diff --git a/src/overcooked_ai_py/mdp/overcooked_mdp.py b/src/overcooked_ai_py/mdp/overcooked_mdp.py
index fb6cd925..047cd452 100644
--- a/src/overcooked_ai_py/mdp/overcooked_mdp.py
+++ b/src/overcooked_ai_py/mdp/overcooked_mdp.py
@@ -22,7 +22,8 @@ class Recipe:
     
     def __new__(cls, ingredients):
         if not cls._configured:
-            raise ValueError("Recipe class must be configured before recipes can be created")
+            cls.configure({})
+            # raise ValueError("Recipe class must be configured before recipes can be created")
         # Some basic argument verification
         if not ingredients or not hasattr(ingredients, '__iter__') or len(ingredients) == 0:
             raise ValueError("Invalid input recipe. Must be ingredients iterable with non-zero length")
@@ -1197,6 +1198,10 @@ def resolve_interacts(self, new_state, joint_action, events_infos):
                         soup.add_ingredient(obj)
                         shaped_reward[player_idx] += self.reward_shaping_params["PLACEMENT_IN_POT_REW"]
 
+                        # Start cooking without extra INTERACT action if recipe is done
+                        if self.soup_to_be_cooked_at_location(new_state, i_pos) and soup.is_full and soup.is_valid:
+                            soup.begin_cooking()
+
                         # Log potting
                         self.log_object_potting(events_infos, new_state, old_soup, soup, obj.name, player_idx)
                         if obj.name == Recipe.ONION:
diff --git a/src/overcooked_ai_py/mdp/overcooked_trajectory.py b/src/overcooked_ai_py/mdp/overcooked_trajectory.py
index 158a3b24..ff7c60d0 100644
--- a/src/overcooked_ai_py/mdp/overcooked_trajectory.py
+++ b/src/overcooked_ai_py/mdp/overcooked_trajectory.py
@@ -31,7 +31,7 @@
     }
 """
 
-TIMESTEP_TRAJ_KEYS = set(["ep_states", "ep_actions", "ep_rewards", "ep_dones", "ep_infos"])
+TIMESTEP_TRAJ_KEYS = set(["ep_states", "ep_actions", "ep_other_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"])