diff --git a/.gitattributes b/.gitattributes
index 691845139649d7c71252afa23a4cdc5d77f8068d..c200125e2dfb184cdd7555359c635bba16f0d3cb 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -874,3 +874,32 @@ Ideal/per_step/case6/Place_down_the_butter_into_the_short_cabinet_in_middle_regi
 Ideal/per_step/case6/Place_down_the_butter_into_the_short_cabinet_in_middle_region/Place_down_the_butter_into_the_short_cabinet_in_middle_region_dxp005_tex1_case6.hdf5 filter=lfs diff=lfs merge=lfs -text
 Ideal/per_step/case6/Place_down_the_butter_into_the_short_cabinet_in_middle_region/Place_down_the_butter_into_the_short_cabinet_in_middle_region_dym005_tex1_case6.hdf5 filter=lfs diff=lfs merge=lfs -text
 Ideal/per_step/case6/Pick_up_the_butter_from_coffee_table/Pick_up_the_butter_from_coffee_table_dyp005_tex1_case6.hdf5 filter=lfs diff=lfs merge=lfs -text
+Ideal/per_step/case6/Place_down_the_butter_into_the_short_cabinet_in_middle_region/Place_down_the_butter_into_the_short_cabinet_in_middle_region_dyp005_tex1_case6.hdf5 filter=lfs diff=lfs merge=lfs -text
+Ideal/per_step/case6/Place_down_the_butter_into_the_short_cabinet_in_middle_region/Place_down_the_butter_into_the_short_cabinet_in_middle_region_orig_tex0_case6.hdf5 filter=lfs diff=lfs merge=lfs -text
+Ideal/per_step/case6/Pour_out_the_tomato_sauce_onto_the_plate/Pour_out_the_tomato_sauce_onto_the_plate_dxp005_tex2_case6.hdf5 filter=lfs diff=lfs merge=lfs -text
+Ideal/per_step/case6/Place_down_the_butter_into_the_short_cabinet_in_middle_region/Place_down_the_butter_into_the_short_cabinet_in_middle_region_orig_tex2_case6.hdf5 filter=lfs diff=lfs merge=lfs -text
+Ideal/per_step/case6/Pick_up_the_butter_from_coffee_table/Pick_up_the_butter_from_coffee_table_dym005_tex1_case6.hdf5 filter=lfs diff=lfs merge=lfs -text
+Ideal/per_step/case6/Pour_out_the_tomato_sauce_onto_the_plate/Pour_out_the_tomato_sauce_onto_the_plate_orig_tex0_case6.hdf5 filter=lfs diff=lfs merge=lfs -text
+Ideal/per_step/case8/Pick_up_the_wine_bottle_from_coffee_table/Pick_up_the_wine_bottle_from_coffee_table_dym005_tex0_case8.hdf5 filter=lfs diff=lfs merge=lfs -text
+Ideal/per_step/case8/Pick_up_the_cream_cheese_from_coffee_table/Pick_up_the_cream_cheese_from_coffee_table_dyp005_tex2_case8.hdf5 filter=lfs diff=lfs merge=lfs -text
+Ideal/per_step/case10/Pour_out_the_tomato_sauce_onto_frypan/Pour_out_the_tomato_sauce_onto_frypan_orig_tex1_case10.hdf5 filter=lfs diff=lfs merge=lfs -text
+Ideal/per_step/case6/Place_the_tomato_sauce_on_the_coffee_table/Place_the_tomato_sauce_on_the_coffee_table_orig_tex1_case6.hdf5 filter=lfs diff=lfs merge=lfs -text
+Ideal/per_step/case8/Pick_up_the_wine_bottle_from_coffee_table/Pick_up_the_wine_bottle_from_coffee_table_dyp005_tex1_case8.hdf5 filter=lfs diff=lfs merge=lfs -text
+Ideal/per_step/case6/Place_the_tomato_sauce_on_the_coffee_table/Place_the_tomato_sauce_on_the_coffee_table_dyp005_tex1_case6.hdf5 filter=lfs diff=lfs merge=lfs -text
+Ideal/per_step/case6/Place_the_tomato_sauce_on_the_coffee_table/Place_the_tomato_sauce_on_the_coffee_table_dyp005_tex2_case6.hdf5 filter=lfs diff=lfs merge=lfs -text
+Ideal/per_step/case8/Pour_out_the_contents_of_wine_bottle_into_white_yellow_mug/Pour_out_the_contents_of_wine_bottle_into_white_yellow_mug_orig_tex0_case8.hdf5 filter=lfs diff=lfs merge=lfs -text
+Ideal/per_step/case6/Pour_out_the_tomato_sauce_onto_the_plate/Pour_out_the_tomato_sauce_onto_the_plate_dxp005_tex0_case6.hdf5 filter=lfs diff=lfs merge=lfs -text
+Ideal/per_step/case8/Pick_up_the_cream_cheese_from_coffee_table/Pick_up_the_cream_cheese_from_coffee_table_dym005_tex2_case8.hdf5 filter=lfs diff=lfs merge=lfs -text
+Ideal/per_step/case8/Pick_up_the_cream_cheese_from_coffee_table/Pick_up_the_cream_cheese_from_coffee_table_dyp005_tex0_case8.hdf5 filter=lfs diff=lfs merge=lfs -text
+Ideal/per_step/case8/Pick_up_the_wine_bottle_from_coffee_table/Pick_up_the_wine_bottle_from_coffee_table_dxp005_tex1_case8.hdf5 filter=lfs diff=lfs merge=lfs -text
+Ideal/per_step/case6/Pick_up_the_butter_from_coffee_table/Pick_up_the_butter_from_coffee_table_dyp005_tex2_case6.hdf5 filter=lfs diff=lfs merge=lfs -text
+Ideal/per_step/case6/Place_the_tomato_sauce_on_the_coffee_table/Place_the_tomato_sauce_on_the_coffee_table_dym005_tex2_case6.hdf5 filter=lfs diff=lfs merge=lfs -text
+Ideal/per_step/case6/Pick_up_the_butter_from_coffee_table/Pick_up_the_butter_from_coffee_table_orig_tex0_case6.hdf5 filter=lfs diff=lfs merge=lfs -text
+Ideal/per_step/case8/Pick_up_the_cream_cheese_from_coffee_table/Pick_up_the_cream_cheese_from_coffee_table_dxp005_tex1_case8.hdf5 filter=lfs diff=lfs merge=lfs -text
+Ideal/per_step/case8/Pick_up_the_cream_cheese_from_coffee_table/Pick_up_the_cream_cheese_from_coffee_table_dyp005_tex1_case8.hdf5 filter=lfs diff=lfs merge=lfs -text
+Ideal/per_step/case6/Place_the_tomato_sauce_on_the_coffee_table/Place_the_tomato_sauce_on_the_coffee_table_dym005_tex0_case6.hdf5 filter=lfs diff=lfs merge=lfs -text
+Ideal/per_step/case6/Place_the_tomato_sauce_on_the_coffee_table/Place_the_tomato_sauce_on_the_coffee_table_orig_tex2_case6.hdf5 filter=lfs diff=lfs merge=lfs -text
+Ideal/per_step/case6/Pick_up_the_butter_from_coffee_table/Pick_up_the_butter_from_coffee_table_dxp005_tex2_case6.hdf5 filter=lfs diff=lfs merge=lfs -text
+Ideal/per_step/case6/Open_the_short_cabinet_in_middle_region/Open_the_short_cabinet_in_middle_region_orig_tex1_case6.hdf5 filter=lfs diff=lfs merge=lfs -text
+Ideal/per_step/case6/Pick_up_the_butter_from_coffee_table/Pick_up_the_butter_from_coffee_table_orig_tex1_case6.hdf5 filter=lfs diff=lfs merge=lfs -text
+Ideal/per_step/case6/Place_the_tomato_sauce_on_the_coffee_table/Place_the_tomato_sauce_on_the_coffee_table_dxp005_tex2_case6.hdf5 filter=lfs diff=lfs merge=lfs -text
diff --git a/Ideal/per_step/case10/Pour_out_the_tomato_sauce_onto_frypan/Pour_out_the_tomato_sauce_onto_frypan_orig_tex1_case10.hdf5 b/Ideal/per_step/case10/Pour_out_the_tomato_sauce_onto_frypan/Pour_out_the_tomato_sauce_onto_frypan_orig_tex1_case10.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..7c8390aecb62bb5aebc37c17464023ab4f539c42
--- /dev/null
+++ b/Ideal/per_step/case10/Pour_out_the_tomato_sauce_onto_frypan/Pour_out_the_tomato_sauce_onto_frypan_orig_tex1_case10.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2c9c9d0276a089c7c83605cab5d41e264f3d216102fa2944e5154ff029980f67
+size 45005186
diff --git a/Ideal/per_step/case3/Pick_up_the_plate_from_coffee_table/Pick_up_the_plate_from_coffee_table_dym005_tex0.mp4 b/Ideal/per_step/case3/Pick_up_the_plate_from_coffee_table/Pick_up_the_plate_from_coffee_table_dym005_tex0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..84bf05408aff58b04662e1b1cab97e2080c19358
--- /dev/null
+++ b/Ideal/per_step/case3/Pick_up_the_plate_from_coffee_table/Pick_up_the_plate_from_coffee_table_dym005_tex0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a75383e8d3ab84caba13551a067689836e5f54698a355a2ee6fa465b0f46dcb3
+size 28959
diff --git a/Ideal/per_step/case3/Pick_up_the_plate_from_coffee_table/Pick_up_the_plate_from_coffee_table_dym005_tex2.mp4 b/Ideal/per_step/case3/Pick_up_the_plate_from_coffee_table/Pick_up_the_plate_from_coffee_table_dym005_tex2.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..757397bead0ffe3f0d7b3a4e01e084642eab423a
--- /dev/null
+++ b/Ideal/per_step/case3/Pick_up_the_plate_from_coffee_table/Pick_up_the_plate_from_coffee_table_dym005_tex2.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4449ec9d7795b578bd1f275764fc9a3eb928594b7724d2981db387ccb8e24eaa
+size 29316
diff --git a/Ideal/per_step/case3/Place_the_popcorn_on_dining_set_group/Place_the_popcorn_on_dining_set_group_dym005_tex0.mp4 b/Ideal/per_step/case3/Place_the_popcorn_on_dining_set_group/Place_the_popcorn_on_dining_set_group_dym005_tex0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..01d41a6c6dc161604b1114bd4d9957b85a2424ab
--- /dev/null
+++ b/Ideal/per_step/case3/Place_the_popcorn_on_dining_set_group/Place_the_popcorn_on_dining_set_group_dym005_tex0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6b0b6b8362e5dd4510248e8edd8b0c453bd99e7f0c3023ed9d1f71b606b6c624
+size 21277
diff --git a/Ideal/per_step/case3/Place_the_popcorn_on_dining_set_group/Place_the_popcorn_on_dining_set_group_dym005_tex2.mp4 b/Ideal/per_step/case3/Place_the_popcorn_on_dining_set_group/Place_the_popcorn_on_dining_set_group_dym005_tex2.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..952c8273d37839b6765fed3eb7c6c6a4d2529609
--- /dev/null
+++ b/Ideal/per_step/case3/Place_the_popcorn_on_dining_set_group/Place_the_popcorn_on_dining_set_group_dym005_tex2.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c1d967975ccc45c15eda2960e74ea99613235fb6814407f734edd18b7ae860e7
+size 21705
diff --git a/Ideal/per_step/case6/Open_the_short_cabinet_in_middle_region/Open_the_short_cabinet_in_middle_region_orig_tex1_case6.hdf5 b/Ideal/per_step/case6/Open_the_short_cabinet_in_middle_region/Open_the_short_cabinet_in_middle_region_orig_tex1_case6.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..5caab1d58ac9d21e834cbc7e858f694bd9e2c439
--- /dev/null
+++ b/Ideal/per_step/case6/Open_the_short_cabinet_in_middle_region/Open_the_short_cabinet_in_middle_region_orig_tex1_case6.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:86ef8ce2cc4837f0398c3b00a1c32d142acc25ccf8c0e57a73c6fe1ea0bf4389
+size 55580922
diff --git a/Ideal/per_step/case6/Pick_up_the_butter_from_coffee_table/Pick_up_the_butter_from_coffee_table_dxp005_tex2_case6.hdf5 b/Ideal/per_step/case6/Pick_up_the_butter_from_coffee_table/Pick_up_the_butter_from_coffee_table_dxp005_tex2_case6.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..57113c4929a193a2da07d6d2a61bc09326c66023
--- /dev/null
+++ b/Ideal/per_step/case6/Pick_up_the_butter_from_coffee_table/Pick_up_the_butter_from_coffee_table_dxp005_tex2_case6.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:70daec9a87659e9c1f5e1e4aff4b6c37696ffc95fa59eb4c361be189b7becca5
+size 40998288
diff --git a/Ideal/per_step/case6/Pick_up_the_butter_from_coffee_table/Pick_up_the_butter_from_coffee_table_dym005_tex1_case6.hdf5 b/Ideal/per_step/case6/Pick_up_the_butter_from_coffee_table/Pick_up_the_butter_from_coffee_table_dym005_tex1_case6.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..8607c5f9e71f3adea4afd0ae3348d459ad5e6a85
--- /dev/null
+++ b/Ideal/per_step/case6/Pick_up_the_butter_from_coffee_table/Pick_up_the_butter_from_coffee_table_dym005_tex1_case6.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:152ce4554e58333c75135b4b6d60d7033d435b4d20541af9ef5fca1c714069ae
+size 40998288
diff --git a/Ideal/per_step/case6/Pick_up_the_butter_from_coffee_table/Pick_up_the_butter_from_coffee_table_dyp005_tex2_case6.hdf5 b/Ideal/per_step/case6/Pick_up_the_butter_from_coffee_table/Pick_up_the_butter_from_coffee_table_dyp005_tex2_case6.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..478f699e7a77f1658835946f5ea8017846d9acdf
--- /dev/null
+++ b/Ideal/per_step/case6/Pick_up_the_butter_from_coffee_table/Pick_up_the_butter_from_coffee_table_dyp005_tex2_case6.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dfdd4aabd04ae5a26c80f381629a1a9d9e3af334285abc1a7522708a15d8c00d
+size 40998288
diff --git a/Ideal/per_step/case6/Pick_up_the_butter_from_coffee_table/Pick_up_the_butter_from_coffee_table_orig_tex0_case6.hdf5 b/Ideal/per_step/case6/Pick_up_the_butter_from_coffee_table/Pick_up_the_butter_from_coffee_table_orig_tex0_case6.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..4632a4377c0452ae936dfbc3c08ace09c14f2f6c
--- /dev/null
+++ b/Ideal/per_step/case6/Pick_up_the_butter_from_coffee_table/Pick_up_the_butter_from_coffee_table_orig_tex0_case6.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bf5dda3ecb875d5bc827d1e98519ba1bd21bb8084a9745ccf98fe3671b1b433e
+size 40998288
diff --git a/Ideal/per_step/case6/Pick_up_the_butter_from_coffee_table/Pick_up_the_butter_from_coffee_table_orig_tex1_case6.hdf5 b/Ideal/per_step/case6/Pick_up_the_butter_from_coffee_table/Pick_up_the_butter_from_coffee_table_orig_tex1_case6.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..bd02b045182e08447afbfff881c4501981ce3514
--- /dev/null
+++ b/Ideal/per_step/case6/Pick_up_the_butter_from_coffee_table/Pick_up_the_butter_from_coffee_table_orig_tex1_case6.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ad9f08e7be00d12d0a39554b6ba7049f70869538a75bbac3c4e7693d37066f01
+size 40998288
diff --git a/Ideal/per_step/case6/Pick_up_the_tomato_sauce_from_coffee_table/Pick_up_the_tomato_sauce_from_coffee_table_dxp005_tex0.mp4 b/Ideal/per_step/case6/Pick_up_the_tomato_sauce_from_coffee_table/Pick_up_the_tomato_sauce_from_coffee_table_dxp005_tex0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..969d9a4808501bc770ef21cce11e6ab9c325b72e
--- /dev/null
+++ b/Ideal/per_step/case6/Pick_up_the_tomato_sauce_from_coffee_table/Pick_up_the_tomato_sauce_from_coffee_table_dxp005_tex0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:857732c176e9fcf2d5b6e869cac42779681ef37757412e940d8a6a9a2b139a66
+size 43526
diff --git a/Ideal/per_step/case6/Pick_up_the_tomato_sauce_from_coffee_table/Pick_up_the_tomato_sauce_from_coffee_table_dxp005_tex1.mp4 b/Ideal/per_step/case6/Pick_up_the_tomato_sauce_from_coffee_table/Pick_up_the_tomato_sauce_from_coffee_table_dxp005_tex1.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..28cf270f52bd978f2d6d5a110c8dbc18d4c46a75
--- /dev/null
+++ b/Ideal/per_step/case6/Pick_up_the_tomato_sauce_from_coffee_table/Pick_up_the_tomato_sauce_from_coffee_table_dxp005_tex1.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a3361a56095e680bb74e9ea6240fbb2d627dca34307960534b261057f3f9309f
+size 44344
diff --git a/Ideal/per_step/case6/Pick_up_the_tomato_sauce_from_coffee_table/Pick_up_the_tomato_sauce_from_coffee_table_dxp005_tex2.mp4 b/Ideal/per_step/case6/Pick_up_the_tomato_sauce_from_coffee_table/Pick_up_the_tomato_sauce_from_coffee_table_dxp005_tex2.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..97600523ff179b3ee2fb7f0ae11257198c81bdc7
--- /dev/null
+++ b/Ideal/per_step/case6/Pick_up_the_tomato_sauce_from_coffee_table/Pick_up_the_tomato_sauce_from_coffee_table_dxp005_tex2.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9f9baad5b0857dd7a104f4f06d615111e79b450a536ea0ed1594c63ad662ea98
+size 44214
diff --git a/Ideal/per_step/case6/Pick_up_the_tomato_sauce_from_coffee_table/Pick_up_the_tomato_sauce_from_coffee_table_dym005_tex0.mp4 b/Ideal/per_step/case6/Pick_up_the_tomato_sauce_from_coffee_table/Pick_up_the_tomato_sauce_from_coffee_table_dym005_tex0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c617816b27ec4e5128c04e04d18788a2e94ce0f7
--- /dev/null
+++ b/Ideal/per_step/case6/Pick_up_the_tomato_sauce_from_coffee_table/Pick_up_the_tomato_sauce_from_coffee_table_dym005_tex0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6c210a273790dd66dff68acb9e8e3b3dc6a6734e57522ca9ec425d22d678a058
+size 43690
diff --git a/Ideal/per_step/case6/Pick_up_the_tomato_sauce_from_coffee_table/Pick_up_the_tomato_sauce_from_coffee_table_dym005_tex1.mp4 b/Ideal/per_step/case6/Pick_up_the_tomato_sauce_from_coffee_table/Pick_up_the_tomato_sauce_from_coffee_table_dym005_tex1.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d7dad1ffe96c79f4acab9034986fc3c3a57c2240
--- /dev/null
+++ b/Ideal/per_step/case6/Pick_up_the_tomato_sauce_from_coffee_table/Pick_up_the_tomato_sauce_from_coffee_table_dym005_tex1.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d450e57f79a5fd28b4580b467ab237867659d4dbd1b8619a663332f58d0b77b1
+size 44311
diff --git a/Ideal/per_step/case6/Pick_up_the_tomato_sauce_from_coffee_table/Pick_up_the_tomato_sauce_from_coffee_table_dym005_tex2.mp4 b/Ideal/per_step/case6/Pick_up_the_tomato_sauce_from_coffee_table/Pick_up_the_tomato_sauce_from_coffee_table_dym005_tex2.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c6823f56a9183a50728f845e0b6d022fdcf60f31
--- /dev/null
+++ b/Ideal/per_step/case6/Pick_up_the_tomato_sauce_from_coffee_table/Pick_up_the_tomato_sauce_from_coffee_table_dym005_tex2.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2da01895e312f98c4b8142ec4517d766646d3df0ed8205c93f3e6d11b221a7c3
+size 43704
diff --git a/Ideal/per_step/case6/Pick_up_the_tomato_sauce_from_coffee_table/Pick_up_the_tomato_sauce_from_coffee_table_dyp005_tex0.mp4 b/Ideal/per_step/case6/Pick_up_the_tomato_sauce_from_coffee_table/Pick_up_the_tomato_sauce_from_coffee_table_dyp005_tex0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..42b02f9692a2cdccf079176b3c73ae8e661faaec
--- /dev/null
+++ b/Ideal/per_step/case6/Pick_up_the_tomato_sauce_from_coffee_table/Pick_up_the_tomato_sauce_from_coffee_table_dyp005_tex0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:55c14068b5e006c43594b9fb64b536e60dcf91ed64256321814ee3b07a1e7992
+size 42897
diff --git a/Ideal/per_step/case6/Pick_up_the_tomato_sauce_from_coffee_table/Pick_up_the_tomato_sauce_from_coffee_table_dyp005_tex1.mp4 b/Ideal/per_step/case6/Pick_up_the_tomato_sauce_from_coffee_table/Pick_up_the_tomato_sauce_from_coffee_table_dyp005_tex1.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ef75dafd2b62875ec1b548c5267d9f4623da3d31
--- /dev/null
+++ b/Ideal/per_step/case6/Pick_up_the_tomato_sauce_from_coffee_table/Pick_up_the_tomato_sauce_from_coffee_table_dyp005_tex1.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c4fd2f8d2e6fdc97ede657cd14dc73e5fdc3273a0cab99ec4f5f4d94b14444ab
+size 43826
diff --git a/Ideal/per_step/case6/Pick_up_the_tomato_sauce_from_coffee_table/Pick_up_the_tomato_sauce_from_coffee_table_orig_tex1.mp4 b/Ideal/per_step/case6/Pick_up_the_tomato_sauce_from_coffee_table/Pick_up_the_tomato_sauce_from_coffee_table_orig_tex1.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9c9053483d376c72d5e203dc2ff6d4adf0ba3b6b
--- /dev/null
+++ b/Ideal/per_step/case6/Pick_up_the_tomato_sauce_from_coffee_table/Pick_up_the_tomato_sauce_from_coffee_table_orig_tex1.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c407ed90f3b15bb8b79bef8a6c7871cefed4b00a2a674c63d92c5dad13989d71
+size 44224
diff --git a/Ideal/per_step/case6/Place_down_the_butter_into_the_short_cabinet_in_middle_region/Place_down_the_butter_into_the_short_cabinet_in_middle_region_dxp005_tex0.mp4 b/Ideal/per_step/case6/Place_down_the_butter_into_the_short_cabinet_in_middle_region/Place_down_the_butter_into_the_short_cabinet_in_middle_region_dxp005_tex0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5dcb6b4d987c1187c25ac9e9ae3bd175ec2a47d7
--- /dev/null
+++ b/Ideal/per_step/case6/Place_down_the_butter_into_the_short_cabinet_in_middle_region/Place_down_the_butter_into_the_short_cabinet_in_middle_region_dxp005_tex0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ca73539290116b4fa1ba2f6130c67dc0b62faf17ae96a57bfaec00c2afa37a03
+size 17694
diff --git a/Ideal/per_step/case6/Place_down_the_butter_into_the_short_cabinet_in_middle_region/Place_down_the_butter_into_the_short_cabinet_in_middle_region_dyp005_tex1_case6.hdf5 b/Ideal/per_step/case6/Place_down_the_butter_into_the_short_cabinet_in_middle_region/Place_down_the_butter_into_the_short_cabinet_in_middle_region_dyp005_tex1_case6.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..b4583f817dbb11e3de90249978a1307b87247cdc
--- /dev/null
+++ b/Ideal/per_step/case6/Place_down_the_butter_into_the_short_cabinet_in_middle_region/Place_down_the_butter_into_the_short_cabinet_in_middle_region_dyp005_tex1_case6.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c2bad59a68d31f2b1a655d0895fb16d6ef17b7d333f64a30d82bd83273fa4878
+size 11832560
diff --git a/Ideal/per_step/case6/Place_down_the_butter_into_the_short_cabinet_in_middle_region/Place_down_the_butter_into_the_short_cabinet_in_middle_region_orig_tex0_case6.hdf5 b/Ideal/per_step/case6/Place_down_the_butter_into_the_short_cabinet_in_middle_region/Place_down_the_butter_into_the_short_cabinet_in_middle_region_orig_tex0_case6.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..a5c09a6914477d2a8ea8f284e75022e71faceef2
--- /dev/null
+++ b/Ideal/per_step/case6/Place_down_the_butter_into_the_short_cabinet_in_middle_region/Place_down_the_butter_into_the_short_cabinet_in_middle_region_orig_tex0_case6.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0f127763f07f1cd7985f6a2892f6380a737579f9056b993021b78b57a814892f
+size 11832560
diff --git a/Ideal/per_step/case6/Place_down_the_butter_into_the_short_cabinet_in_middle_region/Place_down_the_butter_into_the_short_cabinet_in_middle_region_orig_tex2_case6.hdf5 b/Ideal/per_step/case6/Place_down_the_butter_into_the_short_cabinet_in_middle_region/Place_down_the_butter_into_the_short_cabinet_in_middle_region_orig_tex2_case6.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..d8e3ab51ba197259e862a0421ca0240a7a9ce944
--- /dev/null
+++ b/Ideal/per_step/case6/Place_down_the_butter_into_the_short_cabinet_in_middle_region/Place_down_the_butter_into_the_short_cabinet_in_middle_region_orig_tex2_case6.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:201494d3284d9eafb2060c4f746c72eee7d8eb5bda9616c8424b2ac42595922f
+size 11832560
diff --git a/Ideal/per_step/case6/Place_the_tomato_sauce_on_the_coffee_table/Place_the_tomato_sauce_on_the_coffee_table_dxp005_tex0.mp4 b/Ideal/per_step/case6/Place_the_tomato_sauce_on_the_coffee_table/Place_the_tomato_sauce_on_the_coffee_table_dxp005_tex0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6de7019d82943d541b36efcfbe183c9e7e9ec0fe
--- /dev/null
+++ b/Ideal/per_step/case6/Place_the_tomato_sauce_on_the_coffee_table/Place_the_tomato_sauce_on_the_coffee_table_dxp005_tex0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cb0259a0078afb56d297110b1605a58f87d911d4393e90237fe03bc97f50017f
+size 31938
diff --git a/Ideal/per_step/case6/Place_the_tomato_sauce_on_the_coffee_table/Place_the_tomato_sauce_on_the_coffee_table_dxp005_tex2.mp4 b/Ideal/per_step/case6/Place_the_tomato_sauce_on_the_coffee_table/Place_the_tomato_sauce_on_the_coffee_table_dxp005_tex2.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7e2aaed4ab1c589eec6ffde2b41a1c190c2364fb
--- /dev/null
+++ b/Ideal/per_step/case6/Place_the_tomato_sauce_on_the_coffee_table/Place_the_tomato_sauce_on_the_coffee_table_dxp005_tex2.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c62ba246a51374f9ed224459f90bdabdbac14a224d88544d22e0ea53bba061a0
+size 32832
diff --git a/Ideal/per_step/case6/Place_the_tomato_sauce_on_the_coffee_table/Place_the_tomato_sauce_on_the_coffee_table_dxp005_tex2_case6.hdf5 b/Ideal/per_step/case6/Place_the_tomato_sauce_on_the_coffee_table/Place_the_tomato_sauce_on_the_coffee_table_dxp005_tex2_case6.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..9ce86878976ea3cbb7a8af0296d3d3fecd5caa96
--- /dev/null
+++ b/Ideal/per_step/case6/Place_the_tomato_sauce_on_the_coffee_table/Place_the_tomato_sauce_on_the_coffee_table_dxp005_tex2_case6.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f50b67a829a7f75ba8a1e10a22c62d8283ee9a660959cbc33dfd04180aea665a
+size 28386704
diff --git a/Ideal/per_step/case6/Place_the_tomato_sauce_on_the_coffee_table/Place_the_tomato_sauce_on_the_coffee_table_dym005_tex0.mp4 b/Ideal/per_step/case6/Place_the_tomato_sauce_on_the_coffee_table/Place_the_tomato_sauce_on_the_coffee_table_dym005_tex0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..57a423b35569464a20721153b1918cd07ee2281a
--- /dev/null
+++ b/Ideal/per_step/case6/Place_the_tomato_sauce_on_the_coffee_table/Place_the_tomato_sauce_on_the_coffee_table_dym005_tex0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:db8f01d88de4360269d28ea563ffeda61596e1bdd91d93877390b13625a45a6b
+size 31961
diff --git a/Ideal/per_step/case6/Place_the_tomato_sauce_on_the_coffee_table/Place_the_tomato_sauce_on_the_coffee_table_dym005_tex0_case6.hdf5 b/Ideal/per_step/case6/Place_the_tomato_sauce_on_the_coffee_table/Place_the_tomato_sauce_on_the_coffee_table_dym005_tex0_case6.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..b07d1001fec27b84a3c8a092e9001a14e4c45c6e
--- /dev/null
+++ b/Ideal/per_step/case6/Place_the_tomato_sauce_on_the_coffee_table/Place_the_tomato_sauce_on_the_coffee_table_dym005_tex0_case6.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c08a065da92738874a79a6dd31e16a5116aea7e47dddf7f93e01d46b1ad64406
+size 28386704
diff --git a/Ideal/per_step/case6/Place_the_tomato_sauce_on_the_coffee_table/Place_the_tomato_sauce_on_the_coffee_table_dym005_tex2.mp4 b/Ideal/per_step/case6/Place_the_tomato_sauce_on_the_coffee_table/Place_the_tomato_sauce_on_the_coffee_table_dym005_tex2.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f7af7630c124f3002ffbe599ba6998cf9273dea0
--- /dev/null
+++ b/Ideal/per_step/case6/Place_the_tomato_sauce_on_the_coffee_table/Place_the_tomato_sauce_on_the_coffee_table_dym005_tex2.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:55aee5986255b877e0c0bae741e9cde431ca74ccedb8725ed02e4370970b7f39
+size 32855
diff --git a/Ideal/per_step/case6/Place_the_tomato_sauce_on_the_coffee_table/Place_the_tomato_sauce_on_the_coffee_table_dym005_tex2_case6.hdf5 b/Ideal/per_step/case6/Place_the_tomato_sauce_on_the_coffee_table/Place_the_tomato_sauce_on_the_coffee_table_dym005_tex2_case6.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..7190a84cf796cff0d925c76f158ae6e12b2e4fc2
--- /dev/null
+++ b/Ideal/per_step/case6/Place_the_tomato_sauce_on_the_coffee_table/Place_the_tomato_sauce_on_the_coffee_table_dym005_tex2_case6.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e51dd96beef276bc383c360caa46b8e2ee53b7b3e5d67bffb56a5719d22901aa
+size 28386704
diff --git a/Ideal/per_step/case6/Place_the_tomato_sauce_on_the_coffee_table/Place_the_tomato_sauce_on_the_coffee_table_dyp005_tex1.mp4 b/Ideal/per_step/case6/Place_the_tomato_sauce_on_the_coffee_table/Place_the_tomato_sauce_on_the_coffee_table_dyp005_tex1.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4d7b0b2e91f00adad2cbf899c0d70c9fa10b6fc7
--- /dev/null
+++ b/Ideal/per_step/case6/Place_the_tomato_sauce_on_the_coffee_table/Place_the_tomato_sauce_on_the_coffee_table_dyp005_tex1.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:da4c594d600f60ae93e174d6638d64fe5805d6a508bbf5ee6020669d53b5934b
+size 33254
diff --git a/Ideal/per_step/case6/Place_the_tomato_sauce_on_the_coffee_table/Place_the_tomato_sauce_on_the_coffee_table_dyp005_tex1_case6.hdf5 b/Ideal/per_step/case6/Place_the_tomato_sauce_on_the_coffee_table/Place_the_tomato_sauce_on_the_coffee_table_dyp005_tex1_case6.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..d17a49cbe69f0b75e4c325f058c55673f8978c3b
--- /dev/null
+++ b/Ideal/per_step/case6/Place_the_tomato_sauce_on_the_coffee_table/Place_the_tomato_sauce_on_the_coffee_table_dyp005_tex1_case6.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4da2104462bdeab9a0e5eedace23d6e3a0b5e209b899ee31679ab0b3512e9ca5
+size 28386704
diff --git a/Ideal/per_step/case6/Place_the_tomato_sauce_on_the_coffee_table/Place_the_tomato_sauce_on_the_coffee_table_dyp005_tex2_case6.hdf5 b/Ideal/per_step/case6/Place_the_tomato_sauce_on_the_coffee_table/Place_the_tomato_sauce_on_the_coffee_table_dyp005_tex2_case6.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..dd60d33ecd7d74013304b6968aa2fe4411b04eb0
--- /dev/null
+++ b/Ideal/per_step/case6/Place_the_tomato_sauce_on_the_coffee_table/Place_the_tomato_sauce_on_the_coffee_table_dyp005_tex2_case6.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:972dfd00e2193998755b64cdbfaa5e295930ba4464392917787663652ec62eee
+size 28386704
diff --git a/Ideal/per_step/case6/Place_the_tomato_sauce_on_the_coffee_table/Place_the_tomato_sauce_on_the_coffee_table_orig_tex0.mp4 b/Ideal/per_step/case6/Place_the_tomato_sauce_on_the_coffee_table/Place_the_tomato_sauce_on_the_coffee_table_orig_tex0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..66a46e60ebfdba5acda64893105ef39ce1f6c2a2
--- /dev/null
+++ b/Ideal/per_step/case6/Place_the_tomato_sauce_on_the_coffee_table/Place_the_tomato_sauce_on_the_coffee_table_orig_tex0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:721e3a20a38f24e572aa89afb509d37fcc3955dd3c81e00288fd1b031483bfa8
+size 32030
diff --git a/Ideal/per_step/case6/Place_the_tomato_sauce_on_the_coffee_table/Place_the_tomato_sauce_on_the_coffee_table_orig_tex1.mp4 b/Ideal/per_step/case6/Place_the_tomato_sauce_on_the_coffee_table/Place_the_tomato_sauce_on_the_coffee_table_orig_tex1.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a2e886900386c24c74a5d3dbeae62fe7b3744bd1
--- /dev/null
+++ b/Ideal/per_step/case6/Place_the_tomato_sauce_on_the_coffee_table/Place_the_tomato_sauce_on_the_coffee_table_orig_tex1.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4a323a7339460d311e2d6b5398fa4ade9c541b74e5dfb81d402dee2b52491f45
+size 33349
diff --git a/Ideal/per_step/case6/Place_the_tomato_sauce_on_the_coffee_table/Place_the_tomato_sauce_on_the_coffee_table_orig_tex1_case6.hdf5 b/Ideal/per_step/case6/Place_the_tomato_sauce_on_the_coffee_table/Place_the_tomato_sauce_on_the_coffee_table_orig_tex1_case6.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..99de07a396819bf6a3c484a04fb4e90b8203f0dd
--- /dev/null
+++ b/Ideal/per_step/case6/Place_the_tomato_sauce_on_the_coffee_table/Place_the_tomato_sauce_on_the_coffee_table_orig_tex1_case6.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2d2cf09b0dd41c7a74fc11488266b11e69b0f043fa1c26c543d3f8cf60136ab8
+size 28386704
diff --git a/Ideal/per_step/case6/Place_the_tomato_sauce_on_the_coffee_table/Place_the_tomato_sauce_on_the_coffee_table_orig_tex2_case6.hdf5 b/Ideal/per_step/case6/Place_the_tomato_sauce_on_the_coffee_table/Place_the_tomato_sauce_on_the_coffee_table_orig_tex2_case6.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..b9e07c01dd52bcd518729d5d23ff9a8954495275
--- /dev/null
+++ b/Ideal/per_step/case6/Place_the_tomato_sauce_on_the_coffee_table/Place_the_tomato_sauce_on_the_coffee_table_orig_tex2_case6.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9f1bba5c9fa5c37f909cd4586656d491273807a3c42af3a117e553a46c6f0b54
+size 28386704
diff --git a/Ideal/per_step/case6/Pour_out_the_tomato_sauce_onto_the_plate/Pour_out_the_tomato_sauce_onto_the_plate_dxp005_tex0_case6.hdf5 b/Ideal/per_step/case6/Pour_out_the_tomato_sauce_onto_the_plate/Pour_out_the_tomato_sauce_onto_the_plate_dxp005_tex0_case6.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..213219117667aa7fdd363b9b88decfa629fc5a82
--- /dev/null
+++ b/Ideal/per_step/case6/Pour_out_the_tomato_sauce_onto_the_plate/Pour_out_the_tomato_sauce_onto_the_plate_dxp005_tex0_case6.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d15dd2780b0cde0fa8c77d6cda8057e6df5c151bb063dafddde464675e26bcd1
+size 18138688
diff --git a/Ideal/per_step/case6/Pour_out_the_tomato_sauce_onto_the_plate/Pour_out_the_tomato_sauce_onto_the_plate_dxp005_tex2_case6.hdf5 b/Ideal/per_step/case6/Pour_out_the_tomato_sauce_onto_the_plate/Pour_out_the_tomato_sauce_onto_the_plate_dxp005_tex2_case6.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..d2bb733cbb150e57658a1f7df63dcb71a69cb340
--- /dev/null
+++ b/Ideal/per_step/case6/Pour_out_the_tomato_sauce_onto_the_plate/Pour_out_the_tomato_sauce_onto_the_plate_dxp005_tex2_case6.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2aa721b2b5417a79f8d26824228f5486a7b982b55c79f7f09e61321fe66d1ad0
+size 18138688
diff --git a/Ideal/per_step/case6/Pour_out_the_tomato_sauce_onto_the_plate/Pour_out_the_tomato_sauce_onto_the_plate_orig_tex0_case6.hdf5 b/Ideal/per_step/case6/Pour_out_the_tomato_sauce_onto_the_plate/Pour_out_the_tomato_sauce_onto_the_plate_orig_tex0_case6.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..c463d20738cb156d41f473bda2f90d8f8f332a5e
--- /dev/null
+++ b/Ideal/per_step/case6/Pour_out_the_tomato_sauce_onto_the_plate/Pour_out_the_tomato_sauce_onto_the_plate_orig_tex0_case6.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:230c335fdb427f010edaefccc1934268b1ba5937004b6fa30e2f86d49e9cccf4
+size 18138688
diff --git a/Ideal/per_step/case8/Pick_up_the_cream_cheese_from_coffee_table/Pick_up_the_cream_cheese_from_coffee_table_dxp005_tex1_case8.hdf5 b/Ideal/per_step/case8/Pick_up_the_cream_cheese_from_coffee_table/Pick_up_the_cream_cheese_from_coffee_table_dxp005_tex1_case8.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..4c6034e1324922b7672f515f46d942904f6d1fa1
--- /dev/null
+++ b/Ideal/per_step/case8/Pick_up_the_cream_cheese_from_coffee_table/Pick_up_the_cream_cheese_from_coffee_table_dxp005_tex1_case8.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ccebefd9f6be08f4b3c0804e461d4773282d0f747c53e5baa1757fbcd7031860
+size 54821574
diff --git a/Ideal/per_step/case8/Pick_up_the_cream_cheese_from_coffee_table/Pick_up_the_cream_cheese_from_coffee_table_dym005_tex2_case8.hdf5 b/Ideal/per_step/case8/Pick_up_the_cream_cheese_from_coffee_table/Pick_up_the_cream_cheese_from_coffee_table_dym005_tex2_case8.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..8f74f0a3b79b76a78b82483696f33707e427846e
--- /dev/null
+++ b/Ideal/per_step/case8/Pick_up_the_cream_cheese_from_coffee_table/Pick_up_the_cream_cheese_from_coffee_table_dym005_tex2_case8.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fac2209b138db15099af31a6bfa4a096f75ed1608d122a7701f5f56960cc7b84
+size 54821574
diff --git a/Ideal/per_step/case8/Pick_up_the_cream_cheese_from_coffee_table/Pick_up_the_cream_cheese_from_coffee_table_dyp005_tex0_case8.hdf5 b/Ideal/per_step/case8/Pick_up_the_cream_cheese_from_coffee_table/Pick_up_the_cream_cheese_from_coffee_table_dyp005_tex0_case8.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..fc5c59658eac7d7a6bc8e2d774716e03dcadcb82
--- /dev/null
+++ b/Ideal/per_step/case8/Pick_up_the_cream_cheese_from_coffee_table/Pick_up_the_cream_cheese_from_coffee_table_dyp005_tex0_case8.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cd69284d4c8b9dc52b625b92a163dcab256505e8257fd99fff814b24524ea354
+size 54821574
diff --git a/Ideal/per_step/case8/Pick_up_the_cream_cheese_from_coffee_table/Pick_up_the_cream_cheese_from_coffee_table_dyp005_tex1_case8.hdf5 b/Ideal/per_step/case8/Pick_up_the_cream_cheese_from_coffee_table/Pick_up_the_cream_cheese_from_coffee_table_dyp005_tex1_case8.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..6087ec3e90ba4f22724ba14d34ce8cb76115bda7
--- /dev/null
+++ b/Ideal/per_step/case8/Pick_up_the_cream_cheese_from_coffee_table/Pick_up_the_cream_cheese_from_coffee_table_dyp005_tex1_case8.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d658dffad22eee28327975a658d5c7f5dd0abe1ff7a44557af3d9b00b2fa1306
+size 54821574
diff --git a/Ideal/per_step/case8/Pick_up_the_cream_cheese_from_coffee_table/Pick_up_the_cream_cheese_from_coffee_table_dyp005_tex2_case8.hdf5 b/Ideal/per_step/case8/Pick_up_the_cream_cheese_from_coffee_table/Pick_up_the_cream_cheese_from_coffee_table_dyp005_tex2_case8.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..4c2966476a8aad97617cbd3c904b891fd4abd807
--- /dev/null
+++ b/Ideal/per_step/case8/Pick_up_the_cream_cheese_from_coffee_table/Pick_up_the_cream_cheese_from_coffee_table_dyp005_tex2_case8.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3c120fff7349af8039899a14e2f900734d725a2133d016da28142b4d6e329351
+size 54821574
diff --git a/Ideal/per_step/case8/Pick_up_the_wine_bottle_from_coffee_table/Pick_up_the_wine_bottle_from_coffee_table_dxp005_tex1_case8.hdf5 b/Ideal/per_step/case8/Pick_up_the_wine_bottle_from_coffee_table/Pick_up_the_wine_bottle_from_coffee_table_dxp005_tex1_case8.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..16e85ac5f39ac7948566d35c9c967f5124971eb3
--- /dev/null
+++ b/Ideal/per_step/case8/Pick_up_the_wine_bottle_from_coffee_table/Pick_up_the_wine_bottle_from_coffee_table_dxp005_tex1_case8.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9fb8ce6e215dc6ebec3ae6ad83308a464407f4c549fe37bbbd11c85cc7a11813
+size 58370616
diff --git a/Ideal/per_step/case8/Pick_up_the_wine_bottle_from_coffee_table/Pick_up_the_wine_bottle_from_coffee_table_dym005_tex0_case8.hdf5 b/Ideal/per_step/case8/Pick_up_the_wine_bottle_from_coffee_table/Pick_up_the_wine_bottle_from_coffee_table_dym005_tex0_case8.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..45be7180ce4fff1af664b1a9c88649f5ff6fb939
--- /dev/null
+++ b/Ideal/per_step/case8/Pick_up_the_wine_bottle_from_coffee_table/Pick_up_the_wine_bottle_from_coffee_table_dym005_tex0_case8.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:447097f22c0b609341e63e928022459687dae142660e34c41e3a83ed6e225e6b
+size 58370616
diff --git a/Ideal/per_step/case8/Pick_up_the_wine_bottle_from_coffee_table/Pick_up_the_wine_bottle_from_coffee_table_dyp005_tex1_case8.hdf5 b/Ideal/per_step/case8/Pick_up_the_wine_bottle_from_coffee_table/Pick_up_the_wine_bottle_from_coffee_table_dyp005_tex1_case8.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..39a6ebd5189fa923e1be6c20ddec7ecd6f70ebf7
--- /dev/null
+++ b/Ideal/per_step/case8/Pick_up_the_wine_bottle_from_coffee_table/Pick_up_the_wine_bottle_from_coffee_table_dyp005_tex1_case8.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b64976ad7633e0a5f76c52b4830ae5ee7f35363447c6d846210583c27aed37f5
+size 58370616
diff --git a/Ideal/per_step/case8/Pour_out_the_contents_of_wine_bottle_into_white_yellow_mug/Pour_out_the_contents_of_wine_bottle_into_white_yellow_mug_orig_tex0_case8.hdf5 b/Ideal/per_step/case8/Pour_out_the_contents_of_wine_bottle_into_white_yellow_mug/Pour_out_the_contents_of_wine_bottle_into_white_yellow_mug_orig_tex0_case8.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..2ca0065e277d16f733affe24c775452c563d25f0
--- /dev/null
+++ b/Ideal/per_step/case8/Pour_out_the_contents_of_wine_bottle_into_white_yellow_mug/Pour_out_the_contents_of_wine_bottle_into_white_yellow_mug_orig_tex0_case8.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aef793ee5a7ef4d27a5e068a0566066959e0f546d210108367dcdcfc9597dda2
+size 56004588