diff --git a/.gitattributes b/.gitattributes
index 51d6d7083e241f781712fadd9cc53c05a74073c8..53ee308d70a6005b3084f78bb9c9dfc86f08140d 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -7930,3 +7930,541 @@ Memory_Execution/per_step/case1/Place_the_red_coffee_mug_onto_the_rack/Place_the
 Memory_Execution/per_step/case1/Place_the_red_coffee_mug_onto_the_rack/Place_the_red_coffee_mug_onto_the_rack_orig_tex1_case1.hdf5 filter=lfs diff=lfs merge=lfs -text
 Memory_Execution/per_step/case1/Place_the_red_coffee_mug_onto_the_rack/Place_the_red_coffee_mug_onto_the_rack_dxp005_tex1_case1.hdf5 filter=lfs diff=lfs merge=lfs -text
 Memory_Execution/per_step/case1/Place_the_red_coffee_mug_onto_the_rack/Place_the_red_coffee_mug_onto_the_rack_dyp005_tex1_case1.hdf5 filter=lfs diff=lfs merge=lfs -text
+Memory_Execution/per_step/case1/Pick_up_the_milk_from_coffee_table/Pick_up_the_milk_from_coffee_table_dxp005_tex1_case1.hdf5 filter=lfs diff=lfs merge=lfs -text
+Memory_Execution/per_step/case1/Pick_up_the_milk_from_coffee_table/Pick_up_the_milk_from_coffee_table_orig_tex2_case1.hdf5 filter=lfs diff=lfs merge=lfs -text
+Memory_Execution/per_step/case1/Pick_up_the_milk_from_coffee_table/Pick_up_the_milk_from_coffee_table_dyp005_tex0_case1.hdf5 filter=lfs diff=lfs merge=lfs -text
+Memory_Execution/per_step/case1/Pick_up_the_milk_from_coffee_table/Pick_up_the_milk_from_coffee_table_dyp005_tex1_case1.hdf5 filter=lfs diff=lfs merge=lfs -text
+Memory_Execution/per_step/case1/Pick_up_the_red_coffee_mug_from_coffee_table/Pick_up_the_red_coffee_mug_from_coffee_table_dxp005_tex2_case1.hdf5 filter=lfs diff=lfs merge=lfs -text
+Memory_Execution/per_step/case1/Pick_up_the_red_coffee_mug_from_coffee_table/Pick_up_the_red_coffee_mug_from_coffee_table_dyp005_tex2_case1.hdf5 filter=lfs diff=lfs merge=lfs -text
+Memory_Execution/per_step/case1/Pick_up_the_milk_from_coffee_table/Pick_up_the_milk_from_coffee_table_dym005_tex1_case1.hdf5 filter=lfs diff=lfs merge=lfs -text
+Memory_Execution/per_step/case1/Pick_up_the_red_coffee_mug_from_coffee_table/Pick_up_the_red_coffee_mug_from_coffee_table_dxp005_tex0_case1.hdf5 filter=lfs diff=lfs merge=lfs -text
+Memory_Execution/per_step/case1/Pick_up_the_red_coffee_mug_from_coffee_table/Pick_up_the_red_coffee_mug_from_coffee_table_dyp005_tex0_case1.hdf5 filter=lfs diff=lfs merge=lfs -text
+Memory_Execution/per_step/case1/Pick_up_the_red_coffee_mug_from_coffee_table/Pick_up_the_red_coffee_mug_from_coffee_table_dym005_tex0_case1.hdf5 filter=lfs diff=lfs merge=lfs -text
+Memory_Execution/per_step/case1/Pick_up_the_milk_from_coffee_table/Pick_up_the_milk_from_coffee_table_orig_tex0_case1.hdf5 filter=lfs diff=lfs merge=lfs -text
+Memory_Execution/per_step/case1/Pick_up_the_milk_from_coffee_table/Pick_up_the_milk_from_coffee_table_dxp005_tex0_case1.hdf5 filter=lfs diff=lfs merge=lfs -text
+Memory_Execution/per_step/case1/Pick_up_the_milk_from_coffee_table/Pick_up_the_milk_from_coffee_table_dym005_tex2_case1.hdf5 filter=lfs diff=lfs merge=lfs -text
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+Memory_Execution/per_step/case1/Pick_up_the_red_coffee_mug_from_coffee_table/Pick_up_the_red_coffee_mug_from_coffee_table_dym005_tex2_case1.hdf5 filter=lfs diff=lfs merge=lfs -text
+Memory_Execution/per_step/case1/Pick_up_the_red_coffee_mug_from_coffee_table/Pick_up_the_red_coffee_mug_from_coffee_table_orig_tex1_case1.hdf5 filter=lfs diff=lfs merge=lfs -text
+Memory_Execution/per_step/case1/Pick_up_the_red_coffee_mug_from_coffee_table/Pick_up_the_red_coffee_mug_from_coffee_table_dym005_tex1_case1.hdf5 filter=lfs diff=lfs merge=lfs -text
+Memory_Execution/per_step/case1/Pick_up_the_milk_from_coffee_table/Pick_up_the_milk_from_coffee_table_orig_tex1_case1.hdf5 filter=lfs diff=lfs merge=lfs -text
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+Memory_Execution/per_step/case1/Pick_up_the_milk_from_coffee_table/Pick_up_the_milk_from_coffee_table_dxp005_tex2_case1.hdf5 filter=lfs diff=lfs merge=lfs -text
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+Memory_Execution/per_step/case1/Pick_up_the_butter_from_coffee_table/Pick_up_the_butter_from_coffee_table_orig_tex0_case1.hdf5 filter=lfs diff=lfs merge=lfs -text
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+Memory_Execution/per_step/case1/Pick_up_the_red_coffee_mug_from_coffee_table/Pick_up_the_red_coffee_mug_from_coffee_table_dxp005_tex1_case1.hdf5 filter=lfs diff=lfs merge=lfs -text
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+Memory_Execution/per_step/case1/Pour_out_the_milk_from_the_milk_container/Pour_out_the_milk_from_the_milk_container_orig_tex1_case1.hdf5 filter=lfs diff=lfs merge=lfs -text
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+Memory_Execution/per_step/case1/Pour_out_the_milk_from_the_milk_container/Pour_out_the_milk_from_the_milk_container_dyp005_tex0_case1.hdf5 filter=lfs diff=lfs merge=lfs -text
+Memory_Execution/per_step/case1/Pick_up_the_butter_from_coffee_table/Pick_up_the_butter_from_coffee_table_dxp005_tex0_case1.hdf5 filter=lfs diff=lfs merge=lfs -text
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+Memory_Execution/per_step/case1/Pour_out_the_milk_from_the_milk_container/Pour_out_the_milk_from_the_milk_container_dxp005_tex0_case1.hdf5 filter=lfs diff=lfs merge=lfs -text
+Memory_Execution/per_step/case1/Pour_out_the_milk_from_the_milk_container/Pour_out_the_milk_from_the_milk_container_dyp005_tex2_case1.hdf5 filter=lfs diff=lfs merge=lfs -text
+Memory_Execution/per_step/case1/Pour_out_the_milk_from_the_milk_container/Pour_out_the_milk_from_the_milk_container_dym005_tex2_case1.hdf5 filter=lfs diff=lfs merge=lfs -text
+Memory_Execution/per_step/case1/Pour_out_the_milk_from_the_milk_container/Pour_out_the_milk_from_the_milk_container_dym005_tex0_case1.hdf5 filter=lfs diff=lfs merge=lfs -text
+Mix/all_hdf5/Close_the_wooden_cabinet_top_region._dyp005_tex2_case10.hdf5 filter=lfs diff=lfs merge=lfs -text
+Mix/all_hdf5/Close_the_wooden_cabinet_middle_region_dxp005_tex1_case1.hdf5 filter=lfs diff=lfs merge=lfs -text
+Mix/all_hdf5/Close_the_wooden_cabinet_top_region._orig_tex0_case10.hdf5 filter=lfs diff=lfs merge=lfs -text
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+Mix/all_hdf5/Close_the_wooden_cabinet_top_region_orig_tex2_case1.hdf5 filter=lfs diff=lfs merge=lfs -text
+Memory_Execution/per_step/case1/Pick_up_the_butter_from_coffee_table/Pick_up_the_butter_from_coffee_table_dym005_tex2_case1.hdf5 filter=lfs diff=lfs merge=lfs -text
+Mix/all_hdf5/Close_the_white_cabinet_top_region_dyp005_tex2_case3.hdf5 filter=lfs diff=lfs merge=lfs -text
+Memory_Execution/per_step/case1/Pour_out_the_milk_from_the_milk_container/Pour_out_the_milk_from_the_milk_container_orig_tex0_case1.hdf5 filter=lfs diff=lfs merge=lfs -text
+Mix/all_hdf5/Close_the_wooden_cabinet_top_region_orig_tex1_case6.hdf5 filter=lfs diff=lfs merge=lfs -text
+Memory_Execution/per_step/case1/Pour_out_the_milk_from_the_milk_container/Pour_out_the_milk_from_the_milk_container_dyp005_tex1_case1.hdf5 filter=lfs diff=lfs merge=lfs -text
+Memory_Execution/per_step/case1/Pour_out_the_milk_from_the_milk_container/Pour_out_the_milk_from_the_milk_container_dxp005_tex1_case1.hdf5 filter=lfs diff=lfs merge=lfs -text
+Memory_Execution/per_step/case1/Pour_out_the_milk_from_the_milk_container/Pour_out_the_milk_from_the_milk_container_dym005_tex1_case1.hdf5 filter=lfs diff=lfs merge=lfs -text
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+Mix/all_hdf5/Open_the_wooden_cabinet_middle_region_dxp005_tex0_case6.hdf5 filter=lfs diff=lfs merge=lfs -text
+Mix/all_hdf5/Open_the_wooden_cabinet_middle_region_dym005_tex1_case1.hdf5 filter=lfs diff=lfs merge=lfs -text
+Mix/all_hdf5/Open_the_white_cabinet_middle_region_dxp005_tex0_case3.hdf5 filter=lfs diff=lfs merge=lfs -text
+Mix/all_hdf5/Open_the_white_cabinet_middle_region_dym005_tex2_case3.hdf5 filter=lfs diff=lfs merge=lfs -text
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+Mix/all_hdf5/Open_the_wooden_cabinet_middle_region_dym005_tex2_case6.hdf5 filter=lfs diff=lfs merge=lfs -text
+Mix/all_hdf5/Open_the_wooden_cabinet_top_region._dxp005_tex2_case10.hdf5 filter=lfs diff=lfs merge=lfs -text
+Mix/all_hdf5/Open_the_white_cabinet_top_region_dyp005_tex0_case3.hdf5 filter=lfs diff=lfs merge=lfs -text
+Mix/all_hdf5/Open_the_top_region_of_the_white_cabinet_orig_tex0_case5.hdf5 filter=lfs diff=lfs merge=lfs -text
+Mix/all_hdf5/Open_the_wooden_cabinet_bottom_region_dyp005_tex1_case1.hdf5 filter=lfs diff=lfs merge=lfs -text
+Mix/all_hdf5/Open_the_wooden_cabinet_top_region_dxp005_tex1_case6.hdf5 filter=lfs diff=lfs merge=lfs -text
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+Mix/all_hdf5/Open_the_top_region_of_the_wooden_cabinet_dxp005_tex2_case4.hdf5 filter=lfs diff=lfs merge=lfs -text
+Mix/all_hdf5/Open_the_top_region_of_the_wooden_cabinet_dym005_tex0_case4.hdf5 filter=lfs diff=lfs merge=lfs -text
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+Mix/all_hdf5/Open_the_wooden_cabinet_top_region._dxp005_tex0_case2.hdf5 filter=lfs diff=lfs merge=lfs -text
+Mix/all_hdf5/Pick_up_the_butter_from_coffee_table_dxp005_tex0_case7.hdf5 filter=lfs diff=lfs merge=lfs -text
+Mix/all_hdf5/Open_the_wooden_cabinet_top_region_dxp005_tex2_case8.hdf5 filter=lfs diff=lfs merge=lfs -text
+Mix/all_hdf5/Open_the_microwave_dym005_tex2_case4.hdf5 filter=lfs diff=lfs merge=lfs -text
+Mix/all_hdf5/Open_the_wooden_cabinet_top_region_dym005_tex0_case8.hdf5 filter=lfs diff=lfs merge=lfs -text
+Mix/all_hdf5/Open_the_microwave._dxp005_tex0_case5.hdf5 filter=lfs diff=lfs merge=lfs -text
+Mix/all_hdf5/Pick_up_the_alphabet_soup_from_coffee_table._dyp005_tex0_case5.hdf5 filter=lfs diff=lfs merge=lfs -text
+Mix/all_hdf5/Open_the_microwave_orig_tex0_case4.hdf5 filter=lfs diff=lfs merge=lfs -text
+Mix/all_hdf5/Pick_up_the_butter_from_coffee_table_dym005_tex1_case9.hdf5 filter=lfs diff=lfs merge=lfs -text
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+Mix/all_hdf5/Pick_up_the_butter_from_coffee_table_orig_tex0_case9.hdf5 filter=lfs diff=lfs merge=lfs -text
+Mix/all_hdf5/Open_the_wooden_cabinet_top_region_dyp005_tex1_case7.hdf5 filter=lfs diff=lfs merge=lfs -text
+Mix/all_hdf5/Open_the_microwave._dym005_tex2_case5.hdf5 filter=lfs diff=lfs merge=lfs -text
+Mix/all_hdf5/Open_the_microwave_dxp005_tex0_case4.hdf5 filter=lfs diff=lfs merge=lfs -text
+Mix/all_hdf5/Pick_up_the_bbq_sauce_from_the_coffee_table_dyp005_tex1_case3.hdf5 filter=lfs diff=lfs merge=lfs -text
+Mix/all_hdf5/Pick_up_the_butter_from_coffee_table_dym005_tex2_case7.hdf5 filter=lfs diff=lfs merge=lfs -text
+Mix/all_hdf5/Pick_up_the_cookies_from_the_coffee_table_dxp005_tex1_case10.hdf5 filter=lfs diff=lfs merge=lfs -text
+Mix/all_hdf5/Pick_up_the_chocolate_pudding_from_the_coffee_table_dyp005_tex0_case10.hdf5 filter=lfs diff=lfs merge=lfs -text
+Mix/all_hdf5/Pick_up_the_chocolate_pudding_from_the_coffee_table_dxp005_tex1_case10.hdf5 filter=lfs diff=lfs merge=lfs -text
+Mix/all_hdf5/Pick_up_the_butter_from_the_white_cabinet_dym005_tex2_case3.hdf5 filter=lfs diff=lfs merge=lfs -text
+Mix/all_hdf5/Pick_up_the_cookies_from_the_coffee_table_dyp005_tex1_case4.hdf5 filter=lfs diff=lfs merge=lfs -text
+Mix/all_hdf5/Pick_up_the_cookies_from_the_coffee_table_orig_tex0_case4.hdf5 filter=lfs diff=lfs merge=lfs -text
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+Mix/all_hdf5/Pick_up_the_chocolate_pudding_from_the_coffee_table_dyp005_tex2_case4.hdf5 filter=lfs diff=lfs merge=lfs -text
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+Mix/all_hdf5/Pick_up_frypan_from_the_table._dyp005_tex2_case2.hdf5 filter=lfs diff=lfs merge=lfs -text
+Mix/all_hdf5/Pick_up_the_butter_from_the_white_cabinet_dxp005_tex0_case3.hdf5 filter=lfs diff=lfs merge=lfs -text
+Mix/all_hdf5/Pick_up_the_butter_from_the_wooden_cabinet_middle_region_dxp005_tex1_case6.hdf5 filter=lfs diff=lfs merge=lfs -text
+Mix/all_hdf5/Pick_up_the_plate_from_the_kitchen_table_orig_tex2_case6.hdf5 filter=lfs diff=lfs merge=lfs -text
+Mix/all_hdf5/Pick_up_the_butter_from_the_white_cabinet_orig_tex0_case3.hdf5 filter=lfs diff=lfs merge=lfs -text
+Mix/all_hdf5/Pick_up_the_milk_from_its_storage._dyp005_tex2_case5.hdf5 filter=lfs diff=lfs merge=lfs -text
+Mix/all_hdf5/Pick_up_the_cream_cheese_from_the_kitchen_table_dyp005_tex0_case6.hdf5 filter=lfs diff=lfs merge=lfs -text
+Mix/all_hdf5/Pick_up_the_butter_from_the_wooden_cabinet_bottom_region_dyp005_tex0_case1.hdf5 filter=lfs diff=lfs merge=lfs -text
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+Mix/all_hdf5/Pick_up_butter_from_wooden_cabinet._dyp005_tex1_case2.hdf5 filter=lfs diff=lfs merge=lfs -text
+Mix/all_hdf5/Pick_up_the_cream_cheese_from_the_kitchen_table_orig_tex2_case6.hdf5 filter=lfs diff=lfs merge=lfs -text
+Mix/all_hdf5/Pick_up_the_orange_juice_from_the_coffee_table_dyp005_tex2_case3.hdf5 filter=lfs diff=lfs merge=lfs -text
+Mix/all_hdf5/Pick_up_the_cream_cheese_from_the_kitchen_table_orig_tex1_case1.hdf5 filter=lfs diff=lfs merge=lfs -text
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+Mix/all_hdf5/Pick_up_the_red_coffee_mug_from_coffee_table_dym005_tex0_case9.hdf5 filter=lfs diff=lfs merge=lfs -text
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+Mix/all_hdf5/Pick_up_the_milk_from_coffee_table_dxp005_tex2_case7.hdf5 filter=lfs diff=lfs merge=lfs -text
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+Mix/all_hdf5/Pick_up_the_popcorn_from_coffee_table._dym005_tex1_case5.hdf5 filter=lfs diff=lfs merge=lfs -text
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+Mix/all_hdf5/Pick_up_the_plate_from_the_kitchen_table_dyp005_tex0_case1.hdf5 filter=lfs diff=lfs merge=lfs -text
+Mix/all_hdf5/Pick_up_the_red_coffee_mug_from_coffee_table_dxp005_tex2_case9.hdf5 filter=lfs diff=lfs merge=lfs -text
+Mix/all_hdf5/Place_down_the_cookies_into_the_white_bowl_dym005_tex1_case10.hdf5 filter=lfs diff=lfs merge=lfs -text
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