diff --git a/.gitattributes b/.gitattributes
index b202c9dfef9304da2eca87fabdbc7840f3f3a08d..e97d103881f9ffdeb29a3bd59363354f467677e7 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -138,3 +138,5 @@ data_v7/Town02/trajectory_1777113039/ORI/trajectory.json filter=lfs diff=lfs mer
 data_v7/Town02/trajectory_1777113039/aug_001/trajectory.json filter=lfs diff=lfs merge=lfs -text
 data_v7/Town02/trajectory_1777097359/ORI/trajectory.json filter=lfs diff=lfs merge=lfs -text
 data_v7/Town02/trajectory_1777097359/aug_001/trajectory.json filter=lfs diff=lfs merge=lfs -text
+data_v7/Town02/trajectory_1777119765/ORI/trajectory.json filter=lfs diff=lfs merge=lfs -text
+data_v7/Town02/trajectory_1777119765/aug_001/trajectory.json filter=lfs diff=lfs merge=lfs -text
diff --git a/data_v7/Town02/trajectory_1777097359/aug_001/frames_playback/frame_00007/depth.npy b/data_v7/Town02/trajectory_1777097359/aug_001/frames_playback/frame_00007/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..68bfddf9890d6506acc6f203aece89de69aed1d3
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777097359/aug_001/frames_playback/frame_00007/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e860983b42c67f5c116909e014430bfb63134f41f33501ed07e3c62cbf80a8af
+size 3686528
diff --git a/data_v7/Town02/trajectory_1777097359/aug_001/frames_playback/frame_00007/instance.png b/data_v7/Town02/trajectory_1777097359/aug_001/frames_playback/frame_00007/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..c2f2ecaf2aa11218db2b0fd15ed4ea3e5c3ec42d
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777097359/aug_001/frames_playback/frame_00007/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f6ad24157705332b380dee990eb98b779c229cd42355adb52338b52f4f5e5f58
+size 64404
diff --git a/data_v7/Town02/trajectory_1777097359/aug_001/frames_playback/frame_00012/debug.png b/data_v7/Town02/trajectory_1777097359/aug_001/frames_playback/frame_00012/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..58c0db1b960cafa99ab4252dcec8e7a81b056607
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777097359/aug_001/frames_playback/frame_00012/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3f4a15b8dce3708decf5d67490333d7b59cd5c2614f5d662be95a11a15eef0e7
+size 1766095
diff --git a/data_v7/Town02/trajectory_1777097359/aug_001/frames_playback/frame_00012/depth.npy b/data_v7/Town02/trajectory_1777097359/aug_001/frames_playback/frame_00012/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..2723d9347067a6116933c9ba8c96fedaee53cf3f
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777097359/aug_001/frames_playback/frame_00012/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f940f721f10d2888ea33fbc7eb18ddd34442d02630ef36b921c6dbdcd1c68d5e
+size 3686528
diff --git a/data_v7/Town02/trajectory_1777097359/aug_001/frames_playback/frame_00012/instance.png b/data_v7/Town02/trajectory_1777097359/aug_001/frames_playback/frame_00012/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..58af61d70467051b7c56b0ddff2ba012d82a7784
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777097359/aug_001/frames_playback/frame_00012/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:be27994166ceeee5819cabde44240cb182cd0e5934bd2d1f67624c1b7f64d352
+size 65081
diff --git a/data_v7/Town02/trajectory_1777097359/aug_001/frames_playback/frame_00012/rgb.png b/data_v7/Town02/trajectory_1777097359/aug_001/frames_playback/frame_00012/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..4ee29fbaf6b6882b9880e7ff51c511958b5c4ff9
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777097359/aug_001/frames_playback/frame_00012/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2c2f62f706850ff608c41d5eb6a30f21596113cac600f5673065b1eee92f74a4
+size 1600582
diff --git a/data_v7/Town02/trajectory_1777097359/aug_001/frames_playback/frame_00015/debug.png b/data_v7/Town02/trajectory_1777097359/aug_001/frames_playback/frame_00015/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..c7a31dcde7a9f92c27c28dadff2a69f7ffa059ec
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777097359/aug_001/frames_playback/frame_00015/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7a004d81e0c21f747631b9d0188ec14573864323e1d7654b3c3325949e710674
+size 1841160
diff --git a/data_v7/Town02/trajectory_1777097359/aug_001/frames_playback/frame_00015/rgb.png b/data_v7/Town02/trajectory_1777097359/aug_001/frames_playback/frame_00015/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..efa8674ccb19d43b3a3ff2d90061cd1c5f194538
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777097359/aug_001/frames_playback/frame_00015/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f7c78f5db428d9acdc2c9f58df4b60f8afedf24d2e518960de241d5e7569236e
+size 1644226
diff --git a/data_v7/Town02/trajectory_1777097359/aug_001/frames_playback/frame_00016/debug.png b/data_v7/Town02/trajectory_1777097359/aug_001/frames_playback/frame_00016/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..30f9d2274d6a4e1bd2aac630d87a5ff423eeff52
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777097359/aug_001/frames_playback/frame_00016/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f2b5b435057e63c64ac97a2da16130a0154915c4ea8ae742d2efd4ec1114db10
+size 1758897
diff --git a/data_v7/Town02/trajectory_1777097359/aug_001/frames_playback/frame_00016/depth.npy b/data_v7/Town02/trajectory_1777097359/aug_001/frames_playback/frame_00016/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..b77020aac3ca16a5c9ff49694f8963411c0475d1
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777097359/aug_001/frames_playback/frame_00016/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3191bdd57368e9fdc5d5a2ee15d17c4bfb6f1a472105ddf0074c8486c4b22850
+size 3686528
diff --git a/data_v7/Town02/trajectory_1777097359/aug_001/frames_playback/frame_00016/instance.png b/data_v7/Town02/trajectory_1777097359/aug_001/frames_playback/frame_00016/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..7a397c110ee3919d9204639f78d97b4c00d155a5
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777097359/aug_001/frames_playback/frame_00016/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bd539d354d825d84cf37146b31fc89d7a58d0a81248d4ded49ff080ca33b160f
+size 64721
diff --git a/data_v7/Town02/trajectory_1777097359/aug_001/frames_playback/frame_00016/rgb.png b/data_v7/Town02/trajectory_1777097359/aug_001/frames_playback/frame_00016/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..3aaca5b941e1bdf4e4f187a316f40d01aba3bd62
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777097359/aug_001/frames_playback/frame_00016/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3e0cefe324352872e5feadc231c714d215a98511c00dd0344b0ac920ee52dbb2
+size 1582545
diff --git a/data_v7/Town02/trajectory_1777097359/aug_001/frames_playback/frame_00020/depth.npy b/data_v7/Town02/trajectory_1777097359/aug_001/frames_playback/frame_00020/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..6dc4adcb249f0333a9259fc15e79df92a773ff44
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777097359/aug_001/frames_playback/frame_00020/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ba794d8abddf2c7420ba8cd14ab4bf43308ace5f05bd19336e5eb6863575a3e9
+size 3686528
diff --git a/data_v7/Town02/trajectory_1777097359/aug_001/frames_playback/frame_00020/instance.png b/data_v7/Town02/trajectory_1777097359/aug_001/frames_playback/frame_00020/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..ae40e0d05ebcbfee2b3bc237aff52c361ac1c837
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777097359/aug_001/frames_playback/frame_00020/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:61207cd1dffcb9527febce966b8ce02d10d6fa4ea457f77b2822b1d8dff42649
+size 65005
diff --git a/data_v7/Town02/trajectory_1777097359/aug_001/frames_playback/frame_00044/debug.png b/data_v7/Town02/trajectory_1777097359/aug_001/frames_playback/frame_00044/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..b8e865468e83a7e7af9ee8fd33f71c438de259a8
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777097359/aug_001/frames_playback/frame_00044/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4932246cac511bb44aff0ab56c4e24f5880d2e1607f7d66f5cc5b5b961dedd2b
+size 1760428
diff --git a/data_v7/Town02/trajectory_1777097359/aug_001/frames_playback/frame_00044/depth.npy b/data_v7/Town02/trajectory_1777097359/aug_001/frames_playback/frame_00044/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..931348f8a273f5bad3f69044b68944e1cf39dc07
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777097359/aug_001/frames_playback/frame_00044/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:19508e34e5ee69b0fd23ab6f9de10d38dfa5cf385ac970cd2f712d3cf13d49f7
+size 3686528
diff --git a/data_v7/Town02/trajectory_1777097359/aug_001/frames_playback/frame_00044/instance.png b/data_v7/Town02/trajectory_1777097359/aug_001/frames_playback/frame_00044/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..de8b12ca65d26300c2934eb576c89289f0e6dd6b
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777097359/aug_001/frames_playback/frame_00044/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cccf7ef44e677aa9dbcbf818d7f80c7bf62c22402b9137d1c94e3a3ecd6f3cd9
+size 69417
diff --git a/data_v7/Town02/trajectory_1777097359/aug_001/frames_playback/frame_00044/rgb.png b/data_v7/Town02/trajectory_1777097359/aug_001/frames_playback/frame_00044/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..0407d45ee3c315ff69703e22cc736c74507cf887
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777097359/aug_001/frames_playback/frame_00044/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:925cdec358e08eb8ec73d2d8c18f6d786273e74f3f5b7153869b0c312a3ed306
+size 1629190
diff --git a/data_v7/Town02/trajectory_1777097359/aug_001/frames_playback/frame_00055/debug.png b/data_v7/Town02/trajectory_1777097359/aug_001/frames_playback/frame_00055/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..06ad3ac868f24612f81bc052551c6bb645f74258
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777097359/aug_001/frames_playback/frame_00055/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d78bfd1b14d38fa3fea20438a5a762de3779d84ad811d6ac644eaab486291ee5
+size 1803939
diff --git a/data_v7/Town02/trajectory_1777097359/aug_001/frames_playback/frame_00055/depth.npy b/data_v7/Town02/trajectory_1777097359/aug_001/frames_playback/frame_00055/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..adb19b5c1a1362f73fa253ce4588556395eae406
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777097359/aug_001/frames_playback/frame_00055/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a1aa7360f0c6bd41f60decd595b05464a54f774a8f995fb9496d8d2ea0231949
+size 3686528
diff --git a/data_v7/Town02/trajectory_1777097359/aug_001/frames_playback/frame_00055/instance.png b/data_v7/Town02/trajectory_1777097359/aug_001/frames_playback/frame_00055/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..b3af7d9f8735b2f3741a2c39c285fd85b0e3cefb
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777097359/aug_001/frames_playback/frame_00055/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:720167b4bcd5216bec5408c7f769ebafa7ef9a7f2dcd8e367f33c985c41741c8
+size 85358
diff --git a/data_v7/Town02/trajectory_1777097359/aug_001/frames_playback/frame_00055/rgb.png b/data_v7/Town02/trajectory_1777097359/aug_001/frames_playback/frame_00055/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..4d78addff0318f42556fead9c72f05a13703683e
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777097359/aug_001/frames_playback/frame_00055/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:83cfcecb240ffbbdb47c3295db6358a2be5d5e20e4f027689fbb8140a2be1804
+size 1667673
diff --git a/data_v7/Town02/trajectory_1777097359/aug_001/frames_playback/frame_00074/debug.png b/data_v7/Town02/trajectory_1777097359/aug_001/frames_playback/frame_00074/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..04959535dd6ed708ef1fc869a4fb09f291bdbc9b
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777097359/aug_001/frames_playback/frame_00074/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:362dc0d22102aff8968a7edc78a43409a230966326c91c9c3c817a8f8c179620
+size 1745841
diff --git a/data_v7/Town02/trajectory_1777097359/aug_001/frames_playback/frame_00074/depth.npy b/data_v7/Town02/trajectory_1777097359/aug_001/frames_playback/frame_00074/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..72498d647e49a1417711d15d68add2516c233938
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777097359/aug_001/frames_playback/frame_00074/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a6ede7e279adfed357955601258c20a3d612841a0c816d28c76ba0f9b0dfe1ce
+size 3686528
diff --git a/data_v7/Town02/trajectory_1777097359/aug_001/frames_playback/frame_00074/instance.png b/data_v7/Town02/trajectory_1777097359/aug_001/frames_playback/frame_00074/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..ed23382f144dff4cf81141102f735e243b6ea7f8
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777097359/aug_001/frames_playback/frame_00074/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:af83e2480ba3f565de91ffbe04b400e3149315fada3482fbcc48376d2c8e8d26
+size 91547
diff --git a/data_v7/Town02/trajectory_1777097359/aug_001/frames_playback/frame_00074/rgb.png b/data_v7/Town02/trajectory_1777097359/aug_001/frames_playback/frame_00074/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..c0ad7a828c84decc0e1fe4a17c9dc07cb1c86acc
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777097359/aug_001/frames_playback/frame_00074/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f1328d60da788b744607aea65cab1ec0219f071cfdbc0ed1a4eb670e814e9c18
+size 1579456
diff --git a/data_v7/Town02/trajectory_1777097359/aug_001/frames_playback/frame_00076/debug.png b/data_v7/Town02/trajectory_1777097359/aug_001/frames_playback/frame_00076/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..0cabc70c217646e4006cae91818b4fda957b93f2
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777097359/aug_001/frames_playback/frame_00076/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:654ef5be92f03cec3226c15ffdf31592a14d9f7f16a62e3525125557c72e171e
+size 1718806
diff --git a/data_v7/Town02/trajectory_1777097359/aug_001/frames_playback/frame_00076/depth.npy b/data_v7/Town02/trajectory_1777097359/aug_001/frames_playback/frame_00076/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..01b64419555db7530383384bcfa31d471429c66b
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777097359/aug_001/frames_playback/frame_00076/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:74185e44a0c35801f7c07836eb3db46312853fc5270602c87560a3011656f972
+size 3686528
diff --git a/data_v7/Town02/trajectory_1777097359/aug_001/frames_playback/frame_00076/instance.png b/data_v7/Town02/trajectory_1777097359/aug_001/frames_playback/frame_00076/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..d3c30689680e0a5617a0dbe05352df0b7cd71077
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777097359/aug_001/frames_playback/frame_00076/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ea66d8184c96cc70caf26e4ca7a24e82d4a4531889ad82cf0bb45a109fd8bf88
+size 91697
diff --git a/data_v7/Town02/trajectory_1777097359/aug_001/frames_playback/frame_00076/rgb.png b/data_v7/Town02/trajectory_1777097359/aug_001/frames_playback/frame_00076/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..8fe21be049c2167ff933d131d88570eadcb808ad
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777097359/aug_001/frames_playback/frame_00076/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:24607b697c6b7a1e345111876f42cf2ccb8cfb3fe95106831542ee8e524a5038
+size 1542641
diff --git a/data_v7/Town02/trajectory_1777097359/aug_001/frames_playback/frame_00088/debug.png b/data_v7/Town02/trajectory_1777097359/aug_001/frames_playback/frame_00088/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..3449df678c7230d9a91cce212949af19cf5784f4
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777097359/aug_001/frames_playback/frame_00088/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4fbc9527e0721ab67267afaf7617c131fd113d6d1dd1cfa9415b7303524f045e
+size 1590953
diff --git a/data_v7/Town02/trajectory_1777097359/aug_001/frames_playback/frame_00088/depth.npy b/data_v7/Town02/trajectory_1777097359/aug_001/frames_playback/frame_00088/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..30d2f12e7b0eb3e62a3db5750baf158f227f98fc
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777097359/aug_001/frames_playback/frame_00088/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4b199c923cfba721e926ee5355b50473023f20cd077f3695c99f106bb69c8869
+size 3686528
diff --git a/data_v7/Town02/trajectory_1777097359/aug_001/frames_playback/frame_00088/instance.png b/data_v7/Town02/trajectory_1777097359/aug_001/frames_playback/frame_00088/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..7ed6c3f83df62e075d2cb10f237ab311b7e94370
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777097359/aug_001/frames_playback/frame_00088/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c60120d5b1c696e351b29157420486097e9133e1529b572f051f246df4b30a22
+size 80106
diff --git a/data_v7/Town02/trajectory_1777097359/aug_001/frames_playback/frame_00088/rgb.png b/data_v7/Town02/trajectory_1777097359/aug_001/frames_playback/frame_00088/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..f06746f5f6ea38fc51c4716c7f1d992c2116b908
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777097359/aug_001/frames_playback/frame_00088/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:91fbb02b896008d885eeea1ce260a60d3a05621b4b6101173cb12df8ee87feb1
+size 1435790
diff --git a/data_v7/Town02/trajectory_1777097359/aug_001/frames_playback/frame_00092/debug.png b/data_v7/Town02/trajectory_1777097359/aug_001/frames_playback/frame_00092/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..66521dddc02b4cfd79443c348a78e18387f8cb3b
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777097359/aug_001/frames_playback/frame_00092/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2387a0c0a3a52427477e7db0721bbb6d96575e93adb0bab9200bcf7f4a94cc8e
+size 1580517
diff --git a/data_v7/Town02/trajectory_1777097359/aug_001/frames_playback/frame_00092/depth.npy b/data_v7/Town02/trajectory_1777097359/aug_001/frames_playback/frame_00092/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..f85df9ba3a51641e7879e3cf5b1a14a6deaac8d0
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777097359/aug_001/frames_playback/frame_00092/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:73c32394c2cf081260621319b9f171bc40080c4efcfa65153ddcddbdff20858d
+size 3686528
diff --git a/data_v7/Town02/trajectory_1777097359/aug_001/frames_playback/frame_00092/instance.png b/data_v7/Town02/trajectory_1777097359/aug_001/frames_playback/frame_00092/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..71d0b675b4887867a69362041ad73652511a1bf1
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777097359/aug_001/frames_playback/frame_00092/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f8f3074f1babd6cff1d40fc579017d5962d605591451f3fc4d8599c4e3f55b50
+size 85639
diff --git a/data_v7/Town02/trajectory_1777097359/aug_001/frames_playback/frame_00092/rgb.png b/data_v7/Town02/trajectory_1777097359/aug_001/frames_playback/frame_00092/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..7e9519ed8f5ac5eb3086c7f6cce46d5ef85dbda2
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777097359/aug_001/frames_playback/frame_00092/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:880b93358915aadf6d42724c45e11404db5d25251aed25e7a6256aa861932047
+size 1432403
diff --git a/data_v7/Town02/trajectory_1777097359/aug_001/frames_playback/frame_00096/debug.png b/data_v7/Town02/trajectory_1777097359/aug_001/frames_playback/frame_00096/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..23421cc2b79954bc438239889e74390b9b0344e6
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777097359/aug_001/frames_playback/frame_00096/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5805a644dc78da8bd728fce31afb9c2ce6b98f613d851f5649bbb41bbc802804
+size 1585964
diff --git a/data_v7/Town02/trajectory_1777097359/aug_001/frames_playback/frame_00096/depth.npy b/data_v7/Town02/trajectory_1777097359/aug_001/frames_playback/frame_00096/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..be7c5b8cfe6afadb4a581d7834f4b43db8bf479d
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777097359/aug_001/frames_playback/frame_00096/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fda78b0573185b9e6a4ee5360fa83b4475d877f0bb5aa93e5a989c8b1e0f8541
+size 3686528
diff --git a/data_v7/Town02/trajectory_1777097359/aug_001/frames_playback/frame_00096/instance.png b/data_v7/Town02/trajectory_1777097359/aug_001/frames_playback/frame_00096/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..166c7c2ebd8a557c8fe3fb5bd774967ad07aba73
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777097359/aug_001/frames_playback/frame_00096/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fa3052c949e83d0db43054a1ac20b64326b9f9bcb1f37b29ad0b940c2ef17ac8
+size 75938
diff --git a/data_v7/Town02/trajectory_1777097359/aug_001/frames_playback/frame_00096/rgb.png b/data_v7/Town02/trajectory_1777097359/aug_001/frames_playback/frame_00096/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..1f26ce81a1024a0fcc689f2d4de3616c4d9107c6
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777097359/aug_001/frames_playback/frame_00096/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:97e4f4a00fb2303b2704938f36290b73d5d3f028d5287f511d8596333a975cd1
+size 1437144
diff --git a/data_v7/Town02/trajectory_1777097359/aug_001/frames_playback/frame_00099/debug.png b/data_v7/Town02/trajectory_1777097359/aug_001/frames_playback/frame_00099/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..058367efeb76674ae72887f2798c5e6e3a6d838d
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777097359/aug_001/frames_playback/frame_00099/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f333b2560e56fe56edbca1ee8751c4cb98c802c0583f1c4fac47c1b3aa638d52
+size 1628718
diff --git a/data_v7/Town02/trajectory_1777097359/aug_001/frames_playback/frame_00099/depth.npy b/data_v7/Town02/trajectory_1777097359/aug_001/frames_playback/frame_00099/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..dde51468d7fcfcc868e569fc989d0fb2715f5530
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777097359/aug_001/frames_playback/frame_00099/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f1d4abc9e63b06f1bb0478faf7142f9ad9e6dfed482a22d87c2c5cca79c0d757
+size 3686528
diff --git a/data_v7/Town02/trajectory_1777097359/aug_001/frames_playback/frame_00099/instance.png b/data_v7/Town02/trajectory_1777097359/aug_001/frames_playback/frame_00099/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..d4a8d30ea68f707618946f5da02869a07e34dd8a
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777097359/aug_001/frames_playback/frame_00099/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:265682bc927e4b02a408106cdcca3d143be0f2ffc5a3f59c9622b1118311a1fa
+size 84509
diff --git a/data_v7/Town02/trajectory_1777097359/aug_001/frames_playback/frame_00099/rgb.png b/data_v7/Town02/trajectory_1777097359/aug_001/frames_playback/frame_00099/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..3469745312a3e347fa23fe88f959e99e197fbef0
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777097359/aug_001/frames_playback/frame_00099/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4e484148ae155ee14bacdccdfd30700a1bff19243f74c7a200fda6d8f7bd82dc
+size 1498903
diff --git a/data_v7/Town02/trajectory_1777097359/aug_001/frames_playback/frame_00105/debug.png b/data_v7/Town02/trajectory_1777097359/aug_001/frames_playback/frame_00105/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..f8ac61f9f9c48b748055ddb274b5ac50e063d1ea
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777097359/aug_001/frames_playback/frame_00105/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fbc8c2067197cef3edcce0a245c8a7cfc6c454bcdb521d2bbb05bcc307b52653
+size 1596026
diff --git a/data_v7/Town02/trajectory_1777097359/aug_001/frames_playback/frame_00105/depth.npy b/data_v7/Town02/trajectory_1777097359/aug_001/frames_playback/frame_00105/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..753bedde47eea11ecb93427768ed4d4640fc5401
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777097359/aug_001/frames_playback/frame_00105/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b84fbd0dbb65c05b8b60c17b867a4e8feb03090ed8be0c63fa47e506651187b3
+size 3686528
diff --git a/data_v7/Town02/trajectory_1777097359/aug_001/frames_playback/frame_00105/instance.png b/data_v7/Town02/trajectory_1777097359/aug_001/frames_playback/frame_00105/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..1e7a4d81b3aa53d351eaf77052cfb6be4fe3a847
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777097359/aug_001/frames_playback/frame_00105/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0a198515a797c8cadd8902625c5193263ac1be4e9177e2e28071ac0171bd7402
+size 81249
diff --git a/data_v7/Town02/trajectory_1777097359/aug_001/frames_playback/frame_00105/rgb.png b/data_v7/Town02/trajectory_1777097359/aug_001/frames_playback/frame_00105/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..a1fa6617ef7095cd6a00fd787b7765b5a5a4c6c8
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777097359/aug_001/frames_playback/frame_00105/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b18b57cd4d2f6f850a57119071c0bacb5fad4aab616ba0e67d329f3d5f086f54
+size 1461376
diff --git a/data_v7/Town02/trajectory_1777097359/aug_001/frames_playback/frame_00113/debug.png b/data_v7/Town02/trajectory_1777097359/aug_001/frames_playback/frame_00113/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..6c0b0f9db3b81845b3583b584a0db7a9641d2698
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777097359/aug_001/frames_playback/frame_00113/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fec9a5d2829f6b05cb3740ab3ce9553afba3a569be543272b86e8d910d6bcc28
+size 1643701
diff --git a/data_v7/Town02/trajectory_1777097359/aug_001/frames_playback/frame_00113/depth.npy b/data_v7/Town02/trajectory_1777097359/aug_001/frames_playback/frame_00113/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..50a3cac887f6708100375b0cd175fdbebc91f30f
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777097359/aug_001/frames_playback/frame_00113/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:361dd18d9492fd014021166c84e4f2fedf69385801ff0b7aa6b02483f27f9e23
+size 3686528
diff --git a/data_v7/Town02/trajectory_1777097359/aug_001/frames_playback/frame_00113/instance.png b/data_v7/Town02/trajectory_1777097359/aug_001/frames_playback/frame_00113/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..6d9588fb47134b4feadc3b26c146face9897f4ab
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777097359/aug_001/frames_playback/frame_00113/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6fc873ef2e91607215c4eab3e8bb2bfedca6199be79c90d8ab8d930e260f78ce
+size 77689
diff --git a/data_v7/Town02/trajectory_1777097359/aug_001/frames_playback/frame_00113/rgb.png b/data_v7/Town02/trajectory_1777097359/aug_001/frames_playback/frame_00113/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..df2e0fb8b3ad454eb009bebc71ef0cca14abd0dd
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777097359/aug_001/frames_playback/frame_00113/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a488b9add5fffe7ff07976e05b7d73ffa331251c43216b845a4c21c33bab7a86
+size 1531805
diff --git a/data_v7/Town02/trajectory_1777097359/aug_001/frames_playback/frame_00126/debug.png b/data_v7/Town02/trajectory_1777097359/aug_001/frames_playback/frame_00126/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..f137f12a934d3dcd5b28347563e1e1f70abe2b88
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777097359/aug_001/frames_playback/frame_00126/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7646b1e6d75676640b6d3e3bf51d537e0909c8762270bee0b5f392bf58906dd1
+size 1643220
diff --git a/data_v7/Town02/trajectory_1777097359/aug_001/frames_playback/frame_00126/depth.npy b/data_v7/Town02/trajectory_1777097359/aug_001/frames_playback/frame_00126/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..7c87206bff53a7aeab2f72275371625496926d8a
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777097359/aug_001/frames_playback/frame_00126/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9cb890b254a2d204fe5055a1131348bccf620ff774180e5bb21439d6dc373bb1
+size 3686528
diff --git a/data_v7/Town02/trajectory_1777097359/aug_001/frames_playback/frame_00126/instance.png b/data_v7/Town02/trajectory_1777097359/aug_001/frames_playback/frame_00126/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..b16a9cfec0740ffed59b1c5f9f8cf753a9058c48
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777097359/aug_001/frames_playback/frame_00126/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fb8598b3262df2997f2f883eb0e4fe2c4b87aeb48abcfd762e75afdc82f5ef85
+size 67534
diff --git a/data_v7/Town02/trajectory_1777097359/aug_001/frames_playback/frame_00126/rgb.png b/data_v7/Town02/trajectory_1777097359/aug_001/frames_playback/frame_00126/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..7dc986be69b2be86fec47159a2ea89a808252958
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777097359/aug_001/frames_playback/frame_00126/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bdc0f169730632dc4c7d06b6880ba6befefe07605c9efa3bce2af04b5698a56c
+size 1560930
diff --git a/data_v7/Town02/trajectory_1777097359/aug_001/frames_playback/frame_00128/debug.png b/data_v7/Town02/trajectory_1777097359/aug_001/frames_playback/frame_00128/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..4f6a89fee52a575b13bb833a38e0848481c1eda7
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777097359/aug_001/frames_playback/frame_00128/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:461c17a42e730ff347d96418d40c97ff30e4533771d2fce32f44b56ca9d2c5ec
+size 1665395
diff --git a/data_v7/Town02/trajectory_1777097359/aug_001/frames_playback/frame_00128/depth.npy b/data_v7/Town02/trajectory_1777097359/aug_001/frames_playback/frame_00128/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..1799a6f4cc5c5f1c12f61a79cfe3b922d3389c2d
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777097359/aug_001/frames_playback/frame_00128/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:73c348d5b26dbaa6f4a4d6a0eea6a4b88a0fcdd507d1e31ed969eada8f43b544
+size 3686528
diff --git a/data_v7/Town02/trajectory_1777097359/aug_001/frames_playback/frame_00128/instance.png b/data_v7/Town02/trajectory_1777097359/aug_001/frames_playback/frame_00128/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..e8dca0cbf195e5bdd067a590010bfb8e24abc89b
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777097359/aug_001/frames_playback/frame_00128/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:562af2950e9854db13d5e7441e341c9f1701f4e1a7d01d92d5d28047b2fdd80f
+size 80098
diff --git a/data_v7/Town02/trajectory_1777097359/aug_001/frames_playback/frame_00128/rgb.png b/data_v7/Town02/trajectory_1777097359/aug_001/frames_playback/frame_00128/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..1fc14331714482dc30dc1849c47832c006fb25c3
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777097359/aug_001/frames_playback/frame_00128/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0a4904f3ea4c58e5434f12c525a51ff544cae5f9cf35861b8bcec41408f6fc89
+size 1591965
diff --git a/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00001/debug.png b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00001/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..9a3146c5bd1587e2e07da2cb06cda2ab9edb6c65
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00001/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c91e1227e26f41702db2487409e4096230c2a7a0f35e4f8dd35f3607cd80f304
+size 1574419
diff --git a/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00001/depth.npy b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00001/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..e84b981530a81ed1cdc58f2ff95e763c3921a935
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00001/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:be8fe3312fb7afa5adf27d2376cac6bb4764502ab4760f92dbeef695abf6a0a1
+size 3686528
diff --git a/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00001/instance.png b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00001/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..04d50ce2cc1ab9acea16631185a779186d347cdb
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00001/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:178de3d38497f45376ee3a82b9de5ecd0138d899382353b5054fe3f0b11489fc
+size 64196
diff --git a/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00001/rgb.png b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00001/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..c2a9c6e4c19ab773a5b4c92e650826612f54b840
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00001/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5322f2a5e0188ec0ad809aa409bf2910519b241978f745fc081483350b9dc2ec
+size 1533423
diff --git a/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00004/debug.png b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00004/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..b3daff97a0bffadd244a9fddff05a215958a104d
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00004/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4795b1ffc22022607f978f37d03de075313c9f7a3d9a56ed4778c5e55de59ded
+size 1610298
diff --git a/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00004/depth.npy b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00004/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..836e5a7b6347db5d4e562e9a4f9b75a615e156e8
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00004/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:35deecdbed6eb9586dccf1e0bfb390fc269887b841bea1f3febd32f4bcbad659
+size 3686528
diff --git a/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00004/instance.png b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00004/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..4dbca55739f31574e0c4790ad6d9f33f43260032
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00004/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c75c10f4fb38a3ada4748208c87413a1a6a3bd97a9a75ef20871b88556bae5d7
+size 65007
diff --git a/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00004/rgb.png b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00004/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..c93cd76ffef2493f43fd7a36eb3368ad80b70357
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00004/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0d1db682f37e70046cfb07a41933f10294b4f8a1e0bf95ff38fdfe9a052da20f
+size 1547881
diff --git a/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00005/debug.png b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00005/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..714e6737eb49e082fca29fe681091533bddf2a92
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00005/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:104662ba5d5aa01f93d01d01731db13d113eec3fec5bddac240ada22081de54e
+size 1612298
diff --git a/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00005/depth.npy b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00005/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..f6194366bc4248d7fb3b148dce9320f51e7e1c76
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00005/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:453d178419a79f4098624bd2885add5bf2c0f479b8c2f37019bfa591fb890094
+size 3686528
diff --git a/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00005/instance.png b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00005/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..f11ab6c67fa3345be32655dc9c8fa1b57bb7bd3a
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00005/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:db7ee06639141422ec02ac877572236f71318d461aed43037213a447740ced34
+size 64099
diff --git a/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00005/rgb.png b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00005/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..384ee9456e9c1075803e744f78364c268552d010
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00005/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c7b4ee5a2893629657ee2d7cb8f5e16ee0deed11e8b5762b04e123d2f504b33c
+size 1555123
diff --git a/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00006/debug.png b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00006/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..305f1513a95b6bfec3590a835605f8d2bad19ddd
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00006/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:07d08b5e4657982550ecd38781e1c74cd31ffa154a40f92bc44978230e6d94e1
+size 1626027
diff --git a/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00006/depth.npy b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00006/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..1c7f0de23a0dfb51fa8eaa9d98bb9176cd280226
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00006/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4b7267dac8f858bffffdb53dbb66a7706a7c78d0fa0b31f67a5f7af4ce6bdd47
+size 3686528
diff --git a/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00006/instance.png b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00006/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..b25a8e8a156c910ca93e2c60950e5170f795e104
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00006/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:06a56b7a8378dde36e8fc5c0dba20f73846dc149af8d2ff1501fa9ed645fc6de
+size 62504
diff --git a/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00006/rgb.png b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00006/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..5c7fd4e659fefcb07197f4b066589c0170e1dd47
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00006/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8b63c7a7aa75b42b1cea1c0ea207374cb15744feaa5c78f5eec75b2e82b1277d
+size 1565773
diff --git a/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00008/debug.png b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00008/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..9780a63168e8bcfbf848b29b91d42c8dbf62bc51
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00008/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e1c7ef48c3131a5dfc5ebd0a00ef6503a1c24d28efd1d1398f79e03edaf22c12
+size 1645388
diff --git a/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00008/depth.npy b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00008/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..73b73e8e95261ab2612adfc5b09377a186bc9fa9
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00008/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:edeec2f82f9deb100dfd7f63f7a0ed5830b5115afbf39af1c410f077471ed564
+size 3686528
diff --git a/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00008/instance.png b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00008/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..a490814d1e5923924cc4b0fe034ebbe60e688c89
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00008/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:379385e677d93bcc3879bd429433f15386fcf610423ad9612afb72a7b1334bf3
+size 68462
diff --git a/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00008/rgb.png b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00008/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..9f438650f627a355a6cf98a1d7886fcc72549f9a
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00008/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:159ddcd3343293d8cb619023e8ab107c0c15ffb7822410afe10df7c7465f6fce
+size 1587617
diff --git a/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00009/debug.png b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00009/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..848aacefaf1d8978fa02dccd5ecc706536b2530e
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00009/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:730eaecbaf67b4f7a3336e25a558dc7aecf4476c497f4dae1812a29a6b3bd82f
+size 1636030
diff --git a/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00009/depth.npy b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00009/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..3a433335b743b1d1e1ceebb8792dd753d3216bf0
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00009/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:52c73eff7dedd4fcb8397fa38309cb2e8575c098fb9cc32e06fb77d05c45eb68
+size 3686528
diff --git a/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00009/instance.png b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00009/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..2a0a010994f3ae0e082a97ebd3820890b4c6c240
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00009/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0aeab85966c717a9367df5aa1e85e6ac009423e4c87e72e3c79d89902cc8cd76
+size 66435
diff --git a/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00009/rgb.png b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00009/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..8cf3b244a816b89d8cb82de156918f847aab14df
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00009/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2de90db69aa435b50489a1ab1105a3256d915143ac5cacaa7d984fa2d0042304
+size 1589455
diff --git a/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00011/debug.png b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00011/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..47736b6930fded179986b4f986c6e55be28a33bc
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00011/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:51a27e0aadbfb4381767214dee508cc1c34448038de7b44aaf77b7b0e61418db
+size 1656852
diff --git a/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00011/depth.npy b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00011/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..e56fd39cf93dd176f13d61e1540e037826602780
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00011/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e16fdfcc42d34caddeac5a8715f4035a3c20473ef5388d572439f99e80b549c7
+size 3686528
diff --git a/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00011/instance.png b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00011/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..e61e56a50deb625005766de0e3bc8d5cfd5610d4
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00011/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:771237cf9eaf300813c178975a459af89b38e498d6eb270751a07c1a1148b29c
+size 66503
diff --git a/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00011/rgb.png b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00011/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..3556158eca74b9bf12f52e0044fc495348d0bfa6
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00011/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cbf65650a837b634b02dc4da34a8876489b966bee7236d7d1c6063237d962453
+size 1598737
diff --git a/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00013/debug.png b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00013/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..2723f98999951804ff99c700065ff6b5da0c527e
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00013/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a44cd7bcb8005e17cbf69fd465df94146a17ad63e7a5512b1fafee6b53a2f013
+size 1664349
diff --git a/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00013/rgb.png b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00013/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..6bd3a089e029a2af72d05b3154e19eb5753eebb3
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00013/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bcf4ab9131e42fdfbfb3ce0c1901e2ceb775476e94381b2114edfaf85c91558b
+size 1617029
diff --git a/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00017/debug.png b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00017/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..a7c2fe5b5b30956a2d6d57334057fd9b09cb9475
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00017/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d5210aa3ed559611444d96dcb6abae9510f7c4f55fd1ae1d91d0bd91867c67bf
+size 1700566
diff --git a/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00017/depth.npy b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00017/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..c6eca51f836310a1c44504bb6e5002c8da7a65e6
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00017/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c5c54f486196a489885cdeac1494e3ca5495fb1dd35e249a0b48cf3803baad52
+size 3686528
diff --git a/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00017/instance.png b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00017/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..786d8f9253f3c398f3bb188d8ec9293b46d9b863
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00017/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b97af9bc639b2a465bcc48a779e1e5bc18358faf18920ac534355bc2f469dadc
+size 65736
diff --git a/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00017/rgb.png b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00017/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..bd41987947e6d9530e3e251a1ad0e646ee8de737
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00017/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a35c5eebcaf8ccbd7c96c4db0e1b33eb39b82e3ec7c13d9d4d9ec62596cf091d
+size 1662162
diff --git a/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00019/debug.png b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00019/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..25006873b84e674766d53137e105af53594a069a
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00019/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dffff7af5407875b063c0ff2a3d32f55c19e2b696d6ad4f789eba52b677b1f92
+size 1714297
diff --git a/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00019/depth.npy b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00019/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..48c819f1f206337070718fda6c792d357d5c9471
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00019/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:434cbba6ee40fe6de73c1c6bbe53392eb4902abced11c85b6678ad15c4cc4a1b
+size 3686528
diff --git a/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00019/instance.png b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00019/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..900a17875edfefb761402f404e4ee3cf5d6430a8
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00019/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ed261bdbfeb01598b61113a5c79988eb33bfa5493a8341451b7baae81d04c3c0
+size 67332
diff --git a/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00019/rgb.png b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00019/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..1ce09ef74cf0c9703ed4386852eaf39c625cf86c
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00019/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9aed7342306485a671e9483e229720e85dd7c715f4f6761c3cc38ae9b0c72100
+size 1682247
diff --git a/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00021/debug.png b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00021/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..f95a9bf8e3e3c6dfc22949a6b8e719d07c1b12aa
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00021/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e688002e615e8f2b0f833854c020794aa20b14ee990e6eb9bc6b8c1f9ae58361
+size 1718311
diff --git a/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00021/depth.npy b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00021/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..3b5b60254ecc75fe885bd21e7f236e0d45801b83
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00021/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1fc771e05236699a503ecc86558f351e9b3b2059734fe49fb25b409fd78543f6
+size 3686528
diff --git a/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00021/instance.png b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00021/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..b1914012d7e37f467acd493b59c69e555ecfe6b7
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00021/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e6d6748674179f07b36916f02e375207b2dd019ef120fc5a7a7d83bee355ee32
+size 65092
diff --git a/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00021/rgb.png b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00021/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..8b1298654e73f86fd0c92fdbd383a8c1b0766486
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00021/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b006f1c5d6e1f582c46c8aca505643345a96da0cb91ba4654d533bfc0bf39bd0
+size 1690428
diff --git a/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00022/debug.png b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00022/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..8a5e23b0734d2e41de8f7de3dac0948758f92362
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00022/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0de7d7bfee6e45f2be0999b1f2811d814e7de7da2a2a143bf9b2d75be4f204aa
+size 1717644
diff --git a/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00022/depth.npy b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00022/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..5ccb901e48558ddea410b594fd89ce66231a43ce
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00022/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4bc70dee5d3c91d7a70b13c83fd50615d3958d1fd92fef7e4ec7f8bd502e7bbd
+size 3686528
diff --git a/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00022/instance.png b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00022/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..03ae5b6a1c69a070e72645a595a9b4701fd0420b
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00022/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fad5b3b7c1711538aeb7dc6064d4cc1eb2b1e9e4ac477270af0c4c20b6916b66
+size 64197
diff --git a/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00022/rgb.png b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00022/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..9fb3a6e4c8cb05edb64cb295ab03fd965bd32586
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00022/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:532e8b376f7706333d60c6bc228c040cb59ad5518e9b82f197967659e1fb3502
+size 1687968
diff --git a/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00025/debug.png b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00025/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..d15ab3d74264010c636d3ca6b258e831c8694943
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00025/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1ca3635ce83752b9661e52df744b089087fdb8a31fe7bc287871a5b4848db31b
+size 1726841
diff --git a/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00025/depth.npy b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00025/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..c67c73768618a6e31b18d39a0d74225bd1f7f231
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00025/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f4ded2a6b269b7553474e98a2e121caabcd2ae9f7ed75fcd85ce22d660131e68
+size 3686528
diff --git a/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00025/instance.png b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00025/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..2c97af517ba29788aab434c11c23ee4ad12978b7
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00025/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c17a5f1cf0b4e03554267e27a6786a8a7113b23f544d9c80ee916abf0b500ffa
+size 60436
diff --git a/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00025/rgb.png b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00025/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..1c2f25b5022bf39a9ce0d21f23ae68126beb0082
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00025/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6fe787f35e90fd5afc2b5cefb4f31fc7a4c59793824fceb52a1de84d0c58f040
+size 1710383
diff --git a/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00029/debug.png b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00029/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..ef79d23b56898252b145477c72e03ea86f04d6e7
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00029/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c9eb8809e2ef4f082accb011392eeee0e9c0e55cce19748ee5b9e62e0a8c14a0
+size 1786727
diff --git a/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00029/depth.npy b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00029/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..7255b9cae62a4abbd9a320b63a3aa1bbe8e58bc2
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00029/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1306fb2d7f9f1518209622097f1d57fc48b1d7513713403e443fb044ac0a5e61
+size 3686528
diff --git a/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00029/instance.png b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00029/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..de6ddc370bb5f5a32821301efc6219d0eae615a0
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00029/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:67d4fec3daf9ebd4b2541b098d22f2d477af4d9df13d2ff94bb78d297c929cef
+size 61384
diff --git a/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00029/rgb.png b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00029/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..eb07214db846cd67402da824f20f1a17ed737c78
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00029/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c610b0cd8f5ef95b34640dae0f6a7f473e646e3a399484fe75a5925a1997975c
+size 1778658
diff --git a/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00030/debug.png b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00030/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..585c9af615d76d74690fb80cf9054bc3f6257b4b
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00030/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fae5709052fa70184302d9ad724ca0d1c142c60555d96d43d7084a9ab6448998
+size 1786111
diff --git a/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00030/depth.npy b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00030/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..42609f5e1da87836ef148c77c078da0589f47b0c
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00030/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:15a3f3d0a7781782deaa81238ff04d905eb985b8bd9c25f1c39759a4e8ed38db
+size 3686528
diff --git a/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00030/instance.png b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00030/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..fb5954a0d7373ba665443e9cce6ac9d5759e0720
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00030/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:afcd5d261ee13622521138d67c85471f6351ad55a228c217c13913d5ba094f4d
+size 61541
diff --git a/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00030/rgb.png b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00030/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..9fddcab9baa5682b16e103122ccdb99388196c3d
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00030/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dbf8746785e9e44f8365ec0e61093594447839f1acf6a2c0f22781ce56651537
+size 1783249
diff --git a/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00032/debug.png b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00032/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..e4cdd2092dbc4604740ab8e61b3b9f0db86ad921
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00032/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8f8e8e4d3c9d30f4c48ccd41877d3d3faff4aae3b87a285af66c8de11cf93c85
+size 1827673
diff --git a/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00032/depth.npy b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00032/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..579169c016ef1b55c4f8970be3aaf7f249762371
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00032/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:196880a9243056e39b762326e730c625bcc1c5cd63578f9c7546029a084a2872
+size 3686528
diff --git a/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00032/instance.png b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00032/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..3afa0b502b1090e329a39e77e8dec00687fb5217
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00032/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:42185ff9ecad195421ff1db588002df9a625575a83c59c9b4622a83d204975b8
+size 61825
diff --git a/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00032/rgb.png b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00032/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..a618b4f2def137175e02307b3b02056dd922e2a3
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00032/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ddde3babed8acb96c810ccd70f36d03199ccda4bf685b97c49aa7ec8586e8dba
+size 1815218
diff --git a/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00034/debug.png b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00034/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..ddacce9df695adf15003c14c29e80886814fe7c2
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00034/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:077665f0c0eb51eeabaeda55ffdd61ad0879a065d1ea2999e8a35c309ed040d3
+size 1836282
diff --git a/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00034/depth.npy b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00034/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..7e2255f61ee2e1a0d599f4b3180c47f5e129976a
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00034/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ee9fa005644ad482253739011fd255abff1c6f5144c79cbddd6ac8a4c1f7f25d
+size 3686528
diff --git a/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00034/instance.png b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00034/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..d430f4e936e739e54b89de25f319796b23aed7ed
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00034/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fccd52f3ffab859f5069e0cdb27e808f986738f38f6cd28f82536d1f57ef8e57
+size 61294
diff --git a/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00034/rgb.png b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00034/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..04951d5e5f54bfb783b8c23ecc1f3dc600e2a57a
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00034/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b7f395b7939af06b063dbeffea2ee577c13c5aeca5fa7e1d1f312b0f7dd785ea
+size 1827453
diff --git a/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00038/debug.png b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00038/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..df2de1daa8f2bee3ae7376b6fbbf7cf6437a4f75
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00038/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2065c1acae3dca56a7237ccfbb7b189fbb946bdfcc3722132a48f0a767066fcf
+size 1845432
diff --git a/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00038/depth.npy b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00038/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..753e8aed2a287aa9b1985d12fe7a90760a52c72b
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00038/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b3d1952590580bda7cf03b5d277b51a8fd0681317b0dcc1be602def9a83c293d
+size 3686528
diff --git a/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00038/instance.png b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00038/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..4fe57a8fdd74d16e8e0e3b9347070f85f5631a10
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00038/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:68bf2826cf289c9f8af6398041db06e0be571400cece163ee167b83c3002965b
+size 64266
diff --git a/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00038/rgb.png b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00038/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..22db273f2523d0040e6543a968a48b05e5d37298
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00038/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d110e9ddf8347dc506823e2a890a49cc26a71c7547b0469cfa73a49e3d20dd47
+size 1810931
diff --git a/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00041/debug.png b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00041/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..22ea2a1b3d94d3b15bbf886c1e6387e0700532bd
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00041/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a817aee87d3aa3924b97ffe2a6dc3332bb09e3b93e6fc4dbf652cfbf9a3ed4ef
+size 1872360
diff --git a/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00041/depth.npy b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00041/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..eb7363591bb2ab77621f1309bc06ce0b77c8a831
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00041/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:63c51dd3d71dd6e957d7d6954576e8862dfe213f52d9ab50a0161c2088b70fb3
+size 3686528
diff --git a/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00041/instance.png b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00041/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..cec7e505b18137b5c6f1bf4354991fc9c47e3672
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00041/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d7ca74d3ea1650c0441ac9230558c6132b0980b38f29d4154355d9d5cf0781f4
+size 64935
diff --git a/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00041/rgb.png b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00041/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..c9ae063ee47d340dc2c98b7b6513e595ab294acb
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00041/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:40694cefc7c065d3d1358284b3adbe690210d02521925413b3af30d99baf956a
+size 1820201
diff --git a/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00043/debug.png b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00043/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..1f692daf62b536bd2c9fb8314fdf27bd8fee7168
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00043/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4eb8216c888b5f3df5ff968690c373b9939cadc35ec852697469638b767d45fa
+size 1893390
diff --git a/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00043/depth.npy b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00043/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..4684e5e2b7e784aaeb71ccb8057a558045d2ff52
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00043/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:13d6097f19542c5fc634b1eb65924725705c06a65a5ac5515c0be3e674564b41
+size 3686528
diff --git a/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00043/instance.png b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00043/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..bccbc9597249ddb29ed6e237ba5c4cf5c81b7db2
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00043/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3f5c501f7fb44fdf0801db19417efe52e5e14ee14500ac2693be2067fedc4d42
+size 63641
diff --git a/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00043/rgb.png b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00043/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..b555479a1ec337cd5e2cfd23e6f140e419c64c22
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00043/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a616992a1d74c776602042f59ba84d01a60e8ebe281984fefbc3d3a53c7448df
+size 1846054
diff --git a/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00046/debug.png b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00046/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..408b9de61f9d7ee636e042fbe9651a103ad31209
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00046/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:998f431b76f3f737b29ecd2b4016fec0225455bc4a94689f9730a053ad7a70f5
+size 1896685
diff --git a/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00046/depth.npy b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00046/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..09608dc42d397b95fb17c4564457d3e3844ce886
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00046/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ac60a9d6cad0a9737f846897f44f2bbf538359a5e70760628626789efb14fac2
+size 3686528
diff --git a/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00046/instance.png b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00046/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..841673d2640a1a0f1ebbefc79661e7af3c7f131e
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00046/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:17a9951e8affd5390a674d6c88d1acb748f82c13ca43e0e416c6febf405f8216
+size 62869
diff --git a/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00046/rgb.png b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00046/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..1d6568a28356b6181cb75a8af10b578331ab9c05
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00046/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:166a5327ee5b54fdb1beeb7a3e713bbcb762ea5d399fd23ef55ed218fa0b0b7d
+size 1843646
diff --git a/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00047/debug.png b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00047/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..5e6d1e5708c4c3767b20572802222dbef7abc4f3
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00047/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2ec79d4a33adb6a9b79d1b25f439a2258504b59bace956df71497c9ae0ccc883
+size 1910909
diff --git a/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00047/depth.npy b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00047/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..8b8f61e1a83f3f1785261b3ea4d90b565cfd0478
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00047/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:525632d8e650fc34033fe4a86927c8a9aa4c56c618b483a64a226a57a7aff3ed
+size 3686528
diff --git a/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00047/instance.png b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00047/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..3668b16c63e9cc36582123a61e8de623485a32a5
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00047/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e553e49b603af0451873544c1a4f22a7e8aa74ba08cf73fd5dbfac5206018649
+size 62007
diff --git a/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00047/rgb.png b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00047/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..3fcd538f4c58d4644199b3fb9279a57e7661eefc
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00047/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:79a256ca57927d2c160a19c7df0a49efb5d29d4ae884e5907968f3290eb91469
+size 1840213
diff --git a/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00051/debug.png b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00051/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..e58b9a20316508cd2d34158d705e6980097073a1
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00051/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f84b9f426bbfc3845d1272940191531f15e02559922bd399adfe2c91021f78e7
+size 1895367
diff --git a/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00051/depth.npy b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00051/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..9b16f6323c5f753502a8b179e906d1eb51cac0bb
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00051/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ee822dc24b2363ff0e16007c00172ff9f76b7674bf7d3fa0a229e364b1ebd362
+size 3686528
diff --git a/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00051/instance.png b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00051/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..0d0c421faa6a08c6d8b612e870f02728bbbbedca
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00051/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2dfcf7ba6a87b2408b216b551c7a9d508b55069c1b31f9c26607a27ebd273f7a
+size 59528
diff --git a/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00051/rgb.png b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00051/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..dc50dfe1b87080c2cf32611c937521a20264d032
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00051/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2f97d5a9d0ae48544f5d68377a2baa4add3038749667d6b41798507533d39f3d
+size 1823927
diff --git a/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00053/debug.png b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00053/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..b4b6475243be8429c14d5fb17711d823a577436e
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00053/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:912d1ad63ba5a32eb4b487ab7c35c1da32663644e6df070bd592d6a2bc27b2b0
+size 1883332
diff --git a/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00053/depth.npy b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00053/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..b37a5b28151cacdd79001e9629618c27d3f19a64
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00053/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:17b3ccff8187aab6514000a09bc0cbe40e9dc67c594f9dba1befa979d4337ec1
+size 3686528
diff --git a/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00053/instance.png b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00053/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..a4109e10c1279aa30d3567f2199e3dd5ae4ffbd5
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00053/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5b40fa50770b379386c4c1a3d420831f43ee31179e692aaa8287eb0cfd8e8f61
+size 59969
diff --git a/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00053/rgb.png b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00053/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..9c72c3be52d2636aba761752314d730bd1bcb11c
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00053/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:46d450c47e708fa122aadd59278162173adc71835c7bd08bd451e15bb10f8aa5
+size 1807506
diff --git a/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00056/debug.png b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00056/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..141891f5866de45b8a534c99243de0f2ff6a9517
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00056/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6f4be08f737ad21db09bb31788c8191e6f90251a8f6aa7341611490e9de358ff
+size 1873298
diff --git a/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00056/depth.npy b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00056/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..9dc7d66f09088b3b72d3cc7d7c2d1fe924afbc15
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00056/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4f681a5e06cc0ea9bb36aff865cb7f1e73086b9cb3fbfbb33129165d52124321
+size 3686528
diff --git a/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00056/instance.png b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00056/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..a38af42011ff3ea45dda36080394624695f20428
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00056/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f7afe5feae38297bf4fd105acf457f4e4d8756cfbf0b3b894cb0a64a6fe56963
+size 61229
diff --git a/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00056/rgb.png b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00056/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..3c49aff56e1b15b77b41424157b1c5538f90c25c
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00056/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d11fab749d6213049985555e326b95cdf80b354380cf8f22ec09676c6b5db26c
+size 1784751
diff --git a/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00058/debug.png b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00058/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..9ea4dbcfd68d80bad7dd353037431b63f399f602
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00058/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1b53ea00ee66c32ee3cdf59476907d41b3bd0e746a8e4a5b952073ceea184fcc
+size 1864119
diff --git a/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00058/depth.npy b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00058/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..7f5be875efb73c64119a9af64fca96e5fd77f408
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00058/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b75215964de9bb409739ad750fa8fe8b9b7a9676e48ff79214528c644ecaf2e4
+size 3686528
diff --git a/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00058/instance.png b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00058/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..87117f04f21567197c79ef3dc7ce1f34f41ff2bd
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00058/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:97073f02bb5692e5f540fff991614d4c1d7bfcc7adae2cc616a2a245ac20825e
+size 63749
diff --git a/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00058/rgb.png b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00058/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..fdd2ab979df5739a972543651aea6804d33096c1
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00058/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:649b95f4472adb205329f1b6b24e9dd9ae9f282e82259b2c288b04f83828ae96
+size 1769446
diff --git a/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00059/debug.png b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00059/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..c0644e949d20874530ed74be73ca8d915b6a13ea
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00059/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7d7aca677895f950f4c82325ecad5ac9436d02a8249fc140fa3828fc32a2b197
+size 1857049
diff --git a/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00059/depth.npy b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00059/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..7e28b21c1e958dfad0013fec5d2391501317a4b4
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00059/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bcd7f861a70dd6efb82caf5d773a3c97b1104cb33590d66b247c02f02c4b86a1
+size 3686528
diff --git a/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00059/instance.png b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00059/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..cfd5397e2ec51d3b33a33289dd353a5581382fcf
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00059/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2dbd163913bd17f3e7642c77535cc04334bc85e3f0fb8614a11f0951d3c86cf3
+size 64395
diff --git a/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00059/rgb.png b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00059/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..1510890f1409fd773863298b84baa310c0a933cb
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00059/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b05fceb0df245f932dc828048152d0b62d59be09314e352793f8db3f97a21c8a
+size 1760085
diff --git a/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00062/debug.png b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00062/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..85aaba85cf8cf263fe4c6c69e6064b5d6d502ea6
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00062/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a808063634994b9fb89298dd933569f6c23a32d8d0272fb6f2072052d0e2b764
+size 1855923
diff --git a/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00062/depth.npy b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00062/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..fefa01403dd340791a0cb728399542f839741194
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00062/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:34745c2e4cd75dbf4d7d6239cf9d00e1b3b3c63710fb1968c6f63db14e5a2491
+size 3686528
diff --git a/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00062/instance.png b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00062/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..d9acaa6357454d0de902b98d67ed926e33037d2b
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00062/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:935c8f7f366c06cd0d86bbeeb30f1f3dbc188fcc2c1c1aaf1255ccfa01153582
+size 64828
diff --git a/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00062/rgb.png b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00062/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..5a2d5cfadaf5d5db49950fa4ccf6c1a08788a996
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00062/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5d4122525a698705812093d3301a04fa5bdb6077f4e3f6f66da356f7a6fd26c5
+size 1731677
diff --git a/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00063/debug.png b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00063/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..3c3cbceee3630a9a286014da6c463eafb5932c1e
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00063/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:77625f3fba58c47e4242983c6795e5d1b0b04b53bf449fc231f37eb2199d051a
+size 1845503
diff --git a/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00063/depth.npy b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00063/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..b0036b783e64f1454bc5bf1c3cfd8080e771b7cf
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00063/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e32ed2a5271ccf36b6d1aff023c9500b31471d502700e3c3fc9fa8618758d7b2
+size 3686528
diff --git a/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00063/instance.png b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00063/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..7720cc5537690dd64aa904dcb854a416e4cd47ae
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00063/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c26fe68d92f2fccb1a432104aa5e80099d15faeaf3451ab5904a0a6e21c8085a
+size 63798
diff --git a/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00063/rgb.png b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00063/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..620f9389a42d2b951baa41b2b1561989fc1b2ab7
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00063/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7e0b1b22b21fcc51273a10c38c11a976113b52bea1d7ca1679e90349e7b35cc9
+size 1731934
diff --git a/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00064/debug.png b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00064/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..6f2c5de8083b729b5ddc4407d1d7d40c1ff828c3
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00064/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:13da4f6b659eb72336d3e671fbead7d172459128c94ddeba1423933e3af58dee
+size 1857692
diff --git a/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00064/depth.npy b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00064/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..6c73eaa53f713fa58f8a19d9512944f54d9ee2ae
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00064/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:92c3bfcc4fda25a639b3d2297b1b910087c22825a72d568cdba93d2518f44784
+size 3686528
diff --git a/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00064/instance.png b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00064/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..6490027648c24cb049a5120d331d879ba5cfdad7
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00064/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6bb464322bd8b8e3bc233b0c6edca8ee5eab0ef7fc0230e5006489fa7ea21cb7
+size 63878
diff --git a/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00064/rgb.png b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00064/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..e7ed8076a640e7de12ccfc3a63195c3a814e3009
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00064/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f53bc9197be96535c34f98d602d7302238558fc037d14ad2db7bb56c3d828a52
+size 1727008
diff --git a/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00067/debug.png b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00067/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..0247cfbef76c387c191cc9831f2aa1c7e4415fc5
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00067/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:58b60b7296ca49fb1a9e06fc2f6c63b3fb9904631ebb6471b4b534275952a6e0
+size 1852093
diff --git a/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00067/depth.npy b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00067/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..b2a52cb39162ba188221c51e415d68be5e3f70bc
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00067/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3d66cdce3e9e0ad40d4ee28ac45a2b1a332d64fa1b122ea0b95e45805c2d25ea
+size 3686528
diff --git a/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00067/instance.png b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00067/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..0f1defab410577af1d24790a0d603ad799b4e1c4
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00067/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d557fc5fa31b1f94540782993704cc359d78e974abc376d65fa4afdf3b3dee46
+size 62262
diff --git a/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00067/rgb.png b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00067/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..7b3ef4b706a4d019d0f33a31af65c281a9368fb9
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00067/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5f872dc63714156446f8f50dd6d9a3b0fbb25f2f32b62af5da3db260267e0c1e
+size 1726637
diff --git a/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00072/debug.png b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00072/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..8d85f03ff5767df58ac2c0972b360c41ce1c2e06
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00072/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3189537466bf910df14aa76e18c1d1242929b4e1916400b5bcb7c7bd418b89ca
+size 1781687
diff --git a/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00072/depth.npy b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00072/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..bbd8675baebd395b345b7a021bfc099bc519ed07
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00072/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4bce646b0a6552df93e9ad09da926e2e07057b9336f2a696692e8e99c412adf0
+size 3686528
diff --git a/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00072/instance.png b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00072/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..1c157a181323d7a962340388ab0d1f834765a2e5
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00072/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c20b5257e5f0900aac2d3aa78fa61b3ff150bf6f60fcca3162c170f28bbbbc6a
+size 59133
diff --git a/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00072/rgb.png b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00072/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..577b508f8e52d3dbbc9e59175ea6b76f40f3dc52
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00072/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c9900aace296e640673fe88ef6b41d2e92fcc1f22165c14ee193baa9617bc904
+size 1682449
diff --git a/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00073/debug.png b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00073/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..8ebdf736e3704a43153a58fbb05e8016643391e0
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00073/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1ac211a3df0097d6cead44cfd36b9bede9a7e34d5c2126e35df4eb5077245557
+size 1774645
diff --git a/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00073/depth.npy b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00073/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..8e02ece1394e873a39ba061f938765a2a54fa091
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00073/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c16345a0ea38f3c985e1bfa2ac38ca42088f86589ec714d5837a09191e4a10db
+size 3686528
diff --git a/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00073/instance.png b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00073/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..b96540aed5130c2e894fbe66e87c1f9ee8017f44
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00073/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8556010fd518d2cc941fdb4d4bc24fb9226bc412810859d3c90866519614ed4e
+size 58269
diff --git a/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00073/rgb.png b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00073/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..f2027892a3594dd9f61e9255b3ba904dc5feb579
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00073/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8f6c1651b9e66d0b9f9f237ab04ce6522916f87b19227a379edcadee5dc42d07
+size 1670401
diff --git a/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00077/debug.png b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00077/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..4f5baba17cf30a6632b9a7d25f2904e769c3c720
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00077/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:28c514aafed540025b2fddbd8b39e941acf255e05dab259dcaf38e513f9b1bf0
+size 1712101
diff --git a/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00077/depth.npy b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00077/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..8b48e2e780655a8af1659d66d3e97a09375258cc
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00077/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b3c823c6084ac51698a40b3a6a23c5f3ae2f2e5509cf9e18c0b9b1f7151b945c
+size 3686528
diff --git a/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00077/instance.png b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00077/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..f5c58a309203e5a41aa11ad3aa56d8cc5176cfb1
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00077/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bebed847cb0bc45910e0e29ea139051a6e1fc8640d4f4325b1915053531cf9a1
+size 57109
diff --git a/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00077/rgb.png b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00077/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..8334a97e094041aeb53793caed7f499d89b96434
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00077/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f9b76a7e7d8f790a050ebfd1eb5c1eaf2bf90187023ce67e230eec2f74cbb1b0
+size 1630212
diff --git a/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00082/debug.png b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00082/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..d519f2dd15b54bdcd767b90d032ad972d42fd660
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00082/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c50485d3777afe8add09de7ac742eeb02cf1fec57f1719f460a97ee5a2e3f08b
+size 1633656
diff --git a/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00082/depth.npy b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00082/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..8a4817834fac95040333df87adb5a9ec7244d34a
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00082/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:31463e22346a6315c33474efe7c7bb4420a26ce8869306bac5656f8e7dcd0fc1
+size 3686528
diff --git a/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00082/instance.png b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00082/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..a113ccc1aa3625c0fcd153247f21b931ddb0bb49
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00082/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:01db30827bac29a72428052645c43d3dc46cfc877152cdaf38ca2ec026c29f96
+size 52722
diff --git a/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00082/rgb.png b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00082/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..3739204ee1bf7ac2901e1201a2b8d65392e87fae
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00082/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:586cb047a9d511a2ed0d7281a3555b91ce4678d1c12c77776ebc3ea03c8273de
+size 1575746
diff --git a/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00085/debug.png b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00085/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..e9fd56ed8f6bc947c55b08b840202ea844c31049
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00085/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:24a23dd5d72ccf9c023a793309603189902f87e3469a7f9c4e0c074300aa2a2e
+size 1605454
diff --git a/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00085/depth.npy b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00085/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..ba447313c6b787779a3f1bd071284af0e57f397a
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00085/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3fe437d826553a1b9265b7103982f4782863f776d837fa13996e907fb42e855d
+size 3686528
diff --git a/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00085/instance.png b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00085/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..267a630a81085a6248c50af6bbf9fbcda9199bc4
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00085/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2e50c57e103b4f32249f3cef052ed924ffe30cd86ed5dc1f4bccd6fab301ec9e
+size 50886
diff --git a/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00085/rgb.png b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00085/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..da67bda92a169ac56d195e54d4cdd6583dd527e3
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00085/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:657c57939ac222dbd147ab1388ed282b47c32ec676757d52465ffa35ae2fff14
+size 1545232
diff --git a/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00087/debug.png b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00087/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..ba9a87f2ce8163055142ef98e3077670a7b8f24d
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00087/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fa6dc2b3a1edcbadf13fc89d82b5bf16f802e6e6c2ba5b26005ff172e7f48351
+size 1590331
diff --git a/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00087/depth.npy b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00087/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..09bf4968f6685eb78533cf9891ae450457e0ee48
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00087/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4aabb2e85487ec0c84b1d3543291c2feea2b25a954a32a54229946b87be44ac6
+size 3686528
diff --git a/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00087/instance.png b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00087/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..1f36af7cffe16def3d465afb6d34a153403610c5
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00087/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:26dab16b43a07382b93f6e45debfbf9f0beefb1bb33ce6eb8ca889baf4191912
+size 48632
diff --git a/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00087/rgb.png b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00087/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..34f78e5045922ebcb510df89eaac4b26d8f7a705
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00087/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b3535887e9ec7caa653182043a1619f2af3ef3d6ff1394f086f40c58fefbb22a
+size 1530586
diff --git a/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00089/debug.png b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00089/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..c73d0df58e5f2693d91382429ceb5985c1f00e67
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00089/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:03cddfe0c5ab21d49979a62aa7701678b8a93ee01b8677eb0086ae3923a859ea
+size 1579667
diff --git a/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00089/depth.npy b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00089/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..09cfa10960c5001b9ead2ab49db3dc9347a836dd
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00089/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:386dabfd4ce5d72c1be82d3777da1899dee5cf4f156bcebdeee80dd24184c425
+size 3686528
diff --git a/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00089/instance.png b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00089/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..332c74280a6fcd1f0232e780d4f950683d686445
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00089/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:77d5b61676bd26bc25662483e0a15831e112483a9b3f87d6790d0111ea5b3012
+size 47554
diff --git a/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00089/rgb.png b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00089/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..55d613e32704cdf08af7be9fd7aa4b5475367858
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00089/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4bd8b236f978b9b3e948746f31c52a64cb076b6cc0bbe2e0f0e58335855a234a
+size 1522740
diff --git a/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00090/debug.png b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00090/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..337ebf9d83b3a49bc0abd10a0f279b17fffdf289
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00090/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:99533a34caf73b481bb693dcbefde50cf3c405566ebe31c861cc108b93a91e04
+size 1588034
diff --git a/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00090/depth.npy b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00090/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..28d51aedcf0d071f51e358782be2e153c943ec66
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00090/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:305f499e8672fe6d6e8f10dc8b5131ff7865852159b8dd00d5d226e5dd7d1494
+size 3686528
diff --git a/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00090/instance.png b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00090/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..3aed9e20f7da442d40bc67a89472143643dd08af
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00090/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:75688146efb2dc370ff7ec082387e12dc59c15766784c52312e929a2557f61c9
+size 46139
diff --git a/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00090/rgb.png b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00090/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..6ccc8d20263d700aff6dfae9632ed092e46e229c
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00090/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:96d57915e3582c647b7b914c4de5544ad6e3974677da6fc834bf88de6ebf509a
+size 1519256
diff --git a/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00091/debug.png b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00091/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..8ca959d73e3b5e811fc45b21603bb4e56ba9fbb0
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00091/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b7b01720779f0972d85cdc8db78d1fb10adcb3f4c9c2aab2bb596d7263cba9a2
+size 1571034
diff --git a/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00091/depth.npy b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00091/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..36f02e52117735e7d4085f928217bcd90a046252
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00091/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0698d119ba4b7ff5187435c5c2e6441b538838d2decd92bf3e1cae9c4ad9135b
+size 3686528
diff --git a/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00091/instance.png b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00091/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..45e935ebad55fefe7035675361892c18d6345991
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00091/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3fde42b7192508fb7ac91373a0c366900613fdc9a3a7d3bd862d21e4475a5748
+size 45031
diff --git a/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00091/rgb.png b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00091/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..0f8e8512512eaee2db8803b39ea1c5616b95e3cd
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00091/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:db0db53270ddbe463e5d995ebfe29aed939662e80d66a9cb8c27e29ba42392bd
+size 1520229
diff --git a/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00093/debug.png b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00093/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..6201ff419e45cf508dabe9e410938ad49c67db96
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00093/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0e0d808e8a6019886fac92adc80c5cac7e230dba4bce6a79655ec770763b5a80
+size 1570129
diff --git a/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00093/depth.npy b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00093/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..282fdd64826a3d61c84512fb4ed7fdff1b063549
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00093/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ff7d18e3f1dac99ddb10410c0fc745cabd14d91cdf167fea9cae268feccf1b01
+size 3686528
diff --git a/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00093/instance.png b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00093/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..9028be1bdbdc97749e69fbee2d27493123c2ea36
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00093/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e675daa0290de43ee98b9566ac2cef0db8c9a45ee36ae566fd850ab1ccb4efaf
+size 42982
diff --git a/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00093/rgb.png b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00093/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..ec1cbad49655256388216ea0fc2a8700d488e2d9
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00093/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:130d5d80e5eab6c005be0eaec4a4a5251d452ff83dcd3733dd7795571a5a600f
+size 1510488
diff --git a/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00097/debug.png b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00097/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..460eff6e3e7f9e9ac17ffc7a1de32bab944dccbe
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00097/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:024844c0394f7c898092f64594c9ac27993c8456d25df64d54a776ed692b3aef
+size 1550034
diff --git a/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00097/depth.npy b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00097/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..de08f650638d610a89ed3b9b3ef7e40eef7eebdd
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00097/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1c25e77b12661e1729386badbe5c6947b09743558281aa2b1a15335c0fab6d53
+size 3686528
diff --git a/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00097/instance.png b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00097/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..993bfeaa7d4cd364e6063de8b10f5efbdab9a172
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00097/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3c9fd0ad1a030c03efeddee44bcdd58c50fe14044b0b3e1032a385ce29554869
+size 40526
diff --git a/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00097/rgb.png b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00097/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..da0374415d702091a96de1fa66d5c28285e2f674
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00097/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1fd5ea54e0dedacc7402d3423c5dedbbebe34ebce9e0cfeffffe73856d4e176e
+size 1490177
diff --git a/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00098/debug.png b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00098/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..e038f06eea2e1f35283dc7979584e042325a2439
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00098/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:56cb1c2e12823f703f02c4aa6b8f9dbfc0c737d956d6a9a497cae6c5d401cdf0
+size 1542836
diff --git a/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00098/depth.npy b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00098/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..b42a461e5e779df4f6cdb2b36398db75a2667b6c
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00098/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ff98057ea7c60e528fa0d8cec325c68d921d1f13728c49f0c7e388162540898c
+size 3686528
diff --git a/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00098/instance.png b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00098/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..7ea8587b9464ff4fa5d57964db95d0aeb900e0f2
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00098/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b703761b358088f57b2fd7a9f41974ec02c635b5b0744562c9972e56d33a0423
+size 39618
diff --git a/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00098/rgb.png b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00098/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..2dfe8bf4c78a2087151b8d60eccdd9738b2d0c40
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00098/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b0856915eda537940d28a05cfe2d23fc1f74f91352a1108e0ea428ed29e49df7
+size 1491226
diff --git a/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00103/debug.png b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00103/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..c1a9210eb58504ba8d48e0029adfb72fb313d3e6
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00103/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3d86052a28fa86ab4a653ec1f9456ea6399aa1833803940a713964d4f532cd7c
+size 1524992
diff --git a/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00103/depth.npy b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00103/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..7425eb36678877cc399e8d072484090b1633c342
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00103/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:53cac9e23d925baeb91fc3ddb924b346661da66b4473d791e53686398069c68e
+size 3686528
diff --git a/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00103/instance.png b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00103/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..f8859230771610c6f6fd847551e2ae8fb3506226
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00103/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:95f2471b7250e002d80b2895e37ea472c3b18d3a9ecabc30874617eb4482addf
+size 34111
diff --git a/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00103/rgb.png b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00103/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..41009258c748579b4d1e947a88c0b86c09500458
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00103/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9583c552d36b17554a4e5f7d157de7728e3a4f1746f635cd4cc397545c83164f
+size 1464471
diff --git a/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00104/debug.png b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00104/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..98257eb9aa91e73aa498e58fb3e836c458e312c0
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00104/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e322eec94aa24c5e1cacf6ea2bd592e8b1d459e42c4c5bc79cd0dab367901ad6
+size 1533410
diff --git a/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00104/depth.npy b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00104/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..560c4d728321d4dd995116c83e4844563e09d27f
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00104/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:08cfff5bf2f5fdb28001b21578b47ea7d7735946b63c6f105414bd2dffb0ab89
+size 3686528
diff --git a/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00104/instance.png b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00104/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..4972a6a0b8479d3f6e9ab4903d45584b26bb3390
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00104/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c7c7254fe74c6ab25305eefbebd5de21d78132289dcce8221136bc29fd19791d
+size 33608
diff --git a/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00104/rgb.png b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00104/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..2433cbad429ef55abe3358866e2c2c74fe5a7850
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00104/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:853a5785d9cc701a1ec327760e411e2a969ee1ea20651b2b3caeea0085655393
+size 1472207
diff --git a/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00110/debug.png b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00110/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..4e5d6f2044779e5747edf917802b65910479e844
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00110/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e57df55bd1168b0b8deb536803ae5ca3651d643f80f58c36db9c7ad2e3387263
+size 1543317
diff --git a/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00110/depth.npy b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00110/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..c9c34793b13a59a8cd186f283213d48981bfbb39
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00110/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e327940837833d496416ddccaf7054f413446c95df06fe38976625b54ee8527a
+size 3686528
diff --git a/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00110/instance.png b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00110/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..c1b39d745d14482a3ece3d9beff7ddfa8d210bf4
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00110/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:62839525546f0ca0b2b48112aad426467e204a2d581282bced8a3760f89f814e
+size 31229
diff --git a/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00110/rgb.png b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00110/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..629b470e7e4e62f398817764f5bdcc9b2923d558
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00110/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f3eb1fa4ab76151f8be2ac687f3b1ea73ae95e0941d9203ff2c5ef20a97c7191
+size 1498742
diff --git a/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00111/debug.png b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00111/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..9ec7f6d691d624ba619c2fa0e408cdf59020ad12
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00111/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0359529cdb67b936cc5a7c9c71efd76361817537bda577b39f38f058cc72b328
+size 1560745
diff --git a/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00111/depth.npy b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00111/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..4533bb877f0de1a5c8003585db8705b6efb73203
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00111/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:413e627515a1aa07c834eb5a2802b4b04dfda1357acca5f1f0fb0da79e76288b
+size 3686528
diff --git a/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00111/instance.png b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00111/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..8cea0d3ca697d2d12e315ce411168fa4d422cbd1
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00111/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4cefc6364e07ecf4f317f5b32b335cd3a20f4d42fc934e3f1a34498e7959746f
+size 33896
diff --git a/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00111/rgb.png b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00111/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..68f609ef7afca20704a4dad18fc9c62d31cb26a8
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00111/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6661e110058d4bf8d009258186617ff0f13fd11f74668f4cc78a65c487e2c710
+size 1512563
diff --git a/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00112/debug.png b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00112/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..f7193d3f902de9345865f1704f1e516fe24d83ff
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00112/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:12eb2bf1f5519aaa01fe2fa49196effa4c9f65de4b8611f5e276e475d01ef449
+size 1581230
diff --git a/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00112/depth.npy b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00112/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..9fa05e048562d80eb65757ee09453411c1b08ce2
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00112/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0e6f8f6e77d5d9f50d2b1e71e138676a998e354772762df36c1aecb08b626659
+size 3686528
diff --git a/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00112/instance.png b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00112/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..0dce7da879e0bee3ee4fcced9a9524fab29dd949
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00112/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:959dd5701c04c92b0c0e764029f06de30cf6a376b631679fcd090c240cb77f98
+size 36300
diff --git a/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00112/rgb.png b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00112/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..3b101ac42e523c18f8b7a41eda4c43ed0a808842
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777119765/ORI/frames_playback/frame_00112/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7e257da56635564f2aa088dc8253d505010c934bd010530fb338b6bc6f31de81
+size 1534547
diff --git a/data_v7/Town02/trajectory_1777119765/ORI/perturbation_visualization.png b/data_v7/Town02/trajectory_1777119765/ORI/perturbation_visualization.png
new file mode 100644
index 0000000000000000000000000000000000000000..dfaa46112796b87f2e44f7fb782e3df1a0b4aa26
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777119765/ORI/perturbation_visualization.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d75fc16e77b27b339794a2ec4beb5c4d8655bc98a33f8095bf6871066655e68c
+size 8627
diff --git a/data_v7/Town02/trajectory_1777119765/ORI/trajectory.json b/data_v7/Town02/trajectory_1777119765/ORI/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..c3aead478249f641031dac260fcd9a01a0fba239
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777119765/ORI/trajectory.json
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9ee52ba2d49379a64ad04cc0cc5f76d84befa4dae8da75b1bdc2c4accd214d2e
+size 11344380
diff --git a/data_v7/Town02/trajectory_1777119765/aug_001/perturbation_visualization.png b/data_v7/Town02/trajectory_1777119765/aug_001/perturbation_visualization.png
new file mode 100644
index 0000000000000000000000000000000000000000..2f1d76b40c3211ab3c96519086ad776df90e0948
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777119765/aug_001/perturbation_visualization.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e5f4d1977bba9e9053bd29830923163c12f711641ebaaff9b6c0ed47a6f135a9
+size 183238
diff --git a/data_v7/Town02/trajectory_1777119765/aug_001/trajectory.json b/data_v7/Town02/trajectory_1777119765/aug_001/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..d13d7104924d974d7c9923cb17e259e073caca9b
--- /dev/null
+++ b/data_v7/Town02/trajectory_1777119765/aug_001/trajectory.json
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:809e5398d5ba2592bff22153a2745d8f8bab23325c5826f547d136bfc815c635
+size 11401848