diff --git a/.gitattributes b/.gitattributes
index 81682de56f303655511b86e00971d2b745636ee9..5c0916f9986e8bdd26fda39dc32d160de5831be3 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -5124,3 +5124,178 @@ Random_Disturbance/per_step/case8/Pick_up_the_cream_cheese_from_coffee_table/Pic
 Random_Disturbance/per_step/case10/Pour_out_the_wine_from_wine_bottle_into_red_coffee_mug/Pour_out_the_wine_from_wine_bottle_into_red_coffee_mug_dxp005_tex2_case10.hdf5 filter=lfs diff=lfs merge=lfs -text
 Random_Disturbance/per_step/case10/Pour_out_the_tomato_sauce_onto_frypan/Pour_out_the_tomato_sauce_onto_frypan_dyp005_tex1_case10.hdf5 filter=lfs diff=lfs merge=lfs -text
 Random_Disturbance/per_step/case10/Pour_out_the_tomato_sauce_onto_frypan/Pour_out_the_tomato_sauce_onto_frypan_dxp005_tex0_case10.hdf5 filter=lfs diff=lfs merge=lfs -text
+Random_Disturbance/per_step/case10/Pour_out_the_wine_from_wine_bottle_into_red_coffee_mug/Pour_out_the_wine_from_wine_bottle_into_red_coffee_mug_dyp005_tex0_case10.hdf5 filter=lfs diff=lfs merge=lfs -text
+Random_Disturbance/per_step/case10/Pour_out_the_tomato_sauce_onto_frypan/Pour_out_the_tomato_sauce_onto_frypan_dyp005_tex2_case10.hdf5 filter=lfs diff=lfs merge=lfs -text
+Random_Disturbance/per_step/case10/Pour_out_the_tomato_sauce_onto_frypan/Pour_out_the_tomato_sauce_onto_frypan_dxp005_tex2_case10.hdf5 filter=lfs diff=lfs merge=lfs -text
+Random_Disturbance/per_step/case10/Pour_out_the_tomato_sauce_onto_frypan/Pour_out_the_tomato_sauce_onto_frypan_orig_tex2_case10.hdf5 filter=lfs diff=lfs merge=lfs -text
+Random_Disturbance/per_step/case10/Pick_up_the_bbq_sauce_from_the_coffee_table/Pick_up_the_bbq_sauce_from_the_coffee_table_dym005_tex1_case10.hdf5 filter=lfs diff=lfs merge=lfs -text
+Random_Disturbance/per_step/case10/Pick_up_the_bbq_sauce_from_the_coffee_table/Pick_up_the_bbq_sauce_from_the_coffee_table_dyp005_tex1_case10.hdf5 filter=lfs diff=lfs merge=lfs -text
+Random_Disturbance/per_step/case10/Pour_out_the_tomato_sauce_onto_frypan/Pour_out_the_tomato_sauce_onto_frypan_orig_tex0_case10.hdf5 filter=lfs diff=lfs merge=lfs -text
+Random_Disturbance/per_step/case10/Pick_up_the_bbq_sauce_from_the_coffee_table/Pick_up_the_bbq_sauce_from_the_coffee_table_dym005_tex2_case10.hdf5 filter=lfs diff=lfs merge=lfs -text
+Random_Disturbance/per_step/case10/Pick_up_the_bbq_sauce_from_the_coffee_table/Pick_up_the_bbq_sauce_from_the_coffee_table_dxp005_tex2_case10.hdf5 filter=lfs diff=lfs merge=lfs -text
+Random_Disturbance/per_step/case10/Pour_out_the_wine_from_wine_bottle_into_red_coffee_mug/Pour_out_the_wine_from_wine_bottle_into_red_coffee_mug_orig_tex2_case10.hdf5 filter=lfs diff=lfs merge=lfs -text
+Random_Disturbance/per_step/case10/Pour_out_the_tomato_sauce_onto_frypan/Pour_out_the_tomato_sauce_onto_frypan_dyp005_tex0_case10.hdf5 filter=lfs diff=lfs merge=lfs -text
+Random_Disturbance/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
+Random_Disturbance/per_step/case10/Pick_up_the_bbq_sauce_from_the_coffee_table/Pick_up_the_bbq_sauce_from_the_coffee_table_dym005_tex0_case10.hdf5 filter=lfs diff=lfs merge=lfs -text
+Random_Disturbance/per_step/case10/Pick_up_the_bbq_sauce_from_the_coffee_table/Pick_up_the_bbq_sauce_from_the_coffee_table_dyp005_tex0_case10.hdf5 filter=lfs diff=lfs merge=lfs -text
+Random_Disturbance/per_step/case10/Pick_up_the_bbq_sauce_from_the_coffee_table/Pick_up_the_bbq_sauce_from_the_coffee_table_orig_tex2_case10.hdf5 filter=lfs diff=lfs merge=lfs -text
+Random_Disturbance/per_step/case10/Pour_out_the_wine_from_wine_bottle_into_red_coffee_mug/Pour_out_the_wine_from_wine_bottle_into_red_coffee_mug_dxp005_tex0_case10.hdf5 filter=lfs diff=lfs merge=lfs -text
+Random_Disturbance/per_step/case10/Pick_up_the_bbq_sauce_from_the_coffee_table/Pick_up_the_bbq_sauce_from_the_coffee_table_orig_tex0_case10.hdf5 filter=lfs diff=lfs merge=lfs -text
+Random_Disturbance/per_step/case10/Pour_out_the_wine_from_wine_bottle_into_red_coffee_mug/Pour_out_the_wine_from_wine_bottle_into_red_coffee_mug_orig_tex0_case10.hdf5 filter=lfs diff=lfs merge=lfs -text
+Random_Disturbance/per_step/case10/Place_the_bbq_sauce_sauce_on_the_coffee_table/Place_the_bbq_sauce_sauce_on_the_coffee_table_orig_tex1_case10.hdf5 filter=lfs diff=lfs merge=lfs -text
+Random_Disturbance/per_step/case10/Place_the_bbq_sauce_sauce_on_the_coffee_table/Place_the_bbq_sauce_sauce_on_the_coffee_table_dyp005_tex2_case10.hdf5 filter=lfs diff=lfs merge=lfs -text
+Random_Disturbance/per_step/case10/Pour_out_the_wine_from_wine_bottle_into_red_coffee_mug/Pour_out_the_wine_from_wine_bottle_into_red_coffee_mug_dyp005_tex1_case10.hdf5 filter=lfs diff=lfs merge=lfs -text
+Random_Disturbance/per_step/case10/Place_the_bbq_sauce_sauce_on_the_coffee_table/Place_the_bbq_sauce_sauce_on_the_coffee_table_dym005_tex1_case10.hdf5 filter=lfs diff=lfs merge=lfs -text
+Random_Disturbance/per_step/case10/Place_the_bbq_sauce_sauce_on_the_coffee_table/Place_the_bbq_sauce_sauce_on_the_coffee_table_dxp005_tex0_case10.hdf5 filter=lfs diff=lfs merge=lfs -text
+Random_Disturbance/per_step/case10/Place_the_bbq_sauce_sauce_on_the_coffee_table/Place_the_bbq_sauce_sauce_on_the_coffee_table_orig_tex2_case10.hdf5 filter=lfs diff=lfs merge=lfs -text
+Random_Disturbance/per_step/case10/Place_the_bbq_sauce_sauce_on_the_coffee_table/Place_the_bbq_sauce_sauce_on_the_coffee_table_orig_tex0_case10.hdf5 filter=lfs diff=lfs merge=lfs -text
+Random_Disturbance/per_step/case10/Place_the_bbq_sauce_sauce_on_the_coffee_table/Place_the_bbq_sauce_sauce_on_the_coffee_table_dym005_tex2_case10.hdf5 filter=lfs diff=lfs merge=lfs -text
+Random_Disturbance/per_step/case10/Pick_up_the_bbq_sauce_from_the_coffee_table/Pick_up_the_bbq_sauce_from_the_coffee_table_orig_tex1_case10.hdf5 filter=lfs diff=lfs merge=lfs -text
+Random_Disturbance/per_step/case8/Pick_up_the_chocolate_pudding_from_coffee_table/Pick_up_the_chocolate_pudding_from_coffee_table_orig_tex1_case8.hdf5 filter=lfs diff=lfs merge=lfs -text
+Random_Disturbance/per_step/case10/Place_the_bbq_sauce_sauce_on_the_coffee_table/Place_the_bbq_sauce_sauce_on_the_coffee_table_dym005_tex0_case10.hdf5 filter=lfs diff=lfs merge=lfs -text
+Random_Disturbance/per_step/case8/Open_the_short_cabinet_middle_region/Open_the_short_cabinet_middle_region_orig_tex2_case8.hdf5 filter=lfs diff=lfs merge=lfs -text
+Random_Disturbance/per_step/case10/Place_the_bbq_sauce_sauce_on_the_coffee_table/Place_the_bbq_sauce_sauce_on_the_coffee_table_dyp005_tex0_case10.hdf5 filter=lfs diff=lfs merge=lfs -text
+Random_Disturbance/per_step/case8/Open_the_short_cabinet_middle_region/Open_the_short_cabinet_middle_region_dyp005_tex0_case8.hdf5 filter=lfs diff=lfs merge=lfs -text
+Random_Disturbance/per_step/case8/Open_the_short_cabinet_middle_region/Open_the_short_cabinet_middle_region_dym005_tex0_case8.hdf5 filter=lfs diff=lfs merge=lfs -text
+Random_Disturbance/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_tex1_case8.hdf5 filter=lfs diff=lfs merge=lfs -text
+Random_Disturbance/per_step/case8/Open_the_short_cabinet_middle_region/Open_the_short_cabinet_middle_region_dym005_tex1_case8.hdf5 filter=lfs diff=lfs merge=lfs -text
+Random_Disturbance/per_step/case8/Open_the_short_cabinet_middle_region/Open_the_short_cabinet_middle_region_dxp005_tex1_case8.hdf5 filter=lfs diff=lfs merge=lfs -text
+Random_Disturbance/per_step/case8/Open_the_short_cabinet_middle_region/Open_the_short_cabinet_middle_region_dym005_tex2_case8.hdf5 filter=lfs diff=lfs merge=lfs -text
+Random_Disturbance/per_step/case8/Open_the_short_cabinet_middle_region/Open_the_short_cabinet_middle_region_dyp005_tex2_case8.hdf5 filter=lfs diff=lfs merge=lfs -text
+Random_Disturbance/per_step/case10/Place_the_bbq_sauce_sauce_on_the_coffee_table/Place_the_bbq_sauce_sauce_on_the_coffee_table_dxp005_tex2_case10.hdf5 filter=lfs diff=lfs merge=lfs -text
+Random_Disturbance/per_step/case8/Open_the_short_cabinet_middle_region/Open_the_short_cabinet_middle_region_dxp005_tex0_case8.hdf5 filter=lfs diff=lfs merge=lfs -text
+Random_Disturbance/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_dym005_tex2_case8.hdf5 filter=lfs diff=lfs merge=lfs -text
+Random_Disturbance/per_step/case8/Place_down_the_chocolate_pudding_into_akita_black_bowl/Place_down_the_chocolate_pudding_into_akita_black_bowl_dym005_tex1_case8.hdf5 filter=lfs diff=lfs merge=lfs -text
+Random_Disturbance/per_step/case8/Pick_up_the_cream_cheese_from_coffee_table/Pick_up_the_cream_cheese_from_coffee_table_orig_tex0_case8.hdf5 filter=lfs diff=lfs merge=lfs -text
+Random_Disturbance/per_step/case8/Place_down_the_chocolate_pudding_into_akita_black_bowl/Place_down_the_chocolate_pudding_into_akita_black_bowl_orig_tex1_case8.hdf5 filter=lfs diff=lfs merge=lfs -text
+Random_Disturbance/per_step/case6/Pour_out_the_tomato_sauce_onto_the_plate/Pour_out_the_tomato_sauce_onto_the_plate_dxp005_tex1_case6.hdf5 filter=lfs diff=lfs merge=lfs -text
+Random_Disturbance/per_step/case6/Pour_out_the_tomato_sauce_onto_the_plate/Pour_out_the_tomato_sauce_onto_the_plate_orig_tex1_case6.hdf5 filter=lfs diff=lfs merge=lfs -text
+Random_Disturbance/per_step/case6/Pour_out_the_tomato_sauce_onto_the_plate/Pour_out_the_tomato_sauce_onto_the_plate_dyp005_tex0_case6.hdf5 filter=lfs diff=lfs merge=lfs -text
+Random_Disturbance/per_step/case6/Pour_out_the_tomato_sauce_onto_the_plate/Pour_out_the_tomato_sauce_onto_the_plate_orig_tex2_case6.hdf5 filter=lfs diff=lfs merge=lfs -text
+Random_Disturbance/per_step/case6/Pour_out_the_tomato_sauce_onto_the_plate/Pour_out_the_tomato_sauce_onto_the_plate_dym005_tex2_case6.hdf5 filter=lfs diff=lfs merge=lfs -text
+Random_Disturbance/per_step/case8/Pick_up_the_cream_cheese_from_coffee_table/Pick_up_the_cream_cheese_from_coffee_table_dxp005_tex2_case8.hdf5 filter=lfs diff=lfs merge=lfs -text
+Random_Disturbance/per_step/case8/Place_down_the_chocolate_pudding_into_akita_black_bowl/Place_down_the_chocolate_pudding_into_akita_black_bowl_dym005_tex0_case8.hdf5 filter=lfs diff=lfs merge=lfs -text
+Random_Disturbance/per_step/case8/Pick_up_the_wine_bottle_from_coffee_table/Pick_up_the_wine_bottle_from_coffee_table_dxp005_tex2_case8.hdf5 filter=lfs diff=lfs merge=lfs -text
+Random_Disturbance/per_step/case8/Pick_up_the_cream_cheese_from_coffee_table/Pick_up_the_cream_cheese_from_coffee_table_orig_tex2_case8.hdf5 filter=lfs diff=lfs merge=lfs -text
+Random_Disturbance/per_step/case8/Place_down_the_cream_cheese_into_short_cabinet_middle_region/Place_down_the_cream_cheese_into_short_cabinet_middle_region_dxp005_tex1_case8.hdf5 filter=lfs diff=lfs merge=lfs -text
+Random_Disturbance/per_step/case8/Pick_up_the_cream_cheese_from_coffee_table/Pick_up_the_cream_cheese_from_coffee_table_dxp005_tex0_case8.hdf5 filter=lfs diff=lfs merge=lfs -text
+Random_Disturbance/per_step/case6/Pour_out_the_tomato_sauce_onto_the_plate/Pour_out_the_tomato_sauce_onto_the_plate_dym005_tex1_case6.hdf5 filter=lfs diff=lfs merge=lfs -text
+Random_Disturbance/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
+Random_Disturbance/per_step/case8/Pick_up_the_wine_bottle_from_coffee_table/Pick_up_the_wine_bottle_from_coffee_table_dxp005_tex0_case8.hdf5 filter=lfs diff=lfs merge=lfs -text
+Random_Disturbance/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
+Random_Disturbance/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
+Random_Disturbance/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
+Random_Disturbance/per_step/case6/Pour_out_the_tomato_sauce_onto_the_plate/Pour_out_the_tomato_sauce_onto_the_plate_dym005_tex0_case6.hdf5 filter=lfs diff=lfs merge=lfs -text
+Random_Disturbance/per_step/case6/Pour_out_the_tomato_sauce_onto_the_plate/Pour_out_the_tomato_sauce_onto_the_plate_dyp005_tex2_case6.hdf5 filter=lfs diff=lfs merge=lfs -text
+Random_Disturbance/all_hdf5/Place_down_the_cookies_into_basket_in_contain_region_dxp005_tex0_case10.hdf5 filter=lfs diff=lfs merge=lfs -text
+Random_Disturbance/all_hdf5/Place_down_popcorn_into_white_storage_box_placed_at_right_side_orig_tex0_case1.hdf5 filter=lfs diff=lfs merge=lfs -text
+Random_Disturbance/all_hdf5/Place_down_the_white_bowl_on_the_coffee_table_dyp005_tex0_case9.hdf5 filter=lfs diff=lfs merge=lfs -text
+Random_Disturbance/all_hdf5/Place_down_the_chocolate_pudding_into_the_white_bowl_orig_tex1_case9.hdf5 filter=lfs diff=lfs merge=lfs -text
+Random_Disturbance/all_hdf5/Place_down_the_cookies_into_basket_in_contain_region_dyp005_tex1_case10.hdf5 filter=lfs diff=lfs merge=lfs -text
+Random_Disturbance/all_hdf5/Place_down_the_butter_into_the_short_cabinet_in_middle_region_dxp005_tex1_case6.hdf5 filter=lfs diff=lfs merge=lfs -text
+Random_Disturbance/all_hdf5/Place_down_cream_cheese_into_white_storage_box_placed_at_bottom_side_dxp005_tex2_case1.hdf5 filter=lfs diff=lfs merge=lfs -text
+Random_Disturbance/all_hdf5/Place_down_the_cookies_into_the_white_bowl_dyp005_tex2_case9.hdf5 filter=lfs diff=lfs merge=lfs -text
+Random_Disturbance/all_hdf5/Place_down_the_wine_onto_coffee_table_dyp005_tex0_case10.hdf5 filter=lfs diff=lfs merge=lfs -text
+Random_Disturbance/all_hdf5/Place_frypan_on_wooden_cabinet_top_side_dyp005_tex0_case4.hdf5 filter=lfs diff=lfs merge=lfs -text
+Random_Disturbance/all_hdf5/Place_down_butter_into_white_storage_box_placed_at_left_side_dyp005_tex1_case1.hdf5 filter=lfs diff=lfs merge=lfs -text
+Random_Disturbance/all_hdf5/Place_down_the_wine_onto_coffee_table_dxp005_tex1_case10.hdf5 filter=lfs diff=lfs merge=lfs -text
+Random_Disturbance/all_hdf5/Pick_up_the_wine_bottle_from_coffee_table_dym005_tex2_case8.hdf5 filter=lfs diff=lfs merge=lfs -text
+Random_Disturbance/all_hdf5/Place_the_plate_on_dining_set_group_dxp005_tex0_case3.hdf5 filter=lfs diff=lfs merge=lfs -text
+Random_Disturbance/all_hdf5/Place_popcorn_into_white_bowl_dyp005_tex2_case4.hdf5 filter=lfs diff=lfs merge=lfs -text
+Random_Disturbance/all_hdf5/Place_popcorn_into_white_bowl_orig_tex0_case4.hdf5 filter=lfs diff=lfs merge=lfs -text
+Random_Disturbance/all_hdf5/Pick_up_the_wine_from_coffee_table_orig_tex0_case10.hdf5 filter=lfs diff=lfs merge=lfs -text
+Random_Disturbance/all_hdf5/Place_butter_into_akita_black_bowl_orig_tex1_case7.hdf5 filter=lfs diff=lfs merge=lfs -text
+Random_Disturbance/all_hdf5/Place_the_bbq_sauce_sauce_on_the_coffee_table_orig_tex2_case10.hdf5 filter=lfs diff=lfs merge=lfs -text
+Random_Disturbance/all_hdf5/Place_the_chocolate_pudding_on_the_coffee_table_dxp005_tex2_case5.hdf5 filter=lfs diff=lfs merge=lfs -text
+Random_Disturbance/all_hdf5/Place_down_popcorn_into_white_storage_box_placed_at_right_side_dyp005_tex1_case1.hdf5 filter=lfs diff=lfs merge=lfs -text
+Random_Disturbance/all_hdf5/Pick_up_the_wine_from_coffee_table_dym005_tex2_case10.hdf5 filter=lfs diff=lfs merge=lfs -text
+Random_Disturbance/all_hdf5/Place_down_the_cream_cheese_into_short_cabinet_middle_region_orig_tex1_case8.hdf5 filter=lfs diff=lfs merge=lfs -text
+Random_Disturbance/all_hdf5/Place_down_the_cream_cheese_into_short_cabinet_middle_region_dyp005_tex1_case8.hdf5 filter=lfs diff=lfs merge=lfs -text
+Random_Disturbance/all_hdf5/Place_down_the_white_yellow_mug_into_wooden_tray_in_contain_region_dyp005_tex2_case10.hdf5 filter=lfs diff=lfs merge=lfs -text
+Random_Disturbance/all_hdf5/Place_the_bbq_sauce_sauce_on_the_coffee_table_dyp005_tex1_case10.hdf5 filter=lfs diff=lfs merge=lfs -text
+Random_Disturbance/all_hdf5/Place_down_the_white_yellow_mug_into_wooden_tray_in_contain_region_orig_tex0_case10.hdf5 filter=lfs diff=lfs merge=lfs -text
+Random_Disturbance/all_hdf5/Place_down_cream_cheese_into_white_storage_box_placed_at_bottom_side_dym005_tex0_case1.hdf5 filter=lfs diff=lfs merge=lfs -text
+Random_Disturbance/all_hdf5/Pick_up_the_wine_bottle_from_coffee_table_dxp005_tex1_case5.hdf5 filter=lfs diff=lfs merge=lfs -text
+Random_Disturbance/all_hdf5/Place_the_cookies_on_the_dining_set_group_dym005_tex1_case3.hdf5 filter=lfs diff=lfs merge=lfs -text
+Random_Disturbance/all_hdf5/Place_the_chocolate_pudding_on_the_coffee_table_dym005_tex0_case5.hdf5 filter=lfs diff=lfs merge=lfs -text
+Random_Disturbance/all_hdf5/Place_the_tomato_sauce_on_the_coffee_table_dym005_tex2_case10.hdf5 filter=lfs diff=lfs merge=lfs -text
+Random_Disturbance/all_hdf5/Place_the_white_bowl_into_the_microwave_dym005_tex2_case9.hdf5 filter=lfs diff=lfs merge=lfs -text
+Random_Disturbance/all_hdf5/Place_the_plate_on_dining_set_group_dym005_tex2_case3.hdf5 filter=lfs diff=lfs merge=lfs -text
+Random_Disturbance/all_hdf5/Place_the_cookies_on_the_coffee_table_dyp005_tex1_case9.hdf5 filter=lfs diff=lfs merge=lfs -text
+Random_Disturbance/all_hdf5/Turn_on_flat_stove_in_cook_region_dyp005_tex0_case7.hdf5 filter=lfs diff=lfs merge=lfs -text
+Random_Disturbance/all_hdf5/Place_the_cream_cheese_into_the_white_storage_box_at_top_side_dyp005_tex2_case2.hdf5 filter=lfs diff=lfs merge=lfs -text
+Random_Disturbance/all_hdf5/Place_the_chocolate_pudding_on_the_coffee_table_orig_tex1_case9.hdf5 filter=lfs diff=lfs merge=lfs -text
+Random_Disturbance/all_hdf5/Place_the_popcorn_on_the_plate_dym005_tex1_case3.hdf5 filter=lfs diff=lfs merge=lfs -text
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