state["empty"])
-            make_closest_feature(i, "one_onion_pot", pot_state["1_items"])
-            make_closest_feature(i, "two_onion_pot", pot_state["2_items"])
-            make_closest_feature(i, "cooking_pot", pot_state["cooking"])
-            make_closest_feature(i, "ready_pot", pot_state["ready"])
-
-            if held_obj_name == "dish":
-                all_features["p{}_closest_dish".format(i)] = (0, 0)
-            else:
-                make_closest_feature(i, "dish", self.get_dish_dispenser_locations() + counter_objects["dish"])
-
-            if held_obj_name == "soup":
-                all_features["p{}_closest_soup".format(i)] = (0, 0)
-            else:
-                make_closest_feature(i, "soup", counter_objects["soup"])
-
-            make_closest_feature(i, "serving", self.get_serving_locations())
-
+            # Closest feature for each object type
+            all_features = concat_dicts(all_features, make_closest_feature(i, player, "onion", self.get_onion_dispenser_locations() + counter_objects["onion"]))
+            all_features = concat_dicts(all_features, make_closest_feature(i, player, "tomato", self.get_tomato_dispenser_locations() + counter_objects["tomato"]))
+            all_features = concat_dicts(all_features, make_closest_feature(i, player, "dish", self.get_dish_dispenser_locations() + counter_objects["dish"]))
+            all_features = concat_dicts(all_features, make_closest_feature(i, player, "soup", counter_objects["soup"]))
+            all_features = concat_dicts(all_features, make_closest_feature(i, player, "serving", self.get_serving_locations()))
+            all_features = concat_dicts(all_features, make_closest_feature(i, player, "empty_counter", self.get_empty_counter_locations(overcooked_state)))
+
+            # Closest pots info
+            pot_locations = self.get_pot_locations().copy()
+            for pot_idx in range(num_pots):
+                _, closest_pot_loc = mlam.motion_planner.min_cost_to_feature(player.pos_and_or, pot_locations, with_argmin=True)
+                pot_features = make_pot_feature(i, player, pot_idx, closest_pot_loc, pot_states)
+                all_features = concat_dicts(all_features, pot_features)
+
+                if closest_pot_loc:
+                    pot_locations.remove(closest_pot_loc)
+
+            # Adjacent features info
             for direction, pos_and_feat in enumerate(self.get_adjacent_features(player)):
-                adj_pos, feat = pos_and_feat
-
-                if direction == player.orientation:
-                    # Check if counter we are facing is empty
-                    facing_counter = (feat == 'X' and adj_pos not in overcooked_state.objects.keys())
-                    facing_counter_feature = [1] if facing_counter else [0]
-                    # NOTE: Really, this feature should have been "closest empty counter"
-                    all_features["p{}_facing_empty_counter".format(i)] = facing_counter_feature
-
+                _, feat = pos_and_feat
                 all_features["p{}_wall_{}".format(i, direction)] = [0] if feat == ' ' else [1]
 
+        # Convert all list and tuple values to np.arrays
         features_np = {k: np.array(v) for k, v in all_features.items()}
 
-        p0, p1 = overcooked_state.players
-        p0_dict = {k: v for k, v in features_np.items() if k[:2] == "p0"}
-        p1_dict = {k: v for k, v in features_np.items() if k[:2] == "p1"}
-        p0_features = np.concatenate(list(p0_dict.values()))
-        p1_features = np.concatenate(list(p1_dict.values()))
-
-        p1_rel_to_p0 = np.array(pos_distance(p1.position, p0.position))
-        abs_pos_p0 = np.array(p0.position)
-        ordered_features_p0 = np.squeeze(np.concatenate([p0_features, p1_features, p1_rel_to_p0, abs_pos_p0]))
+        player_features = [] # Non-position player-specific features
+        player_absolute_positions = [] # Position player-specific features
+        player_relative_positions = [] # Relative position player-specific features
+
+        # Compute all player-centric features for each player
+        for i, player_i in enumerate(overcooked_state.players):
+            # All absolute player-centric features
+            player_i_dict = {k: v for k, v in features_np.items() if k[:2] == "p{}".format(i)}
+            features = np.concatenate(list(player_i_dict.values()))
+            abs_pos = np.array(player_i.position)
+
+            # Calculate position relative to all other players
+            rel_pos = []
+            for player_j in overcooked_state.players:
+                if player_i == player_j:
+                    continue
+                pj_rel_to_pi = np.array(pos_distance(player_j.position, player_i.position))
+                rel_pos.append(pj_rel_to_pi)
+            rel_pos = np.concatenate(rel_pos)
+
+            player_features.append(features)
+            player_absolute_positions.append(abs_pos)
+            player_relative_positions.append(rel_pos)
+        
+        # Compute a symmetric, player-centric encoding of features for each player
+        ordered_features = []
+        for i, player_i in enumerate(overcooked_state.players):
+            player_i_features = player_features[i]
+            player_i_abs_pos = player_absolute_positions[i]
+            player_i_rel_pos = player_relative_positions[i]
+            other_player_features = np.concatenate([feats for j, feats in enumerate(player_features) if j != i])
+            player_i_ordered_features = np.squeeze(np.concatenate([player_i_features, other_player_features, player_i_rel_pos, player_i_abs_pos]))
+            ordered_features.append(player_i_ordered_features)
 
-        p0_rel_to_p1 = np.array(pos_distance(p0.position, p1.position))
-        abs_pos_p1 = np.array(p1.position)
-        ordered_features_p1 = np.squeeze(np.concatenate([p1_features, p0_features, p0_rel_to_p1, abs_pos_p1]))
-        return ordered_features_p0, ordered_features_p1
+        return ordered_features
 
 
     def get_deltas_to_closest_location(self, player, locations, mlam):
         _, closest_loc = mlam.motion_planner.min_cost_to_feature(player.pos_and_or, locations, with_argmin=True)
-        if closest_loc is None:
+        deltas = self.get_deltas_to_location(player, closest_loc)
+        return closest_loc, deltas
+        
+
+    def get_deltas_to_location(self, player, location):
+        if location is None:
             # "any object that does not exist or I am carrying is going to show up as a (0,0)
             # but I can disambiguate the two possibilities by looking at the features 
             # for what kind of object I'm carrying"
             return (0, 0)
-        dy_loc, dx_loc = pos_distance(closest_loc, player.position)
+        dy_loc, dx_loc = pos_distance(location, player.position)
         return dy_loc, dx_loc
 
 
diff --git a/src/overcooked_ai_py/mdp/overcooked_trajectory.py b/src/overcooked_ai_py/mdp/overcooked_trajectory.py
new file mode 100644
index 00000000..158a3b24
--- /dev/null
+++ b/src/overcooked_ai_py/mdp/overcooked_trajectory.py
@@ -0,0 +1,65 @@
+import numpy as np
+
+"""
+NOTE: Currently under construction...
+
+
+TODO: stretch goal of taking object-oriented approach to trajectories by creating Trajectory class. 
+This would require changes both throughout this repo and overcooked-ai repo, so it's blue sky goal for now
+
+
+This file's utility functions represents a primitive first-step towards treating trajectories as first class objects
+
+
+The standard format for Overcooked trajectories is:
+    trajs = {
+        # With shape (n_episodes, game_len), where game_len might vary across games:
+        "ep_states":    [ [traj_1_states], [traj_2_states], ... ],                          # Individual trajectory states
+        "ep_actions":   [ [traj_1_joint_actions], [traj_2_joint_actions], ... ],            # Trajectory joint actions, by agent
+        "ep_rewards":   [ [traj_1_timestep_rewards], [traj_2_timestep_rewards], ... ],      # (Sparse) reward values by timestep
+        "ep_dones":     [ [traj_1_timestep_dones], [traj_2_timestep_dones], ... ],          # Done values (should be all 0s except last one for each traj) TODO: add this to traj checks
+        "ep_infos":     [ [traj_1_timestep_infos], [traj_2_traj_1_timestep_infos], ... ],   # Info dictionaries
+
+        # With shape (n_episodes, ):
+        "ep_returns":   [ cumulative_traj1_reward, cumulative_traj2_reward, ... ],          # Sum of sparse rewards across each episode
+        "ep_lengths":   [ traj1_length, traj2_length, ... ],                                # Lengths (in env timesteps) of each episode
+        "mdp_params":   [ traj1_mdp_params, traj2_mdp_params, ... ],                        # Custom Mdp params to for each episode
+        "env_params":   [ traj1_env_params, traj2_env_params, ... ],                        # Custom Env params for each episode
+
+        # Custom metadata key value pairs
+        "metadatas":   [{custom metadata key:value pairs for traj 1}, {...}, ...]          # Each metadata dictionary is of similar format to the trajectories dictionary
+    }
+"""
+
+TIMESTEP_TRAJ_KEYS = set(["ep_states", "ep_actions", "ep_rewards", "ep_dones", "ep_infos"])
+EPISODE_TRAJ_KEYS = set(["ep_returns", "ep_lengths", "mdp_params", "env_params"])
+DEFAULT_TRAJ_KEYS = set(list(TIMESTEP_TRAJ_KEYS) + list(EPISODE_TRAJ_KEYS) + ["metadatas"])
+
+def get_empty_trajectory():
+    return { k : [] if k != 'metadatas' else {} for k in DEFAULT_TRAJ_KEYS }
+
+def append_trajectories(traj_one, traj_two):
+    # Note: Drops metadatas for now
+    if not traj_one and not traj_two:
+        return {}
+    if not traj_one:
+        traj_one = get_empty_trajectory()
+    if not traj_two:
+        traj_two = get_empty_trajectory()
+    
+    if set(traj_one.keys()) != DEFAULT_TRAJ_KEYS or set(traj_two.keys()) != DEFAULT_TRAJ_KEYS:
+        raise ValueError("Trajectory key mismatch!")
+    
+    appended_traj = { "metadatas" : {} }
+    for k in traj_one:
+        if k != 'metadatas':
+            traj_one_value = traj_one[k]
+            traj_two_value = traj_two[k]
+            assert type(traj_one_value) == type(traj_two_value), "mismatched trajectory types!"
+            
+            if type(traj_one_value) == list:
+                appended_traj[k] = traj_one_value + traj_two_value
+            else:
+                appended_traj[k] = np.concatenate([traj_one_value, traj_two_value], axis=0)
+
+    return appended_traj
\ No newline at end of file
diff --git a/src/overcooked_ai_py/planning/planners.py b/src/overcooked_ai_py/planning/planners.py
index 0f97f6b8..d226b707 100644
--- a/src/overcooked_ai_py/planning/planners.py
+++ b/src/overcooked_ai_py/planning/planners.py
@@ -75,11 +75,13 @@ def from_pickle_or_compute(mdp, counter_goals, custom_filename=None, force_compu
             mp = MotionPlanner.from_file(filename)
 
             if mp.counter_goals != counter_goals or mp.mdp != mdp:
-                print("motion planner with different counter goal or mdp found, computing from scratch")
+                if info:
+                    print("motion planner with different counter goal or mdp found, computing from scratch")
                 return MotionPlanner.compute_mp(filename, mdp, counter_goals)
 
         except (FileNotFoundError, ModuleNotFoundError, EOFError, AttributeError) as e:
-            print("Recomputing motion planner due to:", e)
+            if info:
+                print("Recomputing motion planner due to:", e)
             return MotionPlanner.compute_mp(filename, mdp, counter_goals)
 
         if info:
@@ -148,7 +150,7 @@ def _populate_all_plans(self):
             all_plans[plan_key] = (action_plan, pos_and_or_path, plan_cost)
         return all_plans
 
-    def is_valid_motion_start_goal_pair(self, start_pos_and_or, goal_pos_and_or, debug=False):
+    def is_valid_motion_start_goal_pair(self, start_pos_and_or, goal_pos_and_or):
         if not self.is_valid_motion_goal(goal_pos_and_or):
             return False
         # the valid motion start goal needs to be in the same connected component
@@ -299,7 +301,7 @@ def min_cost_to_feature(self, start_pos_and_or, feature_pos_list, with_argmin=Fa
         best_feature = None
         for feature_pos in feature_pos_list:
             for feature_goal in self.motion_goals_for_pos[feature_pos]:
-                if not self.is_valid_motion_start_goal_pair(start_pos_and_or, feature_goal, debug=debug):
+                if not self.is_valid_motion_start_goal_pair(start_pos_and_or, feature_goal):
                     continue
                 curr_dist = self.get_gridworld_distance(start_pos_and_or, feature_goal)
                 if curr_dist < min_dist:
@@ -351,6 +353,7 @@ def __init__(self, mdp, params, debug=False):
         # (increases number of plans by a factor of 4)
         # but removes additional fudge factor <= 1 for each
         # joint motion plan
+        self.debug = debug
         self.start_orientations = params["start_orientations"]
 
         # Enable both agents to have the same motion goal
@@ -363,7 +366,7 @@ def __init__(self, mdp, params, debug=False):
         # starting positions to goal positions (without
         # accounting for orientations)
         self.joint_graph_problem = self._joint_graph_from_grid()
-        self.all_plans = self._populate_all_plans(debug)
+        self.all_plans = self._populate_all_plans()
 
     def get_low_level_action_plan(self, start_jm_state, goal_jm_state):
         """
@@ -416,7 +419,7 @@ def get_low_level_action_plan(self, start_jm_state, goal_jm_state):
         joint_action_plan, end_jm_state, plan_lengths = self.all_plans[plan_key]
         return joint_action_plan, end_jm_state, plan_lengths
 
-    def _populate_all_plans(self, debug=False):
+    def _populate_all_plans(self):
         """Pre-compute all valid plans"""
         all_plans = {}
 
@@ -430,9 +433,8 @@ def _populate_all_plans(self, debug=False):
         possible_joint_goal_states = list(itertools.product(valid_player_states, repeat=2))
         valid_joint_goal_states = list(filter(self.is_valid_joint_motion_goal, possible_joint_goal_states))
 
-        if debug: print("Number of plans being pre-calculated: ", len(valid_joint_start_states) * len(valid_joint_goal_states))
+        if self.debug: print("Number of plans being pre-calculated: ", len(valid_joint_start_states) * len(valid_joint_goal_states))
         for joint_start_state, joint_goal_state in itertools.product(valid_joint_start_states, valid_joint_goal_states):
-            
             # If orientations not present, joint_start_state just includes positions.
             if not self.start_orientations:
                 dummy_orientation = Direction.NORTH
@@ -674,7 +676,7 @@ def _rollout_end_pos_and_or(self, joint_start_state, joint_action_plan):
         # (otherwise Environment will terminate)
         from overcooked_ai_py.mdp.overcooked_env import OvercookedEnv
         dummy_state = OvercookedState.from_players_pos_and_or(joint_start_state, all_orders=self.mdp.start_all_orders)
-        env = OvercookedEnv.from_mdp(self.mdp, horizon=200) # Plans should be shorter than 200 timesteps, or something is likely wrong
+        env = OvercookedEnv.from_mdp(self.mdp, horizon=200, info_level=int(self.debug)) # Plans should be shorter than 200 timesteps, or something is likely wrong
         successor_state, is_done = env.execute_plan(dummy_state, joint_action_plan)
         assert not is_done
         return successor_state.players_pos_and_or
@@ -789,36 +791,40 @@ def from_file(filename):
         return load_saved_action_manager(filename)
 
     @staticmethod
-    def from_pickle_or_compute(mdp, mlam_params, custom_filename=None, force_compute=False, info=True):
+    def from_pickle_or_compute(mdp, mlam_params, custom_filename=None, force_compute=False, info=False):
         assert isinstance(mdp, OvercookedGridworld)
 
         filename = custom_filename if custom_filename is not None else mdp.layout_name + "_am.pkl"
 
         if force_compute:
-            return MediumLevelActionManager.compute_mlam(filename, mdp, mlam_params)
+            return MediumLevelActionManager.compute_mlam(filename, mdp, mlam_params, info=info)
 
         try:
             mlam = MediumLevelActionManager.from_file(filename)
 
             if mlam.params != mlam_params or mlam.mdp != mdp:
-                print("medium level action manager with different params or mdp found, computing from scratch")
-                return MediumLevelActionManager.compute_mlam(filename, mdp, mlam_params)
+                if info:
+                    print("medium level action manager with different params or mdp found, computing from scratch")
+                return MediumLevelActionManager.compute_mlam(filename, mdp, mlam_params, info=info)
 
         except (FileNotFoundError, ModuleNotFoundError, EOFError, AttributeError) as e:
-            print("Recomputing planner due to:", e)
-            return MediumLevelActionManager.compute_mlam(filename, mdp, mlam_params)
+            if info:
+                print("Recomputing planner due to:", e)
+            return MediumLevelActionManager.compute_mlam(filename, mdp, mlam_params, info=info)
 
         if info:
             print("Loaded MediumLevelActionManager from {}".format(os.path.join(PLANNERS_DIR, filename)))
         return mlam
 
     @staticmethod
-    def compute_mlam(filename, mdp, mlam_params):
+    def compute_mlam(filename, mdp, mlam_params, info=False):
         final_filepath = os.path.join(PLANNERS_DIR, filename)
-        print("Computing MediumLevelActionManager to be saved in {}".format(final_filepath))
+        if info:
+            print("Computing MediumLevelActionManager to be saved in {}".format(final_filepath))
         start_time = time.time()
         mlam = MediumLevelActionManager(mdp, mlam_params=mlam_params)
-        print("It took {} seconds to create mlam".format(time.time() - start_time))
+        if info:
+            print("It took {} seconds to create mlam".format(time.time() - start_time))
         mlam.save_to_file(final_filepath)
         return mlam
 
diff --git a/src/overcooked_ai_py/static.py b/src/overcooked_ai_py/static.py
index 67bb3a11..d6d923cc 100644
--- a/src/overcooked_ai_py/static.py
+++ b/src/overcooked_ai_py/static.py
@@ -6,4 +6,5 @@
 PLANNERS_DIR = os.path.join(DATA_DIR, "planners")
 LAYOUTS_DIR = os.path.join(DATA_DIR, "layouts")
 GRAPHICS_DIR = os.path.join(DATA_DIR, "graphics")
-FONTS_DIR = os.path.join(DATA_DIR, "fonts")
\ No newline at end of file
+FONTS_DIR = os.path.join(DATA_DIR, "fonts")
+TESTING_DATA_DIR = os.path.join(DATA_DIR, "testing")
\ No newline at end of file
diff --git a/testing/agent_test.py b/testing/agent_test.py
index 9daf5060..79067343 100644
--- a/testing/agent_test.py
+++ b/testing/agent_test.py
@@ -31,7 +31,7 @@ def setUp(self):
     def test_human_model_pair(self):
         trajs = self.agent_eval.evaluate_human_model_pair()
         try:
-            AgentEvaluator.check_trajectories(trajs)
+            AgentEvaluator.check_trajectories(trajs, verbose=False)
         except AssertionError as e:
             self.fail("Trajectories were not returned in standard format:\n{}".format(e))
 
@@ -39,7 +39,7 @@ def test_rollouts(self):
         ap = AgentPair(RandomAgent(), RandomAgent())
         trajs = self.agent_eval.evaluate_agent_pair(ap, num_games=5)
         try:
-            AgentEvaluator.check_trajectories(trajs)
+            AgentEvaluator.check_trajectories(trajs, verbose=False)
         except AssertionError as e:
             self.fail("Trajectories were not returned in standard format:\n{}".format(e))
         
diff --git a/testing/common_test_generator.py b/testing/common_test_generator.py
deleted file mode 100644
index a4a48924..00000000
--- a/testing/common_test_generator.py
+++ /dev/null
@@ -1,19 +0,0 @@
-import numpy as np
-from overcooked_ai_py.agents.benchmarking import AgentEvaluator
-from overcooked_ai_py.utils import save_as_json
-
-# The point of this file is to generate serialized trajectories for MDP dynamics consistency testing
-# NOTE: If intentionally updating MDP dynamics, this function should be used
-
-def generate_serialized_trajectory(mdp, save_path):
-    # Saving trajectory for dynamics consistency test
-    seed = 0
-    sparse_reward = 0
-    while sparse_reward <= 0:
-        np.random.seed(seed)
-        ae = AgentEvaluator.from_mdp(mdp, env_params={"horizon": 1500})
-        test_trajs = ae.evaluate_random_pair(all_actions=True, num_games=1)
-        sparse_reward = np.mean(test_trajs["ep_returns"])
-        seed += 1
-
-    AgentEvaluator.save_traj_as_json(test_trajs, save_path)
diff --git a/testing/overcooked_test.py b/testing/overcooked_test.py
index 627d8ad7..9d254e24 100644
--- a/testing/overcooked_test.py
+++ b/testing/overcooked_test.py
@@ -1,16 +1,18 @@
-import unittest, os, shutil
-import json
+import unittest, os, shutil, glob
+import json, copy
 import numpy as np
 from math import factorial
 from overcooked_ai_py.mdp.actions import Action, Direction
 from overcooked_ai_py.mdp.overcooked_mdp import PlayerState, OvercookedGridworld, OvercookedState, ObjectState, SoupState, Recipe
 from overcooked_ai_py.mdp.overcooked_env import OvercookedEnv, DEFAULT_ENV_PARAMS
+from overcooked_ai_py.mdp.overcooked_trajectory import append_trajectories, DEFAULT_TRAJ_KEYS, TIMESTEP_TRAJ_KEYS, EPISODE_TRAJ_KEYS
 from overcooked_ai_py.mdp.layout_generator import LayoutGenerator, ONION_DISPENSER, TOMATO_DISPENSER, POT, DISH_DISPENSER, SERVING_LOC
 from overcooked_ai_py.agents.agent import AgentGroup, AgentPair, GreedyHumanModel, FixedPlanAgent, RandomAgent
 from overcooked_ai_py.agents.benchmarking import AgentEvaluator
 from overcooked_ai_py.planning.planners import MediumLevelActionManager, NO_COUNTERS_PARAMS, MotionPlanner
 from overcooked_ai_py.utils import save_pickle, load_pickle, iterate_over_json_files_in_dir, load_from_json, save_as_json
-from utils import TESTING_DATA_DIR, generate_serialized_trajectory
+from overcooked_ai_py.static import TESTING_DATA_DIR
+from utils import generate_serialized_trajectory
 
 START_ORDER_LIST = ["any"]
 n, s = Direction.NORTH, Direction.SOUTH
@@ -271,6 +273,8 @@ class TestGridworld(unittest.TestCase):
 
     # TODO: write more smaller targeted tests to be loaded from jsons
 
+    verbose = False
+
     def setUp(self):
         self.base_mdp = OvercookedGridworld.from_layout_name("mdp_test")
 
@@ -354,7 +358,7 @@ def test_transitions_and_environment(self):
         with self.assertRaises(AssertionError):
             self.base_mdp.get_state_transition(bad_state, stay)
 
-        env = OvercookedEnv.from_mdp(self.base_mdp)
+        env = OvercookedEnv.from_mdp(self.base_mdp, info_level=0)
 
         def check_transition(action, expected_path, recompute=False):
             # Compute actual values
@@ -389,10 +393,10 @@ def test_mdp_dynamics(self):
         traj_path = os.path.join(TESTING_DATA_DIR, 'test_mdp_dynamics', 'expected.json')
 
         # NOTE: uncomment the following line to recompute trajectories if MDP dymamics were deliberately updated
-        generate_serialized_trajectory(self.base_mdp, traj_path)
+        # generate_serialized_trajectory(self.base_mdp, traj_path)
 
         test_trajectory = AgentEvaluator.load_traj_from_json(traj_path)
-        AgentEvaluator.check_trajectories(test_trajectory, from_json=True)
+        AgentEvaluator.check_trajectories(test_trajectory, from_json=True, verbose=False)
 
     def test_mdp_serialization(self):
         # Where to store serialized states -- will be overwritten each timestep
@@ -430,45 +434,53 @@ def test_potential_function(self):
         val0 = self.base_mdp.potential_function(state, mp)
 
         # Pick up onion
-        print("pick up onion")
-        print(self.base_mdp.state_string(state))
-        print("potential: ", self.base_mdp.potential_function(state, mp))
+        if self.verbose:
+            print("pick up onion")
+            print(self.base_mdp.state_string(state))
+            print("potential: ", self.base_mdp.potential_function(state, mp))
         actions = [Direction.EAST, Action.INTERACT]
         for action in actions:
             state, _ = self.base_mdp.get_state_transition(state, [Action.STAY, action])
-            print(self.base_mdp.state_string(state))
-            print("potential: ", self.base_mdp.potential_function(state, mp))
+            if self.verbose:
+                print(self.base_mdp.state_string(state))
+                print("potential: ", self.base_mdp.potential_function(state, mp))
         val1 = self.base_mdp.potential_function(state, mp)
         
 
         # Pick up tomato
-        print("pick up tomtato")
+        if self.verbose:
+            print("pick up tomtato")
         actions = [Direction.WEST, Action.INTERACT]
         for action in actions:
             state, _ = self.base_mdp.get_state_transition(state, [action, Action.STAY])
-            print(self.base_mdp.state_string(state))
-            print("potential: ", self.base_mdp.potential_function(state, mp))
+            if self.verbose:
+                print(self.base_mdp.state_string(state))
+                print("potential: ", self.base_mdp.potential_function(state, mp))
         val2 = self.base_mdp.potential_function(state, mp)
 
         self.assertLess(val0, val1, "Picking up onion should increase potential")
         self.assertLess(val1, val2, "Picking up tomato should increase potential")
 
         # Pot tomato
-        print("pot tomato")
+        if self.verbose:
+            print("pot tomato")
         actions = [Direction.EAST, Direction.NORTH, Action.INTERACT, Direction.WEST]
         for action in actions:
             state, _ = self.base_mdp.get_state_transition(state, [action, Action.STAY])
-            print(self.base_mdp.state_string(state))
-            print("potential: ", self.base_mdp.potential_function(state, mp))
+            if self.verbose:
+                print(self.base_mdp.state_string(state))
+                print("potential: ", self.base_mdp.potential_function(state, mp))
         val3 = self.base_mdp.potential_function(state, mp)
         
         # Pot onion
-        print("pot onion")
+        if self.verbose:
+            print("pot onion")
         actions = [Direction.WEST, Direction.NORTH, Action.INTERACT]
         for action in actions:
             state, _ = self.base_mdp.get_state_transition(state, [Action.STAY, action])
-            print(self.base_mdp.state_string(state))
-            print("potential: ", self.base_mdp.potential_function(state, mp))
+            if self.verbose:
+                print(self.base_mdp.state_string(state))
+                print("potential: ", self.base_mdp.potential_function(state, mp))
         val4 = self.base_mdp.potential_function(state, mp)
 
         self.assertLess(val2, val3, "Potting tomato should increase potential")
@@ -477,40 +489,48 @@ def test_potential_function(self):
         ## Repeat on second pot ##
 
         # Pick up onion
-        print("pick up onion")
+        if self.verbose:
+            print("pick up onion")
         state, _ = self.base_mdp.get_state_transition(state, [Action.INTERACT, Action.STAY])
         val5 = self.base_mdp.potential_function(state, mp)
-        print(self.base_mdp.state_string(state))
-        print("potential: ", self.base_mdp.potential_function(state, mp))
+        if self.verbose:
+            print(self.base_mdp.state_string(state))
+            print("potential: ", self.base_mdp.potential_function(state, mp))
 
         # Pick up tomato
-        print("pick up tomato")
+        if self.verbose:
+            print("pick up tomato")
         actions = [Direction.SOUTH, Direction.EAST, Action.INTERACT]
         for action in actions:
             state, _ = self.base_mdp.get_state_transition(state, [Action.STAY, action])
-            print(self.base_mdp.state_string(state))
-            print("potential: ", self.base_mdp.potential_function(state, mp))
+            if self.verbose:
+                print(self.base_mdp.state_string(state))
+                print("potential: ", self.base_mdp.potential_function(state, mp))
         val6 = self.base_mdp.potential_function(state, mp)
 
         self.assertLess(val4, val5, "Picking up onion should increase potential")
         self.assertLess(val5, val6, "Picking up tomato should increase potential")
 
         # Pot onion
-        print("pot onion")
+        if self.verbose:
+            print("pot onion")
         actions = [Direction.SOUTH, Direction.EAST, Direction.SOUTH, Action.INTERACT, Direction.WEST]
         for action in actions:
             state, _ = self.base_mdp.get_state_transition(state, [action, Action.STAY])
-            print(self.base_mdp.state_string(state))
-            print("potential: ", self.base_mdp.potential_function(state, mp))
+            if self.verbose:
+                print(self.base_mdp.state_string(state))
+                print("potential: ", self.base_mdp.potential_function(state, mp))
         val7 = self.base_mdp.potential_function(state, mp)
 
         # Pot tomato
-        print("pot tomato")
+        if self.verbose:
+            print("pot tomato")
         actions = [Direction.WEST, Direction.SOUTH, Action.INTERACT]
         for action in actions:
             state, _ = self.base_mdp.get_state_transition(state, [Action.STAY, action])
-            print(self.base_mdp.state_string(state))
-            print("potential: ", self.base_mdp.potential_function(state, mp))
+            if self.verbose:
+                print(self.base_mdp.state_string(state))
+                print("potential: ", self.base_mdp.potential_function(state, mp))
         val8 = self.base_mdp.potential_function(state, mp)
 
         
@@ -521,21 +541,25 @@ def test_potential_function(self):
         ## Useless pickups ##
         
         # pickup tomato
-        print("pickup tomato")
+        if self.verbose:
+            print("pickup tomato")
         actions = [Action.INTERACT, Direction.NORTH]
         for action in actions:
             state, _ = self.base_mdp.get_state_transition(state, [action, Action.STAY])
-            print(self.base_mdp.state_string(state))
-            print("potential: ", self.base_mdp.potential_function(state, mp))
+            if self.verbose:
+                print(self.base_mdp.state_string(state))
+                print("potential: ", self.base_mdp.potential_function(state, mp))
         val9 = self.base_mdp.potential_function(state, mp)
 
         # pickup tomato
-        print("pickup tomato")
+        if self.verbose:
+            print("pickup tomato")
         actions = [Direction.EAST, Action.INTERACT]
         for action in actions:
             state, _ = self.base_mdp.get_state_transition(state, [Action.STAY, action])
-            print(self.base_mdp.state_string(state))
-            print("potential: ", self.base_mdp.potential_function(state, mp))
+            if self.verbose:
+                print(self.base_mdp.state_string(state))
+                print("potential: ", self.base_mdp.potential_function(state, mp))
         val10 = self.base_mdp.potential_function(state, mp)
 
         self.assertLessEqual(val9, val8, "Extraneous pickup should not increase potential")
@@ -544,12 +568,14 @@ def test_potential_function(self):
         ## Catastrophic soup failure ##
         
         # pot tomato
-        print("pot catastrophic tomato")
+        if self.verbose:
+            print("pot catastrophic tomato")
         actions = [Direction.WEST, Direction.SOUTH, Action.INTERACT]
         for action in actions:
             state, _ = self.base_mdp.get_state_transition(state, [Action.STAY, action])
-            print(self.base_mdp.state_string(state))
-            print("potential: ", self.base_mdp.potential_function(state, mp))
+            if self.verbose:
+                print(self.base_mdp.state_string(state))
+                print("potential: ", self.base_mdp.potential_function(state, mp))
         val11 = self.base_mdp.potential_function(state, mp)
 
         self.assertLess(val11, val10, "Catastrophic potting should decrease potential")
@@ -557,30 +583,36 @@ def test_potential_function(self):
         ## Bonus soup creation
 
         # pick up onion
-        print("pick up onion")
+        if self.verbose:
+            print("pick up onion")
         actions = [Direction.NORTH, Action.INTERACT, Direction.WEST, Action.INTERACT]
         for action in actions:
             state, _ = self.base_mdp.get_state_transition(state, [action, Action.STAY])
-            print(self.base_mdp.state_string(state))
-            print("potential: ", self.base_mdp.potential_function(state, mp))
+            if self.verbose:
+                print(self.base_mdp.state_string(state))
+                print("potential: ", self.base_mdp.potential_function(state, mp))
         val12 = self.base_mdp.potential_function(state, mp)
 
         # pot onion
-        print("pot onion")
+        if self.verbose:
+            print("pot onion")
         actions = [Direction.EAST, Direction.NORTH, Action.INTERACT]
         for action in actions:
             state, _ = self.base_mdp.get_state_transition(state, [action, Action.STAY])
-            print(self.base_mdp.state_string(state))
-            print("potential: ", self.base_mdp.potential_function(state, mp))
+            if self.verbose:
+                print(self.base_mdp.state_string(state))
+                print("potential: ", self.base_mdp.potential_function(state, mp))
         val13 = self.base_mdp.potential_function(state, mp)
 
         # Cook soup
-        print("cook soup")
+        if self.verbose:
+            print("cook soup")
         actions = [Action.INTERACT, Direction.WEST]
         for action in actions:
             state, _ = self.base_mdp.get_state_transition(state, [action, Action.STAY])
-            print(self.base_mdp.state_string(state))
-            print("potential: ", self.base_mdp.potential_function(state, mp))
+            if self.verbose:
+                print(self.base_mdp.state_string(state))
+                print("potential: ", self.base_mdp.potential_function(state, mp))
         val14 = self.base_mdp.potential_function(state, mp)
 
         self.assertLess(val11, val12, "Useful onion pickup should increase potential")
@@ -590,28 +622,34 @@ def test_potential_function(self):
         ## Soup pickup ##
 
         # Pick up dish
-        print("pick up dish")
+        if self.verbose:
+            print("pick up dish")
         actions = [Direction.WEST, Direction.SOUTH, Action.INTERACT]
         for action in actions:
             state, _ = self.base_mdp.get_state_transition(state, [Action.STAY, action])
-            print(self.base_mdp.state_string(state))
-            print("potential: ", self.base_mdp.potential_function(state, mp))
+            if self.verbose:
+                print(self.base_mdp.state_string(state))
+                print("potential: ", self.base_mdp.potential_function(state, mp))
         val15 = self.base_mdp.potential_function(state, mp)
 
         # Move towards pot
-        print("move towards pot")
+        if self.verbose:
+            print("move towards pot")
         actions = [Direction.EAST, Direction.NORTH]
         for action in actions:
             state, _ = self.base_mdp.get_state_transition(state, [Action.STAY, action])
-            print(self.base_mdp.state_string(state))
-            print("potential: ", self.base_mdp.potential_function(state, mp))
+            if self.verbose:
+                print(self.base_mdp.state_string(state))
+                print("potential: ", self.base_mdp.potential_function(state, mp))
         val16 = self.base_mdp.potential_function(state, mp)
 
         # Pickup soup
-        print("pickup soup")
+        if self.verbose:
+            print("pickup soup")
         state, _ = self.base_mdp.get_state_transition(state, [Action.STAY, Action.INTERACT])
-        print(self.base_mdp.state_string(state))
-        print("potential: ", self.base_mdp.potential_function(state, mp))
+        if self.verbose:
+            print(self.base_mdp.state_string(state))
+            print("potential: ", self.base_mdp.potential_function(state, mp))
         val17 = self.base_mdp.potential_function(state, mp)
 
         self.assertLess(val14, val15, "Useful dish pickups should increase potential")
@@ -621,38 +659,45 @@ def test_potential_function(self):
         ## Removing failed soup from pot
 
         # move towards failed soup
-        print("move torwards failed soup")
+        if self.verbose:
+            print("move torwards failed soup")
         actions = [Direction.SOUTH, Direction.EAST, Direction.SOUTH]
         for action in actions:
             state, _ = self.base_mdp.get_state_transition(state, [action, Action.STAY])
-            print(self.base_mdp.state_string(state))
-            print("potential: ", self.base_mdp.potential_function(state, mp))
+            if self.verbose:
+                print(self.base_mdp.state_string(state))
+                print("potential: ", self.base_mdp.potential_function(state, mp))
         val18 = self.base_mdp.potential_function(state, mp)
 
         # Cook failed soup
         actions = [Action.INTERACT]
         for action in actions:
             state, _ = self.base_mdp.get_state_transition(state, [action, Action.STAY])
-            print(self.base_mdp.state_string(state))
-            print("potential: ", self.base_mdp.potential_function(state, mp))
+            if self.verbose:
+                print(self.base_mdp.state_string(state))
+                print("potential: ", self.base_mdp.potential_function(state, mp))
         val19 = self.base_mdp.potential_function(state, mp)
 
         # Pickup dish
-        print("pickup dish")
+        if self.verbose:
+            print("pickup dish")
         actions = [Direction.WEST, Direction.SOUTH, Action.INTERACT]
         for action in actions:
             state, _ = self.base_mdp.get_state_transition(state, [action, Action.STAY])
-            print(self.base_mdp.state_string(state))
-            print("potential: ", self.base_mdp.potential_function(state, mp))
+            if self.verbose:
+                print(self.base_mdp.state_string(state))
+                print("potential: ", self.base_mdp.potential_function(state, mp))
         val20 = self.base_mdp.potential_function(state, mp)
 
         # Move towards soup
-        print("move towards soup")
+        if self.verbose:
+            print("move towards soup")
         actions = [Direction.EAST, Direction.SOUTH]
         for action in actions:
             state, _ = self.base_mdp.get_state_transition(state, [action, Action.STAY])
-            print(self.base_mdp.state_string(state))
-            print("potential: ", self.base_mdp.potential_function(state, mp))
+            if self.verbose:
+                print(self.base_mdp.state_string(state))
+                print("potential: ", self.base_mdp.potential_function(state, mp))
         val21 = self.base_mdp.potential_function(state, mp)
 
         self.assertLess(val17, val18, "Moving towards failed soup should increase potential")
@@ -666,24 +711,29 @@ def test_potential_function(self):
         actions = [Action.INTERACT]
         for action in actions:
             state, _ = self.base_mdp.get_state_transition(state, [action, Action.STAY])
-            print(self.base_mdp.state_string(state))
-            print("potential: ", self.base_mdp.potential_function(state, mp))
+            if self.verbose:
+                print(self.base_mdp.state_string(state))
+                print("potential: ", self.base_mdp.potential_function(state, mp))
         val22 = self.base_mdp.potential_function(state, mp)
 
         # Move towards serving area
-        print("move towards servering area")
+        if self.verbose:
+            print("move towards servering area")
         actions = [Direction.EAST, Direction.SOUTH]
         for action in actions:
             state, _ = self.base_mdp.get_state_transition(state, [action, Action.STAY])
-            print(self.base_mdp.state_string(state))
-            print("potential: ", self.base_mdp.potential_function(state, mp))
+            if self.verbose:
+                print(self.base_mdp.state_string(state))
+                print("potential: ", self.base_mdp.potential_function(state, mp))
         val23 = self.base_mdp.potential_function(state, mp)
 
         # Move away from serving area
-        print("move away from serving area")
+        if self.verbose:
+            print("move away from serving area")
         state, _ = self.base_mdp.get_state_transition(state, [Direction.NORTH, Action.STAY])
-        print(self.base_mdp.state_string(state))
-        print("potential: ", self.base_mdp.potential_function(state, mp))
+        if self.verbose:
+            print(self.base_mdp.state_string(state))
+            print("potential: ", self.base_mdp.potential_function(state, mp))
         val24 = self.base_mdp.potential_function(state, mp)
 
         self.assertLess(val21, val22, "Picking up failed soup should increase potential")
@@ -693,19 +743,23 @@ def test_potential_function(self):
         ## Deliver successful soup ##
 
         # Move towards serving area
-        print("move towards serving area")
+        if self.verbose:
+            print("move towards serving area")
         actions = [Direction.SOUTH, Direction.EAST, Direction.SOUTH]
         for action in actions:
             state, _ = self.base_mdp.get_state_transition(state, [Action.STAY, action])
-            print(self.base_mdp.state_string(state))
-            print("potential: ", self.base_mdp.potential_function(state, mp))
+            if self.verbose:
+                print(self.base_mdp.state_string(state))
+                print("potential: ", self.base_mdp.potential_function(state, mp))
         val25 = self.base_mdp.potential_function(state, mp)
 
         # Deliver soup
-        print("deliver successful soup")
+        if self.verbose:
+            print("deliver successful soup")
         state, rewards = self.base_mdp.get_state_transition(state, [Action.STAY, Action.INTERACT])
-        print(self.base_mdp.state_string(state))
-        print("potential: ", self.base_mdp.potential_function(state, mp))
+        if self.verbose:
+            print(self.base_mdp.state_string(state))
+            print("potential: ", self.base_mdp.potential_function(state, mp))
 
         self.assertLess(val24, val25, "Moving towards serving area with valid soup increases potential")
         self.assertEqual(sum(rewards['sparse_reward_by_agent']), 50, "Soup was not properly devivered, probably an error with MDP logic")
@@ -725,22 +779,26 @@ class TestFeaturizations(unittest.TestCase):
     def setUp(self):
         self.base_mdp = OvercookedGridworld.from_layout_name("cramped_room")
         self.mlam = MediumLevelActionManager.from_pickle_or_compute(self.base_mdp, NO_COUNTERS_PARAMS, force_compute=True)
-        self.env = OvercookedEnv.from_mdp(self.base_mdp, **DEFAULT_ENV_PARAMS)
+        self.env = OvercookedEnv.from_mdp(self.base_mdp, **DEFAULT_ENV_PARAMS, info_level=0)
         self.greedy_human_model_pair = AgentPair(GreedyHumanModel(self.mlam), GreedyHumanModel(self.mlam))
         np.random.seed(0)
 
     def test_lossless_state_featurization_shape(self):
         s = self.base_mdp.get_standard_start_state()
         obs = self.base_mdp.lossless_state_encoding(s)[0]
-        self.assertTrue(np.array_equal(obs.shape, self.base_mdp.lossless_state_encoding_shape), "{} vs {}".format(obs.shape, self.base_mdp.lossless_state_encoding_shape))
+        self.assertTrue(np.array_equal(obs.shape, self.base_mdp.get_lossless_state_encoding_shape()), "{} vs {}".format(obs.shape, self.base_mdp.get_lossless_state_encoding_shape()))
 
     def test_state_featurization_shape(self):
         s = self.base_mdp.get_standard_start_state()
-        obs = self.base_mdp.featurize_state(s, self.mlam)[0]
-        self.assertTrue(np.array_equal(obs.shape, self.base_mdp.featurize_state_shape), "{} vs {}".format(obs.shape, self.base_mdp.featurize_state_shape))
+
+        for num_pots in range(3):
+            obs_0, obs_1 = self.base_mdp.featurize_state(s, self.mlam, num_pots=num_pots)
+            expected_shape = self.base_mdp.get_featurize_state_shape(num_pots=num_pots)
+            self.assertTrue(np.array_equal(obs_0.shape, expected_shape), "{} vs {}".format(obs_0.shape, expected_shape))
+            self.assertTrue(np.array_equal(obs_1.shape, expected_shape), "{} vs {}".format(obs_1.shape, expected_shape))
 
     def test_lossless_state_featurization(self):
-        trajs = self.env.get_rollouts(self.greedy_human_model_pair, num_games=5)
+        trajs = self.env.get_rollouts(self.greedy_human_model_pair, num_games=5, info=False)
         featurized_observations = [[self.base_mdp.lossless_state_encoding(state) for state in ep_states] for ep_states in trajs["ep_states"]]
         
         pickle_path = os.path.join(TESTING_DATA_DIR, "test_lossless_state_featurization", "expected")
@@ -752,27 +810,45 @@ def test_lossless_state_featurization(self):
         self.assertTrue(np.array_equal(expected_featurization, featurized_observations))
 
     def test_state_featurization(self):
-        trajs = self.env.get_rollouts(self.greedy_human_model_pair, num_games=5)
-        featurized_observations = [[self.base_mdp.featurize_state(state, self.mlam) for state in ep_states] for ep_states in trajs["ep_states"]]
-        pickle_path = os.path.join(TESTING_DATA_DIR, "test_state_featurization", 'expected')
-        # NOTE: If the featurizations are updated intentionally, you can overwrite the expected
-        # featurizations by uncommenting the following line:
-        # save_pickle(featurized_observations, pickle_path)
-        expected_featurization = load_pickle(pickle_path)
-        self.assertTrue(np.array_equal(expected_featurization, featurized_observations))
+        trajs = self.env.get_rollouts(self.greedy_human_model_pair, num_games=5, info=False)
+
+        for num_pots in range(3):
+            featurized_observations = [[self.base_mdp.featurize_state(state, self.mlam, num_pots=num_pots) for state in ep_states] for ep_states in trajs["ep_states"]]
+            pickle_path = os.path.join(TESTING_DATA_DIR, "test_state_featurization", 'expected_{}'.format(num_pots))
+            # NOTE: If the featurizations are updated intentionally, you can overwrite the expected
+            # featurizations by uncommenting the following line:
+            # save_pickle(featurized_observations, pickle_path)
+            expected_featurization = load_pickle(pickle_path)
+            self.assertTrue(np.array_equal(expected_featurization, featurized_observations))
 
 
 class TestOvercookedEnvironment(unittest.TestCase):
 
+    dummy_dir = 'overcooked_test_temp'
+
     def setUp(self):
+        if not os.path.exists(self.dummy_dir):
+            os.makedirs(self.dummy_dir)
         self.base_mdp = OvercookedGridworld.from_layout_name("cramped_room")
-        self.env = OvercookedEnv.from_mdp(self.base_mdp, **DEFAULT_ENV_PARAMS)
+        self.env = OvercookedEnv.from_mdp(self.base_mdp, info_level=0, **DEFAULT_ENV_PARAMS)
         self.rnd_agent_pair = AgentPair(FixedPlanAgent([stay, w, w]), FixedPlanAgent([stay, e, e]))
         np.random.seed(0)
 
+    def tearDown(self):
+        shutil.rmtree(self.dummy_dir)
+
+    def _assert_files_equal(self, file_1, file_2):
+        with open(file_1, 'r') as f:
+            lines_1 = f.readlines()
+        with open(file_2, 'r') as f:
+            lines_2 = f.readlines()
+
+        for line_1, line_2 in zip(lines_1, lines_2):
+            self.assertEqual(line_1, line_2)
+
     def test_constructor(self):
         try:
-            OvercookedEnv.from_mdp(self.base_mdp, horizon=10)
+            OvercookedEnv.from_mdp(self.base_mdp, horizon=10, info_level=0)
         except Exception as e:
             self.fail("Failed to instantiate OvercookedEnv:\n{}".format(e))
 
@@ -795,14 +871,14 @@ def test_run_agents(self):
 
     def test_rollouts(self):
         try:
-            self.env.get_rollouts(self.rnd_agent_pair, 3)
+            self.env.get_rollouts(self.rnd_agent_pair, 3, info=False)
         except Exception as e:
             print(e.with_traceback())
             self.fail("Failed to get rollouts from environment:\n{}".format(e))
 
     def test_one_player_env(self):
         mdp = OvercookedGridworld.from_layout_name("cramped_room_single")
-        env = OvercookedEnv.from_mdp(mdp, horizon=12)
+        env = OvercookedEnv.from_mdp(mdp, horizon=12, info_level=0)
         a0 = FixedPlanAgent([stay, w, w, e, e, n, e, interact, w, n, interact])
         ag = AgentGroup(a0)
         env.run_agents(ag, display=False)
@@ -814,7 +890,7 @@ def test_one_player_env(self):
     def test_four_player_env_fixed(self):
         mdp = OvercookedGridworld.from_layout_name("multiplayer_schelling")
         assert mdp.num_players == 4
-        env = OvercookedEnv.from_mdp(mdp, horizon=16)
+        env = OvercookedEnv.from_mdp(mdp, horizon=16, info_level=0)
         a0 = FixedPlanAgent([stay, w, w])
         a1 = FixedPlanAgent([stay, stay, e, e, n, n, n, e, interact, n, n, w, w, w, n, interact, e])
         a2 = FixedPlanAgent([stay, w, interact, n, n, e, e, e, n, e, n, interact, w])
@@ -830,13 +906,27 @@ def test_display(self):
         mdp0 = OvercookedGridworld.from_layout_name("cramped_room")
         mdp_fn = lambda _ignored: mdp0
         env = OvercookedEnv(mdp_fn, horizon=20)
-        env.get_rollouts(self.rnd_agent_pair, 1, display=True)
+        env.get_rollouts(self.rnd_agent_pair, 1, display=True, info=False, dir=self.dummy_dir)
+
+        expected_display_file = os.path.join(TESTING_DATA_DIR, 'test_display', 'expected.txt')
+        actual_display_file = glob.glob(os.path.join(self.dummy_dir, '*.txt'))[0]
+
+        # If display intentionally updated, uncomment the line below to update expected values
+        shutil.copy(actual_display_file, expected_display_file)
+        self._assert_files_equal(expected_display_file, actual_display_file)
 
     def test_display_phi(self):
         mdp0 = OvercookedGridworld.from_layout_name("cramped_room")
         mdp_fn = lambda _ignored: mdp0
         env = OvercookedEnv(mdp_fn, horizon=20)
-        env.get_rollouts(self.rnd_agent_pair, 1, display=True, display_phi=True)
+        env.get_rollouts(self.rnd_agent_pair, 1, display=True, display_phi=True, info=False, dir=self.dummy_dir)
+
+        expected_display_file = os.path.join(TESTING_DATA_DIR, 'test_display_phi', 'expected.txt')
+        actual_display_file = glob.glob(os.path.join(self.dummy_dir, '*.txt'))[0]
+
+        # If display intentionally updated, uncomment the line below to update expected values
+        shutil.copy(actual_display_file, expected_display_file)
+        self._assert_files_equal(expected_display_file, actual_display_file)
 
     def test_multiple_mdp_env(self):
         mdp0 = OvercookedGridworld.from_layout_name("cramped_room")
@@ -845,12 +935,12 @@ def test_multiple_mdp_env(self):
         
         # Default env
         env = OvercookedEnv(mdp_fn, horizon=100)
-        env.get_rollouts(self.rnd_agent_pair, 5)
+        env.get_rollouts(self.rnd_agent_pair, 5, info=False)
 
     def test_starting_position_randomization(self):
         self.base_mdp = OvercookedGridworld.from_layout_name("cramped_room")
         start_state_fn = self.base_mdp.get_random_start_state_fn(random_start_pos=True, rnd_obj_prob_thresh=0.0)
-        env = OvercookedEnv.from_mdp(self.base_mdp, start_state_fn)
+        env = OvercookedEnv.from_mdp(self.base_mdp, start_state_fn, info_level=0)
         start_state = env.state.players_pos_and_or
         for _ in range(3):
             env.reset()
@@ -860,7 +950,7 @@ def test_starting_position_randomization(self):
     def test_starting_obj_randomization(self):
         self.base_mdp = OvercookedGridworld.from_layout_name("cramped_room")
         start_state_fn = self.base_mdp.get_random_start_state_fn(random_start_pos=False, rnd_obj_prob_thresh=0.8)
-        env = OvercookedEnv.from_mdp(self.base_mdp, start_state_fn)
+        env = OvercookedEnv.from_mdp(self.base_mdp, start_state_fn, info_level=0)
         start_state = env.state.all_objects_list
         for _ in range(3):
             env.reset()
@@ -1001,5 +1091,37 @@ def setUp(self):
 
     # TODO: write more tests here
 
+class TestTrajectories(unittest.TestCase):
+
+    def setUp(self):
+        self.base_mdp = OvercookedGridworld.from_layout_name("cramped_room")
+        self.mlam = MediumLevelActionManager.from_pickle_or_compute(self.base_mdp, NO_COUNTERS_PARAMS, force_compute=True)
+        self.env = OvercookedEnv.from_mdp(self.base_mdp, **DEFAULT_ENV_PARAMS, info_level=0)
+        self.greedy_human_model_pair = AgentPair(GreedyHumanModel(self.mlam), GreedyHumanModel(self.mlam))
+        np.random.seed(0)
+
+    def test_append(self):
+        traj_one = self.env.get_rollouts(self.greedy_human_model_pair, num_games=3, info=False)
+        traj_two = self.env.get_rollouts(self.greedy_human_model_pair, num_games=3, info=False)
+
+        combined = append_trajectories(traj_one, traj_two)
+
+        # Ensure proper keys
+        self.assertEqual(set(combined.keys()), DEFAULT_TRAJ_KEYS)
+
+        # Ensure proper shapes
+        for key in TIMESTEP_TRAJ_KEYS:
+            shape_one = traj_one[key].shape
+            shape_two = traj_two[key].shape
+            shape_combined = combined[key].shape
+            self.assertEqual(shape_combined[0], shape_one[0] + shape_two[0])
+            self.assertEqual(shape_combined[1], shape_one[1])
+            self.assertEqual(shape_combined[1], shape_two[1])
+        for key in EPISODE_TRAJ_KEYS:
+            shape_one = traj_one[key].shape
+            shape_two = traj_two[key].shape
+            shape_combined = combined[key].shape
+            self.assertEqual(shape_combined[0], shape_one[0] + shape_two[0])
+
 if __name__ == '__main__':
     unittest.main()
diff --git a/testing/utils.py b/testing/utils.py
index 41b6a4e0..648ef15d 100644
--- a/testing/utils.py
+++ b/testing/utils.py
@@ -1,5 +1,18 @@
-import os
-from common_test_generator import generate_serialized_trajectory
+import numpy as np
+from overcooked_ai_py.agents.benchmarking import AgentEvaluator
 
-_current_dir = os.path.dirname(os.path.abspath(__file__))
-TESTING_DATA_DIR = os.path.join(_current_dir, os.pardir, 'src', 'overcooked_ai_py', 'data', 'testing')
\ No newline at end of file
+# The point of this function is to generate serialized trajectories for MDP dynamics consistency testing
+# NOTE: If intentionally updating MDP dynamics, this function should be used
+
+def generate_serialized_trajectory(mdp, save_path):
+    # Saving trajectory for dynamics consistency test
+    seed = 0
+    sparse_reward = 0
+    while sparse_reward <= 0:
+        np.random.seed(seed)
+        ae = AgentEvaluator.from_mdp(mdp, env_params={"horizon": 1500})
+        test_trajs = ae.evaluate_random_pair(all_actions=True, num_games=1)
+        sparse_reward = np.mean(test_trajs["ep_returns"])
+        seed += 1
+
+    AgentEvaluator.save_traj_as_json(test_trajs, save_path)
\ No newline at end of file
diff --git a/testing/visualization_test.py b/testing/visualization_test.py
index 01b93b73..b09f568e 100644
--- a/testing/visualization_test.py
+++ b/testing/visualization_test.py
@@ -6,7 +6,7 @@
 from overcooked_ai_py.visualization.state_visualizer import StateVisualizer
 from overcooked_ai_py.utils import load_from_json, generate_temporary_file_path
 from overcooked_ai_py.mdp.overcooked_mdp import Recipe
-from utils import TESTING_DATA_DIR
+from overcooked_ai_py.static import TESTING_DATA_DIR
 
 def get_file_count(directory_path):
     path, dirs, files = next(os.walk(directory_path))