In this updated we included an additional criteria to merging primitives into composites. That is, a duration criteria (on top of the amplitude criteria). If a contiguous primitive is a threshold (currently 5x) longer than the other primitive, use a single primitive to form the composition. We have also fixed several bugs on MergePrimitive, MergeComposites as well as primitivesCleanUp and cleanUp regarding the way we compute the merged amplitude value and time boundaries. We also decided to only perform cleanUp from the Rotation automata state to the Mating state but not at the Approach state. So, cleanUp reflects this in the starting index of the clean up routines.