diff --git a/.gitattributes b/.gitattributes
index cc48a39e4cfacc811cee718da34a70b1d7ed58f5..485729bd94259e28031f837a0db2652045663175 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -11245,3 +11245,442 @@ Memory_Exploration/per_step/case2/Place_the_butter_on_the_kitchen_table/Place_th
 Memory_Exploration/per_step/case2/Open_the_wooden_cabinet_middle_region/Open_the_wooden_cabinet_middle_region_dxp005_tex1_case2.hdf5 filter=lfs diff=lfs merge=lfs -text
 Memory_Exploration/per_step/case2/Open_the_wooden_cabinet_middle_region/Open_the_wooden_cabinet_middle_region_dym005_tex1_case2.hdf5 filter=lfs diff=lfs merge=lfs -text
 Memory_Exploration/per_step/case2/Open_the_wooden_cabinet_middle_region/Open_the_wooden_cabinet_middle_region_dyp005_tex1_case2.hdf5 filter=lfs diff=lfs merge=lfs -text
+Memory_Exploration/per_step/case2/Open_the_wooden_cabinet_middle_region/Open_the_wooden_cabinet_middle_region_orig_tex2_case2.hdf5 filter=lfs diff=lfs merge=lfs -text
+Memory_Exploration/per_step/case2/Open_the_wooden_cabinet_middle_region/Open_the_wooden_cabinet_middle_region_dym005_tex2_case2.hdf5 filter=lfs diff=lfs merge=lfs -text
+Memory_Exploration/per_step/case2/Open_the_wooden_cabinet_middle_region/Open_the_wooden_cabinet_middle_region_dxp005_tex0_case2.hdf5 filter=lfs diff=lfs merge=lfs -text
+Memory_Exploration/per_step/case2/Open_the_wooden_cabinet_middle_region/Open_the_wooden_cabinet_middle_region_orig_tex0_case2.hdf5 filter=lfs diff=lfs merge=lfs -text
+Memory_Exploration/per_step/case2/Open_the_wooden_cabinet_middle_region/Open_the_wooden_cabinet_middle_region_dyp005_tex0_case2.hdf5 filter=lfs diff=lfs merge=lfs -text
+Memory_Exploration/per_step/case2/Open_the_wooden_cabinet_middle_region/Open_the_wooden_cabinet_middle_region_dym005_tex0_case2.hdf5 filter=lfs diff=lfs merge=lfs -text
+Memory_Exploration/per_step/case2/Open_the_wooden_cabinet_middle_region/Open_the_wooden_cabinet_middle_region_dxp005_tex2_case2.hdf5 filter=lfs diff=lfs merge=lfs -text
+Memory_Exploration/per_step/case2/Open_the_wooden_cabinet_middle_region/Open_the_wooden_cabinet_middle_region_orig_tex1_case2.hdf5 filter=lfs diff=lfs merge=lfs -text
+Memory_Exploration/per_step/case2/Open_the_wooden_cabinet_middle_region/Open_the_wooden_cabinet_middle_region_dyp005_tex2_case2.hdf5 filter=lfs diff=lfs merge=lfs -text
+Memory_Exploration/per_step/case2/Pick_up_the_butter_from_the_wooden_cabinet_middle_region/Pick_up_the_butter_from_the_wooden_cabinet_middle_region_dym005_tex2_case2.hdf5 filter=lfs diff=lfs merge=lfs -text
+Memory_Exploration/per_step/case2/Pick_up_the_butter_from_the_wooden_cabinet_middle_region/Pick_up_the_butter_from_the_wooden_cabinet_middle_region_dxp005_tex0_case2.hdf5 filter=lfs diff=lfs merge=lfs -text
+Memory_Exploration/per_step/case2/Pick_up_the_butter_from_the_wooden_cabinet_middle_region/Pick_up_the_butter_from_the_wooden_cabinet_middle_region_dyp005_tex0_case2.hdf5 filter=lfs diff=lfs merge=lfs -text
+Memory_Exploration/per_step/case2/Pick_up_the_butter_from_the_wooden_cabinet_middle_region/Pick_up_the_butter_from_the_wooden_cabinet_middle_region_orig_tex1_case2.hdf5 filter=lfs diff=lfs merge=lfs -text
+Memory_Exploration/per_step/case2/Pick_up_the_butter_from_the_wooden_cabinet_middle_region/Pick_up_the_butter_from_the_wooden_cabinet_middle_region_dxp005_tex2_case2.hdf5 filter=lfs diff=lfs merge=lfs -text
+Memory_Exploration/per_step/case2/Pick_up_the_butter_from_the_wooden_cabinet_middle_region/Pick_up_the_butter_from_the_wooden_cabinet_middle_region_dyp005_tex2_case2.hdf5 filter=lfs diff=lfs merge=lfs -text
+Memory_Exploration/per_step/case2/Pick_up_the_butter_from_the_wooden_cabinet_middle_region/Pick_up_the_butter_from_the_wooden_cabinet_middle_region_dym005_tex0_case2.hdf5 filter=lfs diff=lfs merge=lfs -text
+Memory_Exploration/per_step/case10/Place_the_white_bowl_onto_the_top_side_of_wooden_cabinet/Place_the_white_bowl_onto_the_top_side_of_wooden_cabinet_dym005_tex1_case10.hdf5 filter=lfs diff=lfs merge=lfs -text
+Memory_Exploration/per_step/case2/Pick_up_the_butter_from_the_wooden_cabinet_middle_region/Pick_up_the_butter_from_the_wooden_cabinet_middle_region_dyp005_tex1_case2.hdf5 filter=lfs diff=lfs merge=lfs -text
+Memory_Exploration/per_step/case2/Pick_up_the_butter_from_the_wooden_cabinet_middle_region/Pick_up_the_butter_from_the_wooden_cabinet_middle_region_dxp005_tex1_case2.hdf5 filter=lfs diff=lfs merge=lfs -text
+Memory_Exploration/per_step/case7/Pick_up_the_bbq_sauce_from_the_coffee_table/Pick_up_the_bbq_sauce_from_the_coffee_table_orig_tex0_case7.hdf5 filter=lfs diff=lfs merge=lfs -text
+Memory_Exploration/per_step/case7/Pick_up_the_bbq_sauce_from_the_coffee_table/Pick_up_the_bbq_sauce_from_the_coffee_table_dym005_tex1_case7.hdf5 filter=lfs diff=lfs merge=lfs -text
+Memory_Exploration/per_step/case7/Pick_up_the_butter_from_the_white_cabinet/Pick_up_the_butter_from_the_white_cabinet_dxp005_tex1_case7.hdf5 filter=lfs diff=lfs merge=lfs -text
+Memory_Exploration/per_step/case7/Pick_up_the_butter_from_the_white_cabinet/Pick_up_the_butter_from_the_white_cabinet_orig_tex1_case7.hdf5 filter=lfs diff=lfs merge=lfs -text
+Memory_Exploration/per_step/case7/Pick_up_the_butter_from_the_white_cabinet/Pick_up_the_butter_from_the_white_cabinet_dyp005_tex1_case7.hdf5 filter=lfs diff=lfs merge=lfs -text
+Memory_Exploration/per_step/case7/Pick_up_the_butter_from_the_white_cabinet/Pick_up_the_butter_from_the_white_cabinet_dym005_tex2_case7.hdf5 filter=lfs diff=lfs merge=lfs -text
+Memory_Exploration/per_step/case7/Pick_up_the_butter_from_the_white_cabinet/Pick_up_the_butter_from_the_white_cabinet_orig_tex0_case7.hdf5 filter=lfs diff=lfs merge=lfs -text
+Memory_Exploration/per_step/case7/Pick_up_the_butter_from_the_white_cabinet/Pick_up_the_butter_from_the_white_cabinet_dxp005_tex0_case7.hdf5 filter=lfs diff=lfs merge=lfs -text
+Memory_Exploration/per_step/case7/Pick_up_the_butter_from_the_white_cabinet/Pick_up_the_butter_from_the_white_cabinet_dym005_tex1_case7.hdf5 filter=lfs diff=lfs merge=lfs -text
+Memory_Exploration/per_step/case7/Pick_up_the_butter_from_the_white_cabinet/Pick_up_the_butter_from_the_white_cabinet_dyp005_tex0_case7.hdf5 filter=lfs diff=lfs merge=lfs -text
+Memory_Exploration/per_step/case7/Pick_up_the_butter_from_the_white_cabinet/Pick_up_the_butter_from_the_white_cabinet_dym005_tex0_case7.hdf5 filter=lfs diff=lfs merge=lfs -text
+Memory_Exploration/per_step/case7/Pick_up_the_butter_from_the_white_cabinet/Pick_up_the_butter_from_the_white_cabinet_dxp005_tex2_case7.hdf5 filter=lfs diff=lfs merge=lfs -text
+Memory_Exploration/per_step/case7/Pick_up_the_butter_from_the_white_cabinet/Pick_up_the_butter_from_the_white_cabinet_orig_tex2_case7.hdf5 filter=lfs diff=lfs merge=lfs -text
+Memory_Exploration/per_step/case7/Pick_up_the_butter_from_the_white_cabinet/Pick_up_the_butter_from_the_white_cabinet_dyp005_tex2_case7.hdf5 filter=lfs diff=lfs merge=lfs -text
+Memory_Exploration/per_step/case7/Place_the_butter_on_the_coffee_table./Place_the_butter_on_the_coffee_table._dxp005_tex0_case7.hdf5 filter=lfs diff=lfs merge=lfs -text
+Memory_Exploration/per_step/case7/Place_the_butter_on_the_coffee_table./Place_the_butter_on_the_coffee_table._orig_tex0_case7.hdf5 filter=lfs diff=lfs merge=lfs -text
+Memory_Exploration/per_step/case7/Place_the_butter_on_the_coffee_table./Place_the_butter_on_the_coffee_table._dxp005_tex2_case7.hdf5 filter=lfs diff=lfs merge=lfs -text
+Memory_Exploration/per_step/case7/Place_the_butter_on_the_coffee_table./Place_the_butter_on_the_coffee_table._dyp005_tex0_case7.hdf5 filter=lfs diff=lfs merge=lfs -text
+Memory_Exploration/per_step/case7/Place_the_butter_on_the_coffee_table./Place_the_butter_on_the_coffee_table._dym005_tex2_case7.hdf5 filter=lfs diff=lfs merge=lfs -text
+Memory_Exploration/per_step/case7/Place_the_butter_on_the_coffee_table./Place_the_butter_on_the_coffee_table._dym005_tex0_case7.hdf5 filter=lfs diff=lfs merge=lfs -text
+Memory_Exploration/per_step/case7/Place_the_butter_on_the_coffee_table./Place_the_butter_on_the_coffee_table._dxp005_tex1_case7.hdf5 filter=lfs diff=lfs merge=lfs -text
+Memory_Exploration/per_step/case7/Place_the_butter_on_the_coffee_table./Place_the_butter_on_the_coffee_table._orig_tex2_case7.hdf5 filter=lfs diff=lfs merge=lfs -text
+Memory_Exploration/per_step/case7/Place_the_butter_on_the_coffee_table./Place_the_butter_on_the_coffee_table._dyp005_tex2_case7.hdf5 filter=lfs diff=lfs merge=lfs -text
+Memory_Exploration/per_step/case7/Place_the_butter_on_the_coffee_table./Place_the_butter_on_the_coffee_table._orig_tex1_case7.hdf5 filter=lfs diff=lfs merge=lfs -text
+Memory_Exploration/per_step/case7/Place_the_butter_on_the_coffee_table./Place_the_butter_on_the_coffee_table._dyp005_tex1_case7.hdf5 filter=lfs diff=lfs merge=lfs -text
+Memory_Exploration/per_step/case7/Place_the_butter_on_the_coffee_table./Place_the_butter_on_the_coffee_table._dym005_tex1_case7.hdf5 filter=lfs diff=lfs merge=lfs -text
+Memory_Exploration/per_step/case7/Pick_up_the_orange_juice_from_the_coffee_table/Pick_up_the_orange_juice_from_the_coffee_table_orig_tex2_case7.hdf5 filter=lfs diff=lfs merge=lfs -text
+Memory_Exploration/per_step/case7/Pick_up_the_orange_juice_from_the_coffee_table/Pick_up_the_orange_juice_from_the_coffee_table_dym005_tex1_case7.hdf5 filter=lfs diff=lfs merge=lfs -text
+Memory_Exploration/per_step/case7/Pick_up_the_orange_juice_from_the_coffee_table/Pick_up_the_orange_juice_from_the_coffee_table_dyp005_tex1_case7.hdf5 filter=lfs diff=lfs merge=lfs -text
+Memory_Exploration/per_step/case7/Pick_up_the_orange_juice_from_the_coffee_table/Pick_up_the_orange_juice_from_the_coffee_table_orig_tex0_case7.hdf5 filter=lfs diff=lfs merge=lfs -text
+Memory_Exploration/per_step/case7/Pick_up_the_orange_juice_from_the_coffee_table/Pick_up_the_orange_juice_from_the_coffee_table_dxp005_tex1_case7.hdf5 filter=lfs diff=lfs merge=lfs -text
+Memory_Exploration/per_step/case7/Pick_up_the_orange_juice_from_the_coffee_table/Pick_up_the_orange_juice_from_the_coffee_table_dym005_tex0_case7.hdf5 filter=lfs diff=lfs merge=lfs -text
+Memory_Exploration/per_step/case7/Pick_up_the_orange_juice_from_the_coffee_table/Pick_up_the_orange_juice_from_the_coffee_table_dyp005_tex2_case7.hdf5 filter=lfs diff=lfs merge=lfs -text
+Memory_Exploration/per_step/case7/Pick_up_the_orange_juice_from_the_coffee_table/Pick_up_the_orange_juice_from_the_coffee_table_dxp005_tex2_case7.hdf5 filter=lfs diff=lfs merge=lfs -text
+Memory_Exploration/per_step/case7/Pick_up_the_orange_juice_from_the_coffee_table/Pick_up_the_orange_juice_from_the_coffee_table_dyp005_tex0_case7.hdf5 filter=lfs diff=lfs merge=lfs -text
+Memory_Exploration/per_step/case7/Pick_up_the_orange_juice_from_the_coffee_table/Pick_up_the_orange_juice_from_the_coffee_table_orig_tex1_case7.hdf5 filter=lfs diff=lfs merge=lfs -text
+Memory_Exploration/per_step/case7/Pick_up_the_orange_juice_from_the_coffee_table/Pick_up_the_orange_juice_from_the_coffee_table_dxp005_tex0_case7.hdf5 filter=lfs diff=lfs merge=lfs -text
+Memory_Exploration/per_step/case7/Pick_up_the_orange_juice_from_the_coffee_table/Pick_up_the_orange_juice_from_the_coffee_table_dym005_tex2_case7.hdf5 filter=lfs diff=lfs merge=lfs -text
+Memory_Exploration/per_step/case2/Open_the_wooden_cabinet_top_region/Open_the_wooden_cabinet_top_region_dxp005_tex0_case2.hdf5 filter=lfs diff=lfs merge=lfs -text
+Memory_Exploration/per_step/case2/Open_the_wooden_cabinet_top_region/Open_the_wooden_cabinet_top_region_dym005_tex2_case2.hdf5 filter=lfs diff=lfs merge=lfs -text
+Memory_Exploration/per_step/case2/Open_the_wooden_cabinet_top_region/Open_the_wooden_cabinet_top_region_orig_tex1_case2.hdf5 filter=lfs diff=lfs merge=lfs -text
+Memory_Exploration/all_hdf5/Place_the_white_bowl_onto_the_top_side_of_wooden_cabinet_dxp005_tex1_case10.hdf5 filter=lfs diff=lfs merge=lfs -text
+Memory_Exploration/all_hdf5/Place_the_white_bowl_into_the_wooden_cabinet_at_top_side_dxp005_tex1_case9.hdf5 filter=lfs diff=lfs merge=lfs -text
+Memory_Exploration/all_hdf5/Place_the_wine_bottle_on_the_coffee_table_orig_tex1_case5.hdf5 filter=lfs diff=lfs merge=lfs -text
+Memory_Exploration/all_hdf5/Pour_the_bbq_sauce_into_the_frypan_orig_tex0_case7.hdf5 filter=lfs diff=lfs merge=lfs -text
+Memory_Exploration/all_hdf5/Place_the_wine_bottle_on_the_coffee_table_dyp005_tex2_case5.hdf5 filter=lfs diff=lfs merge=lfs -text
+Memory_Exploration/all_hdf5/Pour_the_bbq_sauce_into_the_frypan_dym005_tex1_case6.hdf5 filter=lfs diff=lfs merge=lfs -text
+Memory_Exploration/all_hdf5/Place_the_wine_bottle_on_the_coffee_table_dxp005_tex1_case3.hdf5 filter=lfs diff=lfs merge=lfs -text
+Memory_Exploration/all_hdf5/Place_the_wine_bottle_on_the_coffee_table_dxp005_tex2_case4.hdf5 filter=lfs diff=lfs merge=lfs -text
+Memory_Exploration/all_hdf5/Pour_the_butter_into_the_frypan_dym005_tex2_case7.hdf5 filter=lfs diff=lfs merge=lfs -text
+Memory_Exploration/all_hdf5/Place_the_wine_bottle_on_the_coffee_table_dym005_tex0_case4.hdf5 filter=lfs diff=lfs merge=lfs -text
+Memory_Exploration/all_hdf5/Pour_the_butter_into_the_frypan_dxp005_tex0_case7.hdf5 filter=lfs diff=lfs merge=lfs -text
+Memory_Exploration/all_hdf5/Pour_the_butter_into_the_frypan_dyp005_tex0_case6.hdf5 filter=lfs diff=lfs merge=lfs -text
+Memory_Exploration/all_hdf5/Pour_the_butter_into_the_frypan_orig_tex1_case6.hdf5 filter=lfs diff=lfs merge=lfs -text
+Memory_Exploration/all_hdf5/Pour_the_chocolate_pudding_into_the_white_bowl_dxp005_tex0_case8.hdf5 filter=lfs diff=lfs merge=lfs -text
+Memory_Exploration/all_hdf5/Pour_the_chocolate_pudding_into_the_white_bowl_dym005_tex2_case8.hdf5 filter=lfs diff=lfs merge=lfs -text
+Memory_Exploration/all_hdf5/Pour_the_cream_cheese_into_the_red_coffee_mug_dym005_tex0_case2.hdf5 filter=lfs diff=lfs merge=lfs -text
+Memory_Exploration/all_hdf5/Pour_the_cream_cheese_into_the_red_coffee_mug_dxp005_tex2_case2.hdf5 filter=lfs diff=lfs merge=lfs -text
+Memory_Exploration/all_hdf5/Pour_the_chocolate_pudding_into_the_white_bowl_orig_tex0_case8.hdf5 filter=lfs diff=lfs merge=lfs -text
+Memory_Exploration/all_hdf5/Pour_wine_from_wine_bottle_into_white_yellow_mug._dxp005_tex2_case5.hdf5 filter=lfs diff=lfs merge=lfs -text
+Memory_Exploration/all_hdf5/Pour_the_cream_cheese_into_the_red_coffee_mug_dym005_tex2_case1.hdf5 filter=lfs diff=lfs merge=lfs -text
+Memory_Exploration/all_hdf5/Pour_the_cream_cheese_into_the_red_coffee_mug_dxp005_tex0_case1.hdf5 filter=lfs diff=lfs merge=lfs -text
+Memory_Exploration/per_step/case9/Close_the_wooden_cabinet_top_region./Close_the_wooden_cabinet_top_region._dxp005_tex1_case9.hdf5 filter=lfs diff=lfs merge=lfs -text
+Memory_Exploration/per_step/case9/Close_the_wooden_cabinet_top_region./Close_the_wooden_cabinet_top_region._dyp005_tex1_case9.hdf5 filter=lfs diff=lfs merge=lfs -text
+Memory_Exploration/per_step/case9/Close_the_wooden_cabinet_top_region./Close_the_wooden_cabinet_top_region._dym005_tex1_case9.hdf5 filter=lfs diff=lfs merge=lfs -text
+Memory_Exploration/all_hdf5/Pour_the_orange_juice_into_the_red_coffee_mug_dym005_tex1_case6.hdf5 filter=lfs diff=lfs merge=lfs -text
+Memory_Exploration/all_hdf5/Pour_wine_from_wine_bottle_into_white_yellow_mug._dym005_tex0_case5.hdf5 filter=lfs diff=lfs merge=lfs -text
+Memory_Exploration/all_hdf5/Put_butter_on_the_coffee_table_dxp005_tex2_case3.hdf5 filter=lfs diff=lfs merge=lfs -text
+Memory_Exploration/all_hdf5/Pour_the_orange_juice_into_the_red_coffee_mug_orig_tex2_case6.hdf5 filter=lfs diff=lfs merge=lfs -text
+Memory_Exploration/all_hdf5/Pour_wine_from_wine_bottle_into_white_yellow_mug._dyp005_tex1_case3.hdf5 filter=lfs diff=lfs merge=lfs -text
+Memory_Exploration/all_hdf5/Pour_wine_from_wine_bottle_into_white_yellow_mug._dyp005_tex2_case4.hdf5 filter=lfs diff=lfs merge=lfs -text
+Memory_Exploration/per_step/case9/Close_the_wooden_cabinet_top_region./Close_the_wooden_cabinet_top_region._orig_tex1_case9.hdf5 filter=lfs diff=lfs merge=lfs -text
+Memory_Exploration/all_hdf5/Put_butter_on_the_coffee_table_orig_tex0_case3.hdf5 filter=lfs diff=lfs merge=lfs -text
+Memory_Exploration/all_hdf5/Put_butter_on_the_coffee_table_dym005_tex0_case3.hdf5 filter=lfs diff=lfs merge=lfs -text
+Memory_Exploration/per_step/case9/Close_the_wooden_cabinet_top_region./Close_the_wooden_cabinet_top_region._dym005_tex2_case9.hdf5 filter=lfs diff=lfs merge=lfs -text
+Memory_Exploration/per_step/case9/Close_the_wooden_cabinet_top_region./Close_the_wooden_cabinet_top_region._dxp005_tex0_case9.hdf5 filter=lfs diff=lfs merge=lfs -text
+Memory_Exploration/per_step/case9/Close_the_wooden_cabinet_top_region./Close_the_wooden_cabinet_top_region._orig_tex2_case9.hdf5 filter=lfs diff=lfs merge=lfs -text
+Memory_Exploration/per_step/case9/Close_the_wooden_cabinet_top_region./Close_the_wooden_cabinet_top_region._dxp005_tex2_case9.hdf5 filter=lfs diff=lfs merge=lfs -text
+Memory_Exploration/per_step/case9/Close_the_wooden_cabinet_top_region./Close_the_wooden_cabinet_top_region._dyp005_tex2_case9.hdf5 filter=lfs diff=lfs merge=lfs -text
+Memory_Exploration/per_step/case9/Close_the_wooden_cabinet_top_region./Close_the_wooden_cabinet_top_region._dyp005_tex0_case9.hdf5 filter=lfs diff=lfs merge=lfs -text
+Memory_Exploration/per_step/case9/Close_the_wooden_cabinet_top_region./Close_the_wooden_cabinet_top_region._dym005_tex0_case9.hdf5 filter=lfs diff=lfs merge=lfs -text
+Memory_Exploration/per_step/case9/Close_the_wooden_cabinet_top_region./Close_the_wooden_cabinet_top_region._orig_tex0_case9.hdf5 filter=lfs diff=lfs merge=lfs -text
+Memory_Exploration/all_hdf5/Put_the_butter_on_the_coffee_table._dyp005_tex0_case4.hdf5 filter=lfs diff=lfs merge=lfs -text
+Memory_Exploration/all_hdf5/Put_the_butter_on_the_coffee_table._dym005_tex2_case5.hdf5 filter=lfs diff=lfs merge=lfs -text
+Memory_Exploration/all_hdf5/Put_the_butter_on_the_coffee_table._dxp005_tex0_case5.hdf5 filter=lfs diff=lfs merge=lfs -text
+Memory_Exploration/all_hdf5/Turn_on_the_flat_stove_cook_region._orig_tex0_case3.hdf5 filter=lfs diff=lfs merge=lfs -text
+Memory_Exploration/all_hdf5/Turn_on_the_flat_stove_cook_region._dyp005_tex0_case3.hdf5 filter=lfs diff=lfs merge=lfs -text
+Memory_Exploration/all_hdf5/Turn_on_the_flat_stove_cook_region._dym005_tex1_case5.hdf5 filter=lfs diff=lfs merge=lfs -text
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