diff --git a/.gitattributes b/.gitattributes
index 33ca366a7d0934f284701c96ee1a80dfdd12e3ee..48f1ef37b01bb7c4ea4824953bce67e2f4dc949e 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -9855,3 +9855,362 @@ Mix/per_step/case3/Pick_up_the_bbq_sauce_from_the_coffee_table/Pick_up_the_bbq_s
 Mix/per_step/case3/Pick_up_the_bbq_sauce_from_the_coffee_table/Pick_up_the_bbq_sauce_from_the_coffee_table_dym005_tex0_case3.hdf5 filter=lfs diff=lfs merge=lfs -text
 Mix/per_step/case3/Place_the_butter_on_the_coffee_table./Place_the_butter_on_the_coffee_table._dxp005_tex1_case3.hdf5 filter=lfs diff=lfs merge=lfs -text
 Mix/per_step/case3/Pick_up_the_butter_from_the_white_cabinet/Pick_up_the_butter_from_the_white_cabinet_orig_tex0_case3.hdf5 filter=lfs diff=lfs merge=lfs -text
+Mix/per_step/case3/Pick_up_the_butter_from_the_white_cabinet/Pick_up_the_butter_from_the_white_cabinet_dyp005_tex0_case3.hdf5 filter=lfs diff=lfs merge=lfs -text
+Mix/per_step/case3/Pick_up_the_butter_from_the_white_cabinet/Pick_up_the_butter_from_the_white_cabinet_dym005_tex2_case3.hdf5 filter=lfs diff=lfs merge=lfs -text
+Mix/per_step/case3/Pick_up_the_butter_from_the_white_cabinet/Pick_up_the_butter_from_the_white_cabinet_dxp005_tex1_case3.hdf5 filter=lfs diff=lfs merge=lfs -text
+Mix/per_step/case3/Pick_up_the_butter_from_the_white_cabinet/Pick_up_the_butter_from_the_white_cabinet_dyp005_tex2_case3.hdf5 filter=lfs diff=lfs merge=lfs -text
+Mix/per_step/case3/Pick_up_the_butter_from_the_white_cabinet/Pick_up_the_butter_from_the_white_cabinet_orig_tex2_case3.hdf5 filter=lfs diff=lfs merge=lfs -text
+Mix/per_step/case3/Pick_up_the_butter_from_the_white_cabinet/Pick_up_the_butter_from_the_white_cabinet_dym005_tex1_case3.hdf5 filter=lfs diff=lfs merge=lfs -text
+Mix/per_step/case3/Pick_up_the_butter_from_the_white_cabinet/Pick_up_the_butter_from_the_white_cabinet_dym005_tex0_case3.hdf5 filter=lfs diff=lfs merge=lfs -text
+Mix/per_step/case3/Pick_up_the_butter_from_the_white_cabinet/Pick_up_the_butter_from_the_white_cabinet_dyp005_tex1_case3.hdf5 filter=lfs diff=lfs merge=lfs -text
+Mix/per_step/case3/Pick_up_the_butter_from_the_white_cabinet/Pick_up_the_butter_from_the_white_cabinet_dxp005_tex0_case3.hdf5 filter=lfs diff=lfs merge=lfs -text
+Mix/per_step/case3/Pick_up_the_butter_from_the_white_cabinet/Pick_up_the_butter_from_the_white_cabinet_orig_tex1_case3.hdf5 filter=lfs diff=lfs merge=lfs -text
+Mix/per_step/case3/Pick_up_the_butter_from_the_white_cabinet/Pick_up_the_butter_from_the_white_cabinet_dxp005_tex2_case3.hdf5 filter=lfs diff=lfs merge=lfs -text
+Mix/per_step/case3/Place_the_butter_on_the_coffee_table./Place_the_butter_on_the_coffee_table._orig_tex1_case3.hdf5 filter=lfs diff=lfs merge=lfs -text
+Mix/per_step/case3/Place_the_butter_on_the_coffee_table./Place_the_butter_on_the_coffee_table._dyp005_tex1_case3.hdf5 filter=lfs diff=lfs merge=lfs -text
+Mix/per_step/case3/Place_the_butter_on_the_coffee_table./Place_the_butter_on_the_coffee_table._dym005_tex1_case3.hdf5 filter=lfs diff=lfs merge=lfs -text
+Mix/per_step/case3/Place_the_butter_on_the_coffee_table./Place_the_butter_on_the_coffee_table._dym005_tex2_case3.hdf5 filter=lfs diff=lfs merge=lfs -text
+Mix/per_step/case3/Place_the_butter_on_the_coffee_table./Place_the_butter_on_the_coffee_table._dxp005_tex0_case3.hdf5 filter=lfs diff=lfs merge=lfs -text
+Mix/per_step/case3/Place_the_butter_on_the_coffee_table./Place_the_butter_on_the_coffee_table._orig_tex0_case3.hdf5 filter=lfs diff=lfs merge=lfs -text
+Mix/per_step/case3/Place_the_butter_on_the_coffee_table./Place_the_butter_on_the_coffee_table._dym005_tex0_case3.hdf5 filter=lfs diff=lfs merge=lfs -text
+Mix/per_step/case3/Place_the_butter_on_the_coffee_table./Place_the_butter_on_the_coffee_table._dxp005_tex2_case3.hdf5 filter=lfs diff=lfs merge=lfs -text
+Mix/per_step/case3/Place_the_butter_on_the_coffee_table./Place_the_butter_on_the_coffee_table._orig_tex2_case3.hdf5 filter=lfs diff=lfs merge=lfs -text
+Mix/per_step/case3/Place_the_butter_on_the_coffee_table./Place_the_butter_on_the_coffee_table._dyp005_tex0_case3.hdf5 filter=lfs diff=lfs merge=lfs -text
+Mix/per_step/case3/Place_the_butter_on_the_coffee_table./Place_the_butter_on_the_coffee_table._dyp005_tex2_case3.hdf5 filter=lfs diff=lfs merge=lfs -text
+Mix/per_step/case3/Pick_up_the_orange_juice_from_the_coffee_table/Pick_up_the_orange_juice_from_the_coffee_table_dyp005_tex2_case3.hdf5 filter=lfs diff=lfs merge=lfs -text
+Mix/per_step/case3/Pick_up_the_orange_juice_from_the_coffee_table/Pick_up_the_orange_juice_from_the_coffee_table_dxp005_tex2_case3.hdf5 filter=lfs diff=lfs merge=lfs -text
+Mix/per_step/case3/Pick_up_the_orange_juice_from_the_coffee_table/Pick_up_the_orange_juice_from_the_coffee_table_dym005_tex0_case3.hdf5 filter=lfs diff=lfs merge=lfs -text
+Mix/per_step/case4/Place_down_the_white_bowl_on_the_coffee_table/Place_down_the_white_bowl_on_the_coffee_table_orig_tex2_case4.hdf5 filter=lfs diff=lfs merge=lfs -text
+Mix/per_step/case4/Place_down_the_white_bowl_on_the_coffee_table/Place_down_the_white_bowl_on_the_coffee_table_dym005_tex2_case4.hdf5 filter=lfs diff=lfs merge=lfs -text
+Mix/per_step/case4/Place_down_the_cookies_into_the_white_bowl/Place_down_the_cookies_into_the_white_bowl_orig_tex2_case4.hdf5 filter=lfs diff=lfs merge=lfs -text
+Mix/per_step/case4/Place_down_the_white_bowl_on_the_coffee_table/Place_down_the_white_bowl_on_the_coffee_table_dxp005_tex0_case4.hdf5 filter=lfs diff=lfs merge=lfs -text
+Mix/per_step/case4/Place_down_the_white_bowl_on_the_coffee_table/Place_down_the_white_bowl_on_the_coffee_table_dym005_tex1_case4.hdf5 filter=lfs diff=lfs merge=lfs -text
+Mix/per_step/case4/Place_down_the_white_bowl_on_the_coffee_table/Place_down_the_white_bowl_on_the_coffee_table_dyp005_tex1_case4.hdf5 filter=lfs diff=lfs merge=lfs -text
+Mix/per_step/case4/Place_down_the_cookies_into_the_white_bowl/Place_down_the_cookies_into_the_white_bowl_dym005_tex1_case4.hdf5 filter=lfs diff=lfs merge=lfs -text
+Mix/per_step/case4/Place_down_the_white_bowl_on_the_coffee_table/Place_down_the_white_bowl_on_the_coffee_table_orig_tex0_case4.hdf5 filter=lfs diff=lfs merge=lfs -text
+Mix/per_step/case4/Place_down_the_white_bowl_on_the_coffee_table/Place_down_the_white_bowl_on_the_coffee_table_dxp005_tex1_case4.hdf5 filter=lfs diff=lfs merge=lfs -text
+Mix/per_step/case4/Place_the_chocolate_pudding_on_the_coffee_table/Place_the_chocolate_pudding_on_the_coffee_table_dyp005_tex1_case4.hdf5 filter=lfs diff=lfs merge=lfs -text
+Mix/per_step/case4/Place_the_chocolate_pudding_on_the_coffee_table/Place_the_chocolate_pudding_on_the_coffee_table_orig_tex1_case4.hdf5 filter=lfs diff=lfs merge=lfs -text
+Mix/per_step/case4/Place_the_chocolate_pudding_on_the_coffee_table/Place_the_chocolate_pudding_on_the_coffee_table_dxp005_tex1_case4.hdf5 filter=lfs diff=lfs merge=lfs -text
+Mix/per_step/case4/Place_the_chocolate_pudding_on_the_coffee_table/Place_the_chocolate_pudding_on_the_coffee_table_dym005_tex1_case4.hdf5 filter=lfs diff=lfs merge=lfs -text
+Mix/per_step/case4/Place_the_chocolate_pudding_on_the_coffee_table/Place_the_chocolate_pudding_on_the_coffee_table_dyp005_tex0_case4.hdf5 filter=lfs diff=lfs merge=lfs -text
+Mix/per_step/case4/Place_the_chocolate_pudding_on_the_coffee_table/Place_the_chocolate_pudding_on_the_coffee_table_orig_tex2_case4.hdf5 filter=lfs diff=lfs merge=lfs -text
+Mix/per_step/case4/Place_the_chocolate_pudding_on_the_coffee_table/Place_the_chocolate_pudding_on_the_coffee_table_dym005_tex0_case4.hdf5 filter=lfs diff=lfs merge=lfs -text
+Mix/per_step/case4/Place_the_chocolate_pudding_on_the_coffee_table/Place_the_chocolate_pudding_on_the_coffee_table_orig_tex0_case4.hdf5 filter=lfs diff=lfs merge=lfs -text
+Mix/per_step/case4/Place_the_chocolate_pudding_on_the_coffee_table/Place_the_chocolate_pudding_on_the_coffee_table_dxp005_tex0_case4.hdf5 filter=lfs diff=lfs merge=lfs -text
+Mix/per_step/case4/Place_the_chocolate_pudding_on_the_coffee_table/Place_the_chocolate_pudding_on_the_coffee_table_dyp005_tex2_case4.hdf5 filter=lfs diff=lfs merge=lfs -text
+Mix/per_step/case4/Place_the_chocolate_pudding_on_the_coffee_table/Place_the_chocolate_pudding_on_the_coffee_table_dym005_tex2_case4.hdf5 filter=lfs diff=lfs merge=lfs -text
+Mix/per_step/case4/Place_the_chocolate_pudding_on_the_coffee_table/Place_the_chocolate_pudding_on_the_coffee_table_dxp005_tex2_case4.hdf5 filter=lfs diff=lfs merge=lfs -text
+Mix/per_step/case4/Place_the_white_bowl_into_the_microwave/Place_the_white_bowl_into_the_microwave_dxp005_tex2_case4.hdf5 filter=lfs diff=lfs merge=lfs -text
+Mix/per_step/case4/Place_the_white_bowl_into_the_microwave/Place_the_white_bowl_into_the_microwave_dym005_tex0_case4.hdf5 filter=lfs diff=lfs merge=lfs -text
+Mix/per_step/case4/Place_the_white_bowl_into_the_microwave/Place_the_white_bowl_into_the_microwave_dyp005_tex2_case4.hdf5 filter=lfs diff=lfs merge=lfs -text
+Mix/per_step/case4/Place_the_white_bowl_into_the_microwave/Place_the_white_bowl_into_the_microwave_orig_tex2_case4.hdf5 filter=lfs diff=lfs merge=lfs -text
+Mix/per_step/case4/Place_the_white_bowl_into_the_microwave/Place_the_white_bowl_into_the_microwave_orig_tex0_case4.hdf5 filter=lfs diff=lfs merge=lfs -text
+Mix/per_step/case4/Place_the_white_bowl_into_the_microwave/Place_the_white_bowl_into_the_microwave_dxp005_tex0_case4.hdf5 filter=lfs diff=lfs merge=lfs -text
+Mix/per_step/case4/Place_the_white_bowl_into_the_microwave/Place_the_white_bowl_into_the_microwave_dym005_tex2_case4.hdf5 filter=lfs diff=lfs merge=lfs -text
+Mix/per_step/case4/Place_the_white_bowl_into_the_microwave/Place_the_white_bowl_into_the_microwave_dxp005_tex1_case4.hdf5 filter=lfs diff=lfs merge=lfs -text
+Mix/per_step/case4/Place_the_white_bowl_into_the_microwave/Place_the_white_bowl_into_the_microwave_dyp005_tex0_case4.hdf5 filter=lfs diff=lfs merge=lfs -text
+Mix/per_step/case4/Place_the_white_bowl_into_the_microwave/Place_the_white_bowl_into_the_microwave_dym005_tex1_case4.hdf5 filter=lfs diff=lfs merge=lfs -text
+Mix/per_step/case4/Place_the_white_bowl_into_the_microwave/Place_the_white_bowl_into_the_microwave_dyp005_tex1_case4.hdf5 filter=lfs diff=lfs merge=lfs -text
+Mix/per_step/case4/Place_the_white_bowl_into_the_microwave/Place_the_white_bowl_into_the_microwave_orig_tex1_case4.hdf5 filter=lfs diff=lfs merge=lfs -text
+Mix/per_step/case4/Open_the_top_region_of_the_wooden_cabinet/Open_the_top_region_of_the_wooden_cabinet_dxp005_tex2_case4.hdf5 filter=lfs diff=lfs merge=lfs -text
+Mix/per_step/case5/Pour_out_the_milk_into_the_white_yellow_mug./Pour_out_the_milk_into_the_white_yellow_mug._orig_tex0_case5.hdf5 filter=lfs diff=lfs merge=lfs -text
+Mix/per_step/case5/Pour_out_the_milk_into_the_white_yellow_mug./Pour_out_the_milk_into_the_white_yellow_mug._dxp005_tex2_case5.hdf5 filter=lfs diff=lfs merge=lfs -text
+Mix/per_step/case5/Pour_out_the_milk_into_the_white_yellow_mug./Pour_out_the_milk_into_the_white_yellow_mug._dyp005_tex2_case5.hdf5 filter=lfs diff=lfs merge=lfs -text
+Mix/per_step/case5/Pour_out_the_milk_into_the_white_yellow_mug./Pour_out_the_milk_into_the_white_yellow_mug._dym005_tex0_case5.hdf5 filter=lfs diff=lfs merge=lfs -text
+Mix/per_step/case5/Pour_out_the_milk_into_the_white_yellow_mug./Pour_out_the_milk_into_the_white_yellow_mug._dyp005_tex0_case5.hdf5 filter=lfs diff=lfs merge=lfs -text
+Mix/per_step/case5/Pour_out_the_milk_into_the_white_yellow_mug./Pour_out_the_milk_into_the_white_yellow_mug._dxp005_tex0_case5.hdf5 filter=lfs diff=lfs merge=lfs -text
+Mix/per_step/case5/Pour_out_the_milk_into_the_white_yellow_mug./Pour_out_the_milk_into_the_white_yellow_mug._orig_tex2_case5.hdf5 filter=lfs diff=lfs merge=lfs -text
+Mix/per_step/case5/Pour_out_the_milk_into_the_white_yellow_mug./Pour_out_the_milk_into_the_white_yellow_mug._dym005_tex2_case5.hdf5 filter=lfs diff=lfs merge=lfs -text
+Mix/per_step/case5/Pour_out_the_milk_into_the_white_yellow_mug./Pour_out_the_milk_into_the_white_yellow_mug._dym005_tex1_case5.hdf5 filter=lfs diff=lfs merge=lfs -text
+Mix/per_step/case5/Pour_out_the_milk_into_the_white_yellow_mug./Pour_out_the_milk_into_the_white_yellow_mug._orig_tex1_case5.hdf5 filter=lfs diff=lfs merge=lfs -text
+Mix/per_step/case5/Pour_out_the_milk_into_the_white_yellow_mug./Pour_out_the_milk_into_the_white_yellow_mug._dxp005_tex1_case5.hdf5 filter=lfs diff=lfs merge=lfs -text
+Mix/per_step/case5/Pour_out_the_milk_into_the_white_yellow_mug./Pour_out_the_milk_into_the_white_yellow_mug._dyp005_tex1_case5.hdf5 filter=lfs diff=lfs merge=lfs -text
+Mix/per_step/case5/Open_the_microwave./Open_the_microwave._dym005_tex0_case5.hdf5 filter=lfs diff=lfs merge=lfs -text
+Mix/per_step/case5/Open_the_microwave./Open_the_microwave._dxp005_tex0_case5.hdf5 filter=lfs diff=lfs merge=lfs -text
+Mix/per_step/case5/Open_the_microwave./Open_the_microwave._orig_tex1_case5.hdf5 filter=lfs diff=lfs merge=lfs -text
+Mix/per_step/case5/Open_the_microwave./Open_the_microwave._dxp005_tex2_case5.hdf5 filter=lfs diff=lfs merge=lfs -text
+Mix/per_step/case5/Open_the_microwave./Open_the_microwave._dym005_tex2_case5.hdf5 filter=lfs diff=lfs merge=lfs -text
+Mix/per_step/case5/Open_the_microwave./Open_the_microwave._dyp005_tex2_case5.hdf5 filter=lfs diff=lfs merge=lfs -text
+Mix/per_step/case5/Open_the_microwave./Open_the_microwave._dyp005_tex0_case5.hdf5 filter=lfs diff=lfs merge=lfs -text
+Mix/per_step/case5/Open_the_microwave./Open_the_microwave._dxp005_tex1_case5.hdf5 filter=lfs diff=lfs merge=lfs -text
+Mix/per_step/case5/Open_the_microwave./Open_the_microwave._dyp005_tex1_case5.hdf5 filter=lfs diff=lfs merge=lfs -text
+Mix/per_step/case5/Pick_up_the_alphabet_soup_from_coffee_table./Pick_up_the_alphabet_soup_from_coffee_table._dyp005_tex0_case5.hdf5 filter=lfs diff=lfs merge=lfs -text
+Mix/per_step/case5/Open_the_microwave./Open_the_microwave._orig_tex0_case5.hdf5 filter=lfs diff=lfs merge=lfs -text
+Mix/per_step/case5/Open_the_microwave./Open_the_microwave._orig_tex2_case5.hdf5 filter=lfs diff=lfs merge=lfs -text
+Mix/per_step/case5/Pick_up_the_alphabet_soup_from_coffee_table./Pick_up_the_alphabet_soup_from_coffee_table._dym005_tex2_case5.hdf5 filter=lfs diff=lfs merge=lfs -text
+Mix/per_step/case5/Pick_up_the_alphabet_soup_from_coffee_table./Pick_up_the_alphabet_soup_from_coffee_table._dxp005_tex0_case5.hdf5 filter=lfs diff=lfs merge=lfs -text
+Mix/per_step/case5/Pick_up_the_alphabet_soup_from_coffee_table./Pick_up_the_alphabet_soup_from_coffee_table._orig_tex2_case5.hdf5 filter=lfs diff=lfs merge=lfs -text
+Mix/per_step/case5/Open_the_microwave./Open_the_microwave._dym005_tex1_case5.hdf5 filter=lfs diff=lfs merge=lfs -text
+Mix/per_step/case5/Pick_up_the_alphabet_soup_from_coffee_table./Pick_up_the_alphabet_soup_from_coffee_table._dxp005_tex2_case5.hdf5 filter=lfs diff=lfs merge=lfs -text
+Mix/per_step/case5/Pick_up_the_alphabet_soup_from_coffee_table./Pick_up_the_alphabet_soup_from_coffee_table._dym005_tex0_case5.hdf5 filter=lfs diff=lfs merge=lfs -text
+Mix/per_step/case5/Pick_up_the_alphabet_soup_from_coffee_table./Pick_up_the_alphabet_soup_from_coffee_table._orig_tex0_case5.hdf5 filter=lfs diff=lfs merge=lfs -text
+Mix/per_step/case5/Pick_up_the_alphabet_soup_from_coffee_table./Pick_up_the_alphabet_soup_from_coffee_table._dyp005_tex2_case5.hdf5 filter=lfs diff=lfs merge=lfs -text
+Mix/per_step/case5/Pick_up_the_alphabet_soup_from_coffee_table./Pick_up_the_alphabet_soup_from_coffee_table._dyp005_tex1_case5.hdf5 filter=lfs diff=lfs merge=lfs -text
+Mix/per_step/case5/Pick_up_the_alphabet_soup_from_coffee_table./Pick_up_the_alphabet_soup_from_coffee_table._dym005_tex1_case5.hdf5 filter=lfs diff=lfs merge=lfs -text
+Mix/per_step/case4/Pick_up_the_cookies_from_the_coffee_table/Pick_up_the_cookies_from_the_coffee_table_dyp005_tex1_case4.hdf5 filter=lfs diff=lfs merge=lfs -text
+Mix/per_step/case4/Pick_up_the_cookies_from_the_coffee_table/Pick_up_the_cookies_from_the_coffee_table_orig_tex0_case4.hdf5 filter=lfs diff=lfs merge=lfs -text
+Mix/per_step/case5/Pick_up_the_alphabet_soup_from_coffee_table./Pick_up_the_alphabet_soup_from_coffee_table._dxp005_tex1_case5.hdf5 filter=lfs diff=lfs merge=lfs -text
+Mix/per_step/case5/Pick_up_the_alphabet_soup_from_coffee_table./Pick_up_the_alphabet_soup_from_coffee_table._orig_tex1_case5.hdf5 filter=lfs diff=lfs merge=lfs -text
+Mix/per_step/case4/Pick_up_the_cookies_from_the_coffee_table/Pick_up_the_cookies_from_the_coffee_table_dxp005_tex1_case4.hdf5 filter=lfs diff=lfs merge=lfs -text
+Mix/per_step/case4/Pick_up_the_cookies_from_the_coffee_table/Pick_up_the_cookies_from_the_coffee_table_dym005_tex1_case4.hdf5 filter=lfs diff=lfs merge=lfs -text
+Mix/per_step/case4/Pick_up_the_cookies_from_the_coffee_table/Pick_up_the_cookies_from_the_coffee_table_dyp005_tex0_case4.hdf5 filter=lfs diff=lfs merge=lfs -text
+Mix/per_step/case4/Pick_up_the_cookies_from_the_coffee_table/Pick_up_the_cookies_from_the_coffee_table_orig_tex1_case4.hdf5 filter=lfs diff=lfs merge=lfs -text
+Mix/per_step/case4/Pick_up_the_cookies_from_the_coffee_table/Pick_up_the_cookies_from_the_coffee_table_dxp005_tex0_case4.hdf5 filter=lfs diff=lfs merge=lfs -text
+Mix/per_step/case4/Pick_up_the_cookies_from_the_coffee_table/Pick_up_the_cookies_from_the_coffee_table_orig_tex2_case4.hdf5 filter=lfs diff=lfs merge=lfs -text
+Mix/per_step/case4/Pick_up_the_cookies_from_the_coffee_table/Pick_up_the_cookies_from_the_coffee_table_dym005_tex2_case4.hdf5 filter=lfs diff=lfs merge=lfs -text
+Mix/per_step/case4/Pick_up_the_cookies_from_the_coffee_table/Pick_up_the_cookies_from_the_coffee_table_dyp005_tex2_case4.hdf5 filter=lfs diff=lfs merge=lfs -text
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