diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00007/debug.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00007/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..4283d25fe69e664a232670a32e0a4c8b7d236323
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00007/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e50b8f865c0a37d22793be4cf493cb1c630196bc13e810add9cd2d36fa0cc622
+size 2060292
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00007/depth.npy b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00007/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..8dd6ea5a40fd9cba1ede938c49884d84e2f78b3c
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00007/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c7bf045d6e75e67540a237051ee3f75a1ae8b8df308279c47ed9cc9943b981a5
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00007/instance.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00007/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..7d7bd32b86039de89a8f108a175a4ab1f7e728fc
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00007/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dc95ac8eeb40052e4b52824ca3a1165649a24f48dfb0136b5bda1cc871808b0a
+size 145112
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00007/rgb.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00007/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..45af613627700d8505085d45234cb257cc700385
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00007/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5a80d298e70ea617f2a2aed9871ce414bcab48038ba0fca024e320daa78934d6
+size 2069147
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00010/debug.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00010/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..d4baf34729dc5645c0fae8c9c9d198e4c884f6b3
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00010/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b45746d9cce5503dbc7d70de633674c39cab6d6c6648108e7a0f6e47a3e855a2
+size 2037717
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00010/depth.npy b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00010/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..f8adf074e83fb087b399dcaf163110992b0ca371
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00010/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:51b98285e65879c1d22355dcaf60efd7de044fd4b5be4fbe81120a2e6d38fc4c
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00010/instance.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00010/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..018e7a44a136f280599258b6f1bd4c3141758acf
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00010/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e868f4a11a113035957da5337e77d04436dd55c6c85d8cdacfbd3bd2fcf6cbcc
+size 143431
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00010/rgb.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00010/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..a31b73432d3e1144b36fb312f455cf703785034d
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00010/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c6502746b85ec47d9e49385cfa59bfecae53fedea8549356b0b21c3ce66097cf
+size 2048091
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00012/debug.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00012/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..d78a62fabbd389bc369a93d239df77da6f8b27a6
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00012/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4c185d0bffe92f1ca3b5affb65a29ed252e25e1ee9fde19f704ffc6682de0a3e
+size 2045315
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00012/depth.npy b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00012/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..39e4ba874c6110a146a0cd08e35dae1160c1d730
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00012/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:91ed187fe4090c6c468c6a6c6f466d60796e844ad6b482d77edd42400d199658
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00012/instance.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00012/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..b546df029d957d9dc6fb2200c723073e1e9ba3b7
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00012/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3dcef5c1f4e76a3ab3ed18262eb77b5a8b6bb4272e5e5edebd065236c8645c5a
+size 147415
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00012/rgb.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00012/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..078aa1222c00bb30dad7316dc25042865c0ab10d
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00012/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2d7d0e5e4aff26618db14be2033aa6abd3f1bb517b8530f090a40efeb76abe14
+size 2043779
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00015/debug.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00015/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..ac761c88611fd5b59b43b5b4a895f26a85c402bb
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00015/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f0c1dba45618cb2f9060803fdd262f9e45c944b838831b8ac03052c7860b7d34
+size 2013160
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00015/depth.npy b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00015/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..a20ae590110bae8d394ab0943c0ffebea4d5de50
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00015/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5293ad67732ddde597600235474ca47c1f22061d14e08493594bb8e51b39c9d5
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00015/instance.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00015/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..c7bfd2e0d1bea9e90f09001afa8f3bf3808533d0
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00015/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b4339e67a91bc18b04e807437ea7dd92798c3567251535839853eaed02e3f678
+size 150018
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00015/rgb.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00015/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..11845198d8259317a3ec696ae2a639f045ad6ea3
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00015/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:09b697ef19b213bc7145071d63e2ea41a94c1c62d9b64f99c3149a26c782aba3
+size 2013738
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00016/debug.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00016/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..2aaa967bed37d57ee5464a241bca2e5b39ef3497
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00016/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:44ff763ab50c326ad40625a128c612e47f70be735bed53364d4a6568a872e401
+size 2105066
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00016/depth.npy b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00016/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..fc69a60b28759bbb2457fa3b87b189b402c23caa
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00016/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3e6c961c0e4e668e09a5e54f4fdae35c896b5a24ac5d8ffd520f1b24c61c670d
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00016/instance.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00016/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..120c9d67e44e771816f2393bd642ac7172ae014a
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00016/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a8b3dc73701f3300d86f9de3948d901145343db3a2ce81cb042422e38ddbdb14
+size 133069
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00016/rgb.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00016/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..a1a430845341976a43b268a048eb6932d7fb0fe5
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00016/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4e5bef58de1bc80f78a58b0501ff57ade125d1eeedb27eaf3badf5b0745d78a8
+size 2113031
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00020/debug.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00020/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..293e9ba2767d7586745a245debd74b6b5b5d17d2
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00020/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e3595c0e61f0897fb16e038cd7b3aa4685f052d6b0b2fc888b717f6ff651f286
+size 2041270
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00020/depth.npy b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00020/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..9f00ae592ad80d3edfd6cf7874b128184e7ca3a0
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00020/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:880261ca7f34f049139b93d8a78495c1c7097f51279a0398d9dfc0533106b047
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00020/instance.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00020/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..c9d857a4c8caa37e3f2e232d8e131520bc5f23c4
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00020/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8d43e9efc97fe825dab04637a5b7cc2ab4e003cd36961639b4ec4e9c41c1ca57
+size 144650
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00020/rgb.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00020/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..d55e1fdb9a807e9643b44b279549ce7e75f0f921
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00020/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:26aa635b15cbae7910b4c95939c807368067a0556ef449f2181dd564247d865a
+size 2040929
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00023/debug.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00023/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..f0ab0e5f66f22b0589dc315b9fb860987177b59a
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00023/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ead146a55d9ba8781991557ca488479b7374b1637bb79203baf426c755be17bd
+size 2007589
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00023/depth.npy b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00023/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..6f0d8c4e93ed8b51fc9bdd3bd53f75a099c4ed03
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00023/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b430feaaff162a9e72133de369771d33543d8d3f34090e86b387b56568bc619f
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00023/instance.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00023/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..ebecce445f141da9a1dfed5a6bf03b248b59999e
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00023/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5c015530c5e94ff94856669e207cebb6c49fde97909e414b2ae26051c0b8dea1
+size 142910
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00023/rgb.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00023/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..5c3603352d2415e956278c9c776b13000fa6346e
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00023/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:514ce8d2eb535946458dfb9eba4b818ec2a9e57ce2f286671480babc96744919
+size 2027531
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00026/debug.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00026/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..08404272807c49300a0a717be13f574716a81c2f
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00026/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a772826e1b2708542185f14a50b2fbda1ec92e36e7b008bae595b84903f9bbda
+size 2036004
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00026/depth.npy b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00026/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..03bf2b55ad3157b889c32013afc8160ab8ae2ade
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00026/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7325d8c56563bb619eefdb19e57f58bf3f89b77aa2ccf81461c18809a87194dc
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00026/instance.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00026/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..39894374d4de2a4306e8b69ec126eec8e9a8d7d9
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00026/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f46b21a81c3ce8fc4830a8a155f4f36f29648a9540e2e57c74bdba36532555ed
+size 143875
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00026/rgb.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00026/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..481568b42ddcc5d1510cb27f9a8db757e7277f1e
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00026/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1688881c201795cd1ff1871ff5a11a3433b242e925a9112da6a6d32863b5662c
+size 2041482
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00027/debug.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00027/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..0a17e1a1bce40b1da25ecaf4b50d4ff95ae029d3
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00027/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c080f69af5bfe902446c1297cb33dcee0c72e10d88992bc3b7258eb29c44d5ee
+size 2043646
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00027/depth.npy b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00027/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..93c922572e5b193de96ea05803b051b3774c28a3
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00027/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a69aa1161925d64a6f856d9e8dca06b537af62e69f5f4285dc5dc5707b529b69
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00027/instance.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00027/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..09e3ead3de07172877c9412c374712e0eb04e8ac
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00027/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:99228db6d9b9d2a8a07c4b978ddd4b7092ff96963bd9d85e624c4f79bf5419e8
+size 138759
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00027/rgb.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00027/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..10d3588b15a0ec517ea710636be64ef89532cfae
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00027/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:83b1cb1bb46463e7109a09d61388dad4a4ddb407c790ecc85ca71bbee18bb4e9
+size 2055060
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00028/depth.npy b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00028/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..baf30ddf000b70f89c0fa2ea9c59f1e2dd49d372
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00028/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8f6279dfc58c14054629a6bfba00ba4927053fd6ee711bdd40abafb15440a32f
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00028/instance.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00028/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..22d23676826be519e826b74d5a3202f6c7c3af91
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00028/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fdcd5d36b621cf05e180e25af031363f8da7ce93e4a01777f2a9d9c817b2c00b
+size 145346
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00028/rgb.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00028/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..a98237f03df77f392d4ec17f598b5e3cb24883d2
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00028/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d16194a62446657fd27f1551058c2b6968c8187a2a99db127990653e13ce2d07
+size 2022315
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00037/debug.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00037/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..cd62dabbc2f49c30dbd002da72c6adb4072bf432
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00037/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aa9a7dc162a57cc5263644cd4039b4457f5314024a98bc0036480b32c0aa0bac
+size 2062507
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00037/depth.npy b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00037/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..385e9cbb1f8b8d99bbdf00ad8ee8dc1c00c2af6d
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00037/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5ece1d9f61bfcb8b2edf2159d87bc39ac7350b29559242cb62e57c71d29c2fa1
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00037/instance.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00037/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..ce52679c80d588154f0a74f3b8b8a6df58cc3ec9
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00037/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e145b1325fe28b9bb613fac85b327e9840b90e18ed874148cd5eaf8d1fbdae0a
+size 126057
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00037/rgb.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00037/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..793840398734d2a866e1b04c1f1e1152b4e26d12
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00037/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1dffa967eaaf97ee158d83e971ed5c5306147b51dc4e40947192043e948f8517
+size 2068150
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00039/debug.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00039/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..342d93bb739c0cbb47f5b9b680d9f435b1a8e09a
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00039/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:494727a78979148402dbaee5cd3f81df3b02785362e0763f9c09af1ae8d5b1fb
+size 2009858
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00039/depth.npy b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00039/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..2b42ba4fdce02fb98020076eb2257c127ac1ee27
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00039/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0acfbe82b2e61e704811a6ac59e95b6178eaab54a8f7bcd7f27abefe60a4a5f1
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00039/instance.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00039/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..d0cfed9b8ab1abc99b3d69ac8ab958bb0ce5d2ea
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00039/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:17acd721e24b1f8c259f93c6fa334138192080b4259bf74455c4514172b154cc
+size 141977
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00039/rgb.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00039/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..0e831e58a23e33266a89e9b6714858a2f08615f9
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00039/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b46530cf3c12fc2f65d26da12d0056eb9e4e7e2fe274232ded1c2633a8670ffe
+size 2013579
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00042/debug.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00042/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..1974643f2b37889f4e508da1a477e0e9f9000f05
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00042/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:91bda627ac1c1f0d6a196e0b55f38bdf575dbbc7977dc15c155723f7e42267c7
+size 2031760
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00042/depth.npy b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00042/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..9bc62d8f4cb0278007de5cfdc60f051512d25b54
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00042/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b95722456bfb7bed6d8062111696f064afb6d6bedc53576fedd8300afc6cd5ca
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00042/instance.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00042/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..6aa704af6b93074a5cb2108ad88955e895d05e9e
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00042/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:166f31a8cab2df67745672c52a3c75e12da9e758890390bf18413f8bdfeffd8e
+size 132927
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00042/rgb.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00042/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..06ae862e6d383e7640b6a1cd076c05f18c5a034e
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00042/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:157725330ca7e6510af2370c4ff07ea6d61315434288808ad78c8da1fa541d34
+size 2041540
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00044/debug.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00044/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..1bb034d96328bda6d00f444bcaea232dffdd3a9d
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00044/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5f316ca9679feace769976ab0e18ad18facd184d18c819baceb1eeec25c8da39
+size 2012701
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00044/depth.npy b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00044/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..0250740be856a77c06063408f391fc48e9104c84
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00044/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6c2d55a1f29762e1019401eb31534a723a1065e87cf9e3411edb7656797d2f1b
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00044/instance.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00044/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..165b0aa9ec58d23d0324d2c3b2efff44e186f9b3
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00044/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a27b579b60cbaddcd9852c538cd356cfce207e10283698b3e103880d67fec714
+size 137673
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00044/rgb.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00044/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..20470c524ea262c5190ad1f40e9b3460c9e34e98
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00044/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:67993f28e73ac93445a679a35f1ce5b81d12f1e6a2e30c738a8f18c2b4f75ef3
+size 2016016
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00045/debug.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00045/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..913ac34d6c4f8389e8b13525e455d0edf10f72a9
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00045/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a236cc7fd59c26f6b1d98b1c86cd16fec95613e27257bae79924a4c9eb29affe
+size 2028020
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00045/depth.npy b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00045/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..83af1e253c536a8ad6941dec07499d870f60eeb4
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00045/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3f3923f3f57433b829fc2202b1919b05e15978247d4d8ccff546978073de2568
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00045/instance.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00045/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..3a58ccfd965d89bbc22f4ed5339a51c9d832dbab
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00045/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8c4bb37a980dfd652b0bd13e6aef8e92bb8cbc31e50ed1c150c7f318c90150a2
+size 143000
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00045/rgb.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00045/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..cfbf418c7018f6a417b0fb8c55a1bc09ddc8e4b3
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00045/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f1b20f2296441610b9eaa27f5016aae13a3db07b250f94e68578fe91f0f585eb
+size 2029748
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00048/debug.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00048/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..1674660e26ba59076149b5cee40ac1165c0ec694
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00048/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:041e9509dea561ae3e6014f5b9827fe094dbcf3dd8217c47500de7a00fa13fa2
+size 2034135
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00048/depth.npy b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00048/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..0c77a9c633e217c261a4c1a8914bdbe33f0d94ad
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00048/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fa351a002868e5735abf8d801fb4c394442ecb8e9804a50d3918ab5480d5d1a1
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00048/instance.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00048/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..763a064688c3fac87d1bbc408712d30c0e82a09e
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00048/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:33e63f92e1f8f0cf521237c9b14cbec6705a8a90284ff6ac628670ff44920f25
+size 135241
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00048/rgb.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00048/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..1fd482dd98a67a561e77e5de7404635d0138d9b1
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00048/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5d63db3311d8c779f0155599f7c6205ea477d2105414822ace7f7c0a394d3719
+size 2033369
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00049/debug.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00049/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..51d200a5f8838d9ee8fb94d4fe624c22d9a8aa7e
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00049/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7de32c41c0ae462efd213226eaf9df78d768f1979184ce3f074abf0a3facf69f
+size 2011742
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00049/depth.npy b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00049/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..dda4ffae90a6bcc5d1a5d57b7ef4abf92a49a98c
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00049/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1119b94fb4cbe4c21fbf094c8f83f2f5c4768da374f453d71eff4995cc9b6381
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00049/instance.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00049/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..d7484f28e469ca1cebd0168af6aa13436ccb4e91
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00049/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:61a33676fe334b714049aa135f2e9f810d38a4aac238c308ee2346bcf123d2ea
+size 141393
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00049/rgb.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00049/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..ec06caf32095a390ce627d290b33f855e8fad61e
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00049/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0425889c7082f9c637065d597e03cd2a65b897eb414f9762b6180d45ec3e3e73
+size 2005818
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00052/debug.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00052/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..0d78c70a0994254198e1d2257a7afaf968261953
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00052/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0579f0945417022c64f27fbd3fec09b230811b7544f3205590657ca5015c15d3
+size 2028483
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00052/depth.npy b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00052/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..188722d94c1ca5981b967c6ed0d33040563f5950
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00052/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:296a646063aad0cca55944036cdde6b1da9d3c4d0c5ba6a7e9372b966150f589
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00052/instance.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00052/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..b9b9116e6bdfbc866cb353c520a7c9372388e65d
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00052/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aa494f2cfee22a1686aa65cb3c404acc1e3ab8de913e704c4438d00d42f4717e
+size 123491
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00052/rgb.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00052/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..09c4358e23dc7bf8215e51fe0bf3a44868247c87
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00052/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bdc53e59273335cede0a872c7f739be1d84b4f86949f56b018c430ba33560a36
+size 2039213
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00055/debug.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00055/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..1e8a03ea299866a811b2f2220848380a1f1e8544
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00055/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:affcc992edea56b0b408177835f04fd28fd27290e9989dccbc72cdb56f50ac80
+size 2001107
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00055/depth.npy b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00055/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..6344bf3ba7c3bace1f8a2468fcb8ee1f987f0ac5
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00055/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ec54bc9a3b3a19cfd9d5fdb9d142f9c764d92e8882435c76a014a31bac5e4f4f
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00055/instance.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00055/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..a10f2ef56446a40b16cbd2950953cc5722cfc0e0
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00055/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8f31a216c4ae21f461ea88c35eccd0e2a5bfd4e647652f5aa49e7f42bc3b2da0
+size 132524
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00055/rgb.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00055/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..7cceceae4d5a797d279cc87755f290dee14c59a8
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00055/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dd5512e81b49e28ce98c34fc9e6947487d6327fcfdf3014fea8070fb3acbcf2e
+size 1994593
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00069/debug.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00069/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..806ea7656df9ffe0dcd73bd7399784922a4dcce3
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00069/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a6bc9ee2fbf0f68d1b49c2b1cd0cd5a06b9b08e9b8e2e3849f99d6d43d210d0c
+size 2009218
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00069/depth.npy b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00069/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..ae654ae758ac6ef0d5cc52532a8f3186f652fa99
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00069/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:34d8f867108591ac83147070fe1a2111392c234bc99f04743acd6ddcb7ed9c6e
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00069/instance.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00069/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..f05904764f6de780bbfebe05bd54a3ab716b5963
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00069/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d6c84b16a524d91f7883253a5c16cb390e7756fcd9632ff5cb67d337f64ccac1
+size 130181
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00069/rgb.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00069/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..9e6eb1a081b3f0987483c8200d28c32201d13737
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00069/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4a7308e666d94615d30a8854f9539c6f8f97e7fe31e21e30a8850abd90f9e9da
+size 2000373
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00074/debug.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00074/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..ae1e845db656af987d9d63419ff05982d7ebfaf5
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00074/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:96f8ec453c7076cd1d1068d1ed43f2d5e5bf52809999195001af61ff9abbe5f3
+size 2001789
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00074/depth.npy b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00074/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..9ce445f200b0711839dd533190b42afc7f405388
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00074/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:105fb04e6bf2369e486cfe5d926e6892fb7361e7dc26f755f2aa9ad16d514491
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00074/instance.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00074/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..7dd606f73cbe17003d062c90a65d2f5b5ce2f6cd
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00074/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2db288a725237cd72b5925c8b466e4493fe620e97be70503433f3f6c78899846
+size 127933
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00074/rgb.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00074/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..420ab55df83a00e9e71f8da4381fd3c0e05e6d2f
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00074/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:555c93798936112759a81af3996c0d6f3127eb8ea6ed4730f56dedbeba490b71
+size 2006352
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00076/debug.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00076/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..3c96f24a92d7c0d7db6c61856f33a968d3705273
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00076/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:941aba4f20505d0dfb78181a15be50c34c2896879dbf463dbd5f065190028cc9
+size 2002215
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00076/depth.npy b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00076/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..69dd12c60f40f1c1308cf91dd8fb8bec83b0264d
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00076/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:81b80ed1af2b4b0c0b4eb018d56b4c5c1cfc9bffb8f6fa5b3cbcc4827b040e4b
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00076/instance.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00076/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..26ac2ee79c408238fd2b79d7eb48f50a14ab39a0
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00076/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:551e570665c14a1d46b2464d41ea09cbe112a862e465f1333816db5e7cca20e2
+size 126413
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00076/rgb.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00076/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..506a0c43f90ac1caafcc329ee213561955cf8825
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00076/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:01c554df61bb6aa976e57c59ebc75902c6ccf83d1986bdcbf64c0d056640f779
+size 2001550
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00078/debug.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00078/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..89a0b017b54cde65552ac4f532831950975a488f
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00078/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c406de6748c52cc522211cc69ad195618b0f6b3cda590e02c402d8df850a44fd
+size 2010707
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00078/depth.npy b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00078/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..142f427aaa9b212fe0523c97cf9dc6e2ab3fb4eb
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00078/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bac92a4e5acde01283b8cf2e3e89bf77d4006ad4a83961a9691d568fe6f51d66
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00078/instance.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00078/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..d5b85d46e466a1889ac4b3a247c696234c501ede
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00078/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:90280ff9abdc1de44bcb292be325b82eb3f854a1421f6d10929f17d3d4087b7f
+size 127363
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00078/rgb.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00078/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..8bf5ceb53c98c6f54f60612c6fe6c9c6bc8c51eb
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00078/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2eda306c20b3709a71c986cc40054d8eb5a2c1353c978c88832be0a61c3a205a
+size 2001888
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00086/debug.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00086/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..d14589feb0db2a4043696c1c8ad6447f3e63230f
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00086/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e86a068a9b4df1e8a379116ab9a9c5f05c4045361f13721d5082a60bcbdff171
+size 1970834
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00086/depth.npy b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00086/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..ec073e7b32521c068aca66143725b88e88ec9730
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00086/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:30521a2f963f65e23289c69d99091daf5a3c917d1410754fca3ad7ca7a337ddc
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00086/instance.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00086/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..a0233e77b69c0d61749e87ad68916ee8a27033ed
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00086/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:35b67b92484ff31e4d027bd25a846b3b083a2f6b2ace2aa41471c120b6491835
+size 133421
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00086/rgb.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00086/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..83929010b7c8d1094a2db37061755108b56e9e31
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00086/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:26d2c5d501bf01c29bf7b365cccda6713f1c054492d890abfec21ef3c166ac06
+size 1972834
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00088/debug.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00088/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..fde89dc1fa8a8740e3d5794ad679afef754c8eb4
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00088/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:533231f361d9f51fe39d38dde9599aa62de82827dcd57f8699b2e864aa54e9ac
+size 1975590
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00088/depth.npy b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00088/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..4d236b41e7fbbbf84d31f303f2fa82294d535e19
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00088/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:44b2520a17b74a23e09f127fba6b4bb571d9ce25bf00a5eea1647f06aa3c41b8
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00088/instance.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00088/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..33694f68131b148e8e29529a619aae7151724018
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00088/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7eea77709b0c2037d2f26d752abe862cda2ab1db708c7c27de24c440bb6db10c
+size 138980
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00088/rgb.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00088/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..dce228b5fb736cb09c1c7bab45e48c0ad9227663
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00088/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2c4259d4a426b4e7e5ecb9c3ab813642ad8677c43e0b8feaeb7c215414ce8f04
+size 1966561
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00092/debug.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00092/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..d790daa5e6464d15689cc222e27e1095d66dae1d
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00092/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:704d3e513a7ef11c75debe0dafbc90caa7c09bd8ef8197803335649f7a8102d5
+size 1986371
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00092/depth.npy b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00092/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..d5f372f5d6a0d6398a51d2f4d7dad65261884135
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00092/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9ed5dddd2432ad871150af8ef97f19b81360b518874e472cdeebce529c8164c5
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00092/instance.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00092/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..f20251226fa4590904b10127e40f49c0d9c4fc46
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00092/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:734bb7133e3283116b7bd1ac7d975643d43d80b19cf1f574d64ff1c13b290e5e
+size 148584
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00092/rgb.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00092/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..50a263d2ba47afa21af248a0aa58a38d417d1967
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00092/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4729b752a49bb588b2b033caafc6c6b99fe2ecf66ea1b48259ba0628aabb42fb
+size 1980153
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00094/debug.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00094/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..eba5605e174a81a5f50f9af004f8c3c500318de4
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00094/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0a5256e25d1acfd9af6842d36634c417d4561941fa12c95ef143e81ecc323d48
+size 1973091
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00094/depth.npy b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00094/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..ab8f14499fd8f93f3cb31d2060f3e236ce89f6cc
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00094/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:68935fd4075354cf1e00cfcf1dd6993622850ecf95390b85a3142248c453d744
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00094/instance.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00094/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..b6092e6f651df13c32750efdf13c920b3378ae3d
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00094/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:44b53c79436789c6f4e5ec84eb7ccc47f66c6e25be2555ea9f81aa5665707930
+size 150908
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00094/rgb.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00094/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..1cefb39aadebd0c8d7a5cb7e84a6c613a1c23a7f
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00094/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:35d4b0e39e67806082ed4cd54a0f92bdfe31bfd5413775fee6675a83f15c7df1
+size 1969108
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00096/debug.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00096/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..a6cee175a000ca409bbb453f6aff18e9e34f30d5
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00096/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0678cff475f56fe18a711775a6b0baba6c0d73725df9b4465b65146f754e821c
+size 1975402
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00096/depth.npy b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00096/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..758074ecf5dd6d45c4cdbf40798f9d39c7c43bac
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00096/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:74c498f48a43098a167049181c75c8fbc5ba8fd103cb7ddd045645e6fbb1fdf3
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00096/instance.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00096/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..73284a9267c70869318a10c45df655c6a30a88cb
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00096/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:788cec88b985f08d18eb3738c2e0c9b718556abb69e16f0cf92a9e84af76bf22
+size 142112
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00096/rgb.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00096/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..58273d52ee675f1028a28fc22f1ae83750ca9add
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00096/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4cd960a82ad400a5d9e43369db9e3aee65a3f497b0205dce3a798208c46c7659
+size 1969181
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00099/debug.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00099/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..ba97926c0d171e1d586b88208ef0547413104cc3
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00099/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:620cff3762b4bd4e324bd82cb6722ab422cc0577a353b6466b387abc6e150474
+size 1951279
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00099/depth.npy b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00099/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..5cba1758685c296c995ef9f3343826234712ae4a
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00099/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2082460247fd154950c2eba83ab2b4584ecd84900583e6202bebdf7e7e405328
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00099/instance.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00099/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..7e9e8e6e62e078a4e66ba06218f1340b221776a7
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00099/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7a516e9fdacb64a4b0aa6c2bf35acc839a1f10527d61398289ed1de018eec16d
+size 146053
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00099/rgb.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00099/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..5a431111451d7ee53cbef44d1dff3414408cc769
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00099/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6058abc51cc167424b191c44fa6dd9eeddf82a469140fc39f8e4aa76fc907ea0
+size 1945516
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00101/debug.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00101/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..dd2c9c1261675f57066e5bb4149285c9b06ef233
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00101/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7263450cdee3517986ce3758428ac09b6736d97071d4d99933e48fb737e98153
+size 1956085
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00101/depth.npy b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00101/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..3b65a30d765421dd2d6c93d41e7b66b43389176b
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00101/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:66c79e01884572f7ef5cc79fec850395a65f20fee59db2aa6cf1c94a1fb13a58
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00101/instance.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00101/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..65f9ce792e35c79b07f4065e838c657b2dda8f52
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00101/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1df58379693d08cec58d892964e88d55d4cfea08c77d97a3a4c6ed0d9c468189
+size 141165
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00101/rgb.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00101/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..c338731f5c29c1e729097cd72624f30ce4970a4e
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00101/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:614a3090eb9c6283e308c1bc311ef3107a997f195a52da94721ee2e5896f7d10
+size 1947969
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00105/debug.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00105/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..994959cccebc0362cbcf7db65a3600d7c39bf34f
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00105/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4a2cd6ed33a343f67ce9648937df1d9de8ac852b525d554f786fdbf4ca7b18d7
+size 1931982
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00105/depth.npy b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00105/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..b78ef86b157b7b41a7b4444dddf8d438aeb251e6
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00105/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:485f786ba262ce82067192a01874b8e63c04da4f8ec2e1090568f744764f6a7c
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00105/instance.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00105/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..e12201d3f8576879de8b3d88fe0d54b3a205f2ad
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00105/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ae935fcd1b9faa22b951923be85965354d60f462bc4bc02ca236d62168645bd2
+size 142931
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00105/rgb.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00105/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..5b73f5307329383a65834905bccacdc75ac61e0d
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00105/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0979051f12855ba1045d300f8ef99d4dc178cad025b4f40c7eb74f3fbb0c75a8
+size 1923315
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00107/debug.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00107/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..25abd66ad9c93209a720984aff6dea7192a9a228
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00107/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7c62a324b525afa93beeeb9b2a9e74abcba465308096ebc0d5bfd567f88194ce
+size 1928683
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00107/depth.npy b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00107/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..9955ced3d03e12e4cbd18ed08cc9a6bdca2731e9
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00107/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7b1a1aa68dd44d584b726e50cc413e086046dd3020a742f6fb7ec4bee2ba55dc
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00107/instance.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00107/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..aabfab82d65bd789d76f1fc367983551e4b393c4
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00107/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f615eaabd9d0fb95d22933476240bf6c4d4b7eff97ec9acebc28e5dedff9eda4
+size 148175
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00107/rgb.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00107/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..2c83f053985c53688ba2bc01b18018c8fd43dbf9
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00107/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a3233deb8a2868f2ca33191fecf96632334958845a081095ba061ed3b1d636b7
+size 1915675
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00113/debug.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00113/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..fb4fd27e5f9a346e0bfee39a1c2a19dfa3e1e6d3
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00113/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8e4bfda12032ac1bb6e06b713e625400719e3f139214944601a735c94bb39d09
+size 1894272
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00113/depth.npy b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00113/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..305bf2b1b086e11b027a691252009d3759edc80a
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00113/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:13d00fb38d24286dd6e10e17599df68552befd4fa346b1a5b66efeb70388e52d
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00113/instance.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00113/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..89e76a0f252b08a64c9f56f95afbd0419b7df838
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00113/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9d002b0500f194b98521f27d8430ad56b3a64f6a9e6a3f7387117add4bd37da0
+size 143036
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00113/rgb.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00113/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..25d8f8f796d1802f4f5b63607b22b7a129c3d994
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00113/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0282f4ff9c0c514fa3e38339af3159c3c7f23ac81297901aba1342d022a4806c
+size 1858127
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00117/debug.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00117/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..86611e579910b3b6de099459efd5add71a7ac4d9
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00117/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4be006049b25b1fba757cf60f28e3562f9668a3f732ce4d8cda154c226774da4
+size 1872062
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00117/depth.npy b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00117/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..c05aa0e81188b97ef0d7f0f4a1250aeb73ffadd7
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00117/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f39b6fba19fdb089d96fa78f657230f76e60345d023c721f34975ee2f8bdb25b
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00117/instance.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00117/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..a92e009b1d14f5e48b7b38dcc77057d5c5c337e7
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00117/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:55b98b6211f1c5e027cce9bf1ced6019332826b30773916cc5c76e8c5f75f795
+size 141725
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00117/rgb.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00117/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..f564e8bacd425159bc27cbbe094c5e044b1f6137
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00117/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:56168a82cf84e175d022b0830a9146ae237ae6ad441b4877372fbf51e184040d
+size 1842256
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00004/debug.png b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00004/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..748296280f3f13a2fa88ed5e3a0212e6b5987fae
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00004/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:89ab1bb647bbe4a430b83e03a2c0562b680b8f6fb08593686eb947b208e5f234
+size 1886811
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00004/depth.npy b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00004/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..bc2abb4f6fdf5b6cde79ec43b9f1b00674a5b2ff
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00004/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:80685e87bee1952ae4a45f14fa8ecfe0511a2e2f2f2cc5c34dc528d6831e7602
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00004/instance.png b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00004/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..60054c0d06c7b269dba1179037c624afab72b20a
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00004/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:38a0e77c3f2eeae5b085219d94854078108d467dd694863eefc819abfedb8250
+size 168601
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00004/rgb.png b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00004/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..992b144977d710fc7a61b72a7917e55f6edffc76
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00004/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8b843e4893e3c2b2da5a80644c9b071cd38dcf606108a72ee15060426d579461
+size 1949408
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00008/debug.png b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00008/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..999b8dea3519bb1c9d3ad086c6c9d47d8d612b4b
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00008/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f119ae7effb239625bcbb34ccd25d5eb67fc13b9b2d014ed954fb4c41c351843
+size 1891034
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00008/depth.npy b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00008/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..79407075ff7d361b97c0b8ae3124865170e4b0eb
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00008/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:446178566ba2f49d8e44d7c23e09e7d29fc03d9002c34701fde70e0060c8d698
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00008/rgb.png b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00008/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..87c41841c0627ef18b9af40eaff57abd3229b211
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00008/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5e7c5be410b340d0625100e267b4b65044544afe1a87c9056617cfdc4c05c614
+size 1946172
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00009/debug.png b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00009/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..930e5921119d7b22a14f81e27fd69d0079c8f3bb
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00009/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ae731ccf61d274ed9d2c7ebeddec20382c2494b78760fe7918563a2cb5c4b68f
+size 1889932
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00009/depth.npy b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00009/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..c095c218a6e8de858ef075d7b7803146c9ea8f17
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00009/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fb2dad38352a4bc162cbd2b37e3a5c2f33f2de809928827ae0432ed1ae5513e0
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00009/instance.png b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00009/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..b93c92089bce8ee9c6a1dfa881388e2610aa4e31
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00009/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f1556335d493c60c8778b49a6c1ff0f4a8dd083e2b75ee89fa645c368b239f9a
+size 165452
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00009/rgb.png b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00009/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..25d860a3cc65fbd401b00357e30cc0b9dd53855b
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00009/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:99de355b9252e97f3dd2025590617c6921e186c6e279e8b643bbe62765cbde62
+size 1948130
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00017/debug.png b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00017/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..a28a7e93e378ac49f1f227afe84a2a61eeae7891
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00017/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2f7f0ff1730fc94e7b11ba931f1fb874b617ce979e3db24a949f8969a20a26c8
+size 1888067
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00017/depth.npy b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00017/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..eb829f071d2fa71100856467d5aca8e0d61286d0
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00017/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b47884c230a3671c26291e2d702997ae0eca03091eed4e62a7dae4f463730342
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00017/instance.png b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00017/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..01087f2922b298a064f0e8e74cd73ce072025881
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00017/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4907aa4f82549440a7fe89c9f1521395bb421a35a82489d2cd8e5378cff04466
+size 162580
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00017/rgb.png b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00017/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..b976e591d68325d06a88fb17bf52ae7b89415545
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00017/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:708010628e0a1e2e11c65d16bb5f7e1c11e8734ab7a9d1736886a08bcf4f219b
+size 1938081
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00021/debug.png b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00021/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..370fef0326d330a9671aaabd5492c8a1ae2a11cb
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00021/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:304d33f6d1ea9e533f28edd5cf344a6ed381af556f3bb2bbcc4da43ff0f305a0
+size 1880506
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00021/depth.npy b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00021/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..27e29af456be1c31bdd6b145e47ba2a3fc80899c
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00021/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:12afbb8ad617feb246e58be8ad7e5a682511edd6189d182bc28f6aa5b4d3a5ed
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00021/instance.png b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00021/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..85620198f90590f61b5ca4cd3d973c9fa3253a48
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00021/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b80578f7f34280754342330a4dce1f8fbfa5bfc61cdc1a33b8a16358016c2b2d
+size 167570
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00021/rgb.png b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00021/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..4e42343d609ab585d2b489622ff144f0e1cef986
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00021/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:15e196d113391c3cdc4672e910608d3efde609f24b961d44130c6a613fa526ad
+size 1933068
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00022/debug.png b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00022/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..ea907556f2ad197b9cdf060ee9f59f2e89a14305
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00022/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:847d589433814f4a4c600b315db876005a5b136f3575a055ad1728064cf1c34b
+size 1875995
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00022/depth.npy b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00022/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..d3fc5847045360d897f5ff772bb0bbe89123a61d
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00022/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5dc35837b4733f9e29d577920be93865fe4dbae7fd6441a9302c72dc7a7a9de8
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00022/instance.png b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00022/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..f4814a18e7623dc588ecccc3a4ed7abd0b2ddece
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00022/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2ef2e3166dbce9f966b5521ca7e7c14845ba2c787fedd1d4c72b9dfbc1f316b5
+size 171256
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00022/rgb.png b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00022/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..7379abcc49137085e2b35a9d089c60f12a08a880
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00022/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:61fdb3a4112b667d14ffb55589efd32cb73bbc52ba002e902342671cd9846c99
+size 1933371
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00034/debug.png b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00034/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..21599499fe6353205a77c077401939c592b9d2ff
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00034/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f7f8c711bf93a2b606ea554fae574ad15ce9530ad7d8965ae4d7187312c1f707
+size 1869503
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00034/depth.npy b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00034/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..86f59624f666d5f88c911f1e1f4306617989edb2
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00034/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:36706b8af233ee2627e30d2403aa5a30cc99af351525dd7353b6b9b2c9084abd
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00034/instance.png b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00034/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..1cd505e5ffb7d996d658020fa290ef5bcfa71f32
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00034/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:57c13c8a929d62a056cb8a67ccdb8889a8a0fa777feaafc9c1b7268a075c00f1
+size 166990
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00034/rgb.png b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00034/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..56611dc96755de9520e1546405505abf9ab2f827
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00034/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:016603c167a917724a91ea98852c23513980b70ea484a5906814d5c57b5ceeee
+size 1916843
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00041/debug.png b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00041/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..b6cea69b89612dce1737b5c963f2af0f579ef325
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00041/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:008666bf40f4fd7b7aa63d318c033326f037ba6b5b85bd005f11c71cfe75c84a
+size 1865099
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00041/depth.npy b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00041/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..ea175cfde7187531ce4d8ff2240a1bcd60431bd6
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00041/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e99a7bbf8a9abfe212330b1b09606f605f46390f557302ae995da29cbecf1cd7
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00041/instance.png b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00041/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..c339c5ecf55343a1887c0c49766ab1795577318f
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00041/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8d66e43a35f05fb8bffd9ac877291ffb161a7c3738f89b4fe3f3c65ee8f6ac62
+size 162641
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00041/rgb.png b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00041/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..7e03d399a6084f21f1af1267c7f4440771a692a8
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00041/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1f3acf7b5b1e1f9748c455ce262e249c910d28e7e261a9e84d02c4aae5e5404d
+size 1911814
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00046/debug.png b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00046/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..0b94b763235868c1051513310f2f3a2d21885335
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00046/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f52510882e24b1994c01cc5f68ed395d36bb861ac01d036c8a6f5cb0b74b4731
+size 1854901
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00046/depth.npy b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00046/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..9b41c12b4e4f061c90200a8fde22d6980fe5872b
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00046/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:277c7541c37d25995656b5274584d52563fb87683f1f020070ce9e414ab9fd66
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00046/instance.png b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00046/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..324e16179907ca4ae460cc6faad16fe9979875c9
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00046/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:494bc7bd123edb30cc05b8b096286c3f44cb70be72a7e9887108d490d165a74f
+size 154559
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00046/rgb.png b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00046/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..dff4e6cceccbe8c5a17cbb50130da0f32a28053e
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00046/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:076ce0dba723493878d8b65e3994ba340e2a058752cc09d0dc07740cf4d079cc
+size 1900966
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00047/debug.png b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00047/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..8d53b7288f6ac61d81641eb532bbea41ccbdc005
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00047/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7b84f281a11122d0162b1022ae7e50dadd07c4c0486f0ee0646a4c6f8e2e87bf
+size 1853216
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00047/depth.npy b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00047/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..afc0172ab4eb87b690359f7e19e421b30b2e4290
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00047/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a18080e83f012be4482b5cfb91848013ac61f87dc8814c5fa939f1d3587a3fcf
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00047/instance.png b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00047/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..d8944702d6b21cbc14bfc457332ea266867e66fb
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00047/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0bd006e198b0cf07bda808f9bc839782c1855c569ebffaa3fff0cb77ce5d3c49
+size 154524
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00047/rgb.png b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00047/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..b1cb8e786a9b7665741f8fe0e1d9c7ac75d265a5
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00047/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d23c1e5a6fe7f9df4014033a389473710e1f2d17ac34482b02e219d2730aca18
+size 1897910
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00053/debug.png b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00053/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..a72afd3ffa57bd2ccf6d8e504ff94102a5eb9346
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00053/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dcbd3357bcbd1ef5246a4146302fa073b769b58a3c4467b8479eaf1bc9304384
+size 1846566
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00053/depth.npy b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00053/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..331c7dc270b7c63c51a043902141df74f97e95c9
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00053/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:38f2f0614e84da29f42276910009fc0688a9cec5739226a261d294fffcf1faa1
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00053/instance.png b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00053/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..fb7f01172e9b3c8f27ad297be422bca2e819c7c1
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00053/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:57af8120495faa3a8377730fcb1fbed71e1e04a60125267c0a65211337f34efd
+size 156118
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00053/rgb.png b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00053/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..b4df09bdadad886a8a156d54b63c09bc8bc4cfb7
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00053/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2d99a44b2881bfc40a4ae729303e86970c151f661f7816ddae8e03f5b1b83205
+size 1891569
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00058/debug.png b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00058/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..362ebcaa80e20767f8cf1c321e606c06eaf7863b
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00058/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:11d0b065c217d7e2b882da03f5b7ac740da90795826d78eb1ff3352cc0295ecd
+size 1849286
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00058/depth.npy b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00058/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..86d16e6c444a5c90715978eac46e5d5d6feb3df9
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00058/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8200679afcc97778948de0e3919654cb836f21cb20cdf4e5ae66f1dc93d44640
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00058/instance.png b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00058/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..75a9fdaa0aadf2285ec60e65d8a94532cdbb8562
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00058/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:76b6da64c53a6328660c105999fc60bd6b5ff4c29561f6bfc6f7f4a36e8f65ae
+size 153533
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00058/rgb.png b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00058/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..dbcab55d96958fbede19a287406cbbfb6b91d0cf
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00058/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5e23bb9004eec7ee0cdbc9219edbb03a22f02da4f828c1e717b6ee95d8c388d5
+size 1880802
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00059/debug.png b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00059/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..7e4f70625287dd5a0dc8ac3691c74ca45b10051b
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00059/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3b934d464598556e5038f550fb290e9e26a60e83e0c1e5828a886897b5629b1b
+size 1838955
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00059/depth.npy b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00059/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..c7e844cef4878fcd1f9e49c241da7c27a26f859b
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00059/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2a33e945dff3635b9af29eb03c804f002406b3cfc66a618492426cbbfa043bee
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00059/instance.png b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00059/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..098410ba1cdc685ac974bba57150d8b71113359f
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00059/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:78af38d48f7adc78bcb570764a11f45057230177a8e8a766fae2c690c09cdb88
+size 153208
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00059/rgb.png b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00059/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..e9215f59d58b46abd1c528e37042261776a465ac
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00059/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:63c71a6f6050e61802de63d1be6940258cacdc08ebe10fcc472eed5ef8871071
+size 1872225
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00062/debug.png b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00062/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..ac38fabba935b588fa0e6c3050f5bec47429e25b
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00062/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0067cbbc63aa78f68d2dde8b0e0c37cfa13b009d78e8c37746f49d61151aace3
+size 1847831
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00062/depth.npy b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00062/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..0368eebf9f5f10081ecfaa5ae3b1e3e2d8287a14
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00062/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bb9a9c281988c439aa10ebef209286598221e9231b8bbf6f918d819cc8275648
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00062/instance.png b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00062/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..56884f69058bd046dd89b5246c8ad7df31ba4525
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00062/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a8bd8fa432c442eff92153756e296728a7116c286c71a8ec99b75de6e6bc167f
+size 152377
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00062/rgb.png b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00062/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..c8d432cfaf0796b9419ac6c4e5a5a07d2e697078
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00062/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e912c11990a81e055e312202e5b82a4c3513b0a68bff8353ecd80c26f2142204
+size 1871490
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00067/debug.png b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00067/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..32fdacb6eab3c24cef7d075aac481efa381200df
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00067/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:87922b9b24cec942be35fffbc9445feb8011d75aaaf7c71ba42c159d69d263c0
+size 1831980
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00067/depth.npy b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00067/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..2a364238fde8ea6869c5ed6552fabd9b6e1a885b
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00067/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4172a0cd2a149f33aa89a12b94d05bee52502a9408a56d5a9e2f00f0573b8e0b
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00067/instance.png b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00067/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..d1313d52b41df32777bf4a18335afa0c143ab704
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00067/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e6803a515848880ff7e545a1b5a988f83c52697b42d2bae742f53a302289a77a
+size 149604
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00067/rgb.png b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00067/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..88c92a545a87a8a25ee095d0802e08b54f9ddc5f
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00067/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4c70d7a270a4c573f007503310c822bf21a29c4ab697b694bdc5ae6096433861
+size 1857852
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00073/debug.png b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00073/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..30012d17de93e58fbd378cbc42509a9b1ba2699d
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00073/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d2963d75e2db600c4699ac46d7406aede751eac13f22fe0e180a122992aa32e5
+size 1827679
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00073/depth.npy b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00073/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..2562ee63192d7a1a422a95440b6ef7ca89e87422
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00073/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e88b5bdf7bb4ea85c4730233110d0f386a7c2dcc9fa51a8d0a3d6e69b848baea
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00073/instance.png b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00073/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..7949ae7af537180f6eb07c80ad19503a6675beb0
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00073/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5db319daffcfabdd94783871ab7342b4d4d4cac15041701906f5b0758a6223d0
+size 148554
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00073/rgb.png b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00073/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..49200e049a7302350cf53bff31f6bd25f4753b7d
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00073/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:513dbbf9a7f3f8429f99f53c84ae354523e4a3de16019c2e9bca26367294d7b1
+size 1861034
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00082/debug.png b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00082/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..74dbadc282859fff07d412f509927c32197ac6c4
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00082/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8ee63ca2d34a15ae1e8ab2a1f5a02e5a4e1e789abf386a9c792deaa3587e0024
+size 1811463
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00082/depth.npy b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00082/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..ab5ec12afe3653cabb8cdb56005d62cac9456933
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00082/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3b986e473d160c4a80d7536ad455925734c6fe0b06ebea7f27b0738ee5453b35
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00082/instance.png b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00082/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..686627eac789f5bf1dfe69a31e9bb7aa42b5f55f
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00082/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:44cb37cd1ca22d04bb25ee4b184b830fd1d9d7a016f54a39990e1c0c56e46924
+size 142338
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00082/rgb.png b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00082/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..0abdded9aa8adaa70c422280a58100122446faa8
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00082/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:48a73f37a08756588a61b2cb59f13e64a64d86853053c0006a5f3a89b3d91452
+size 1855987
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00085/debug.png b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00085/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..5f63bdd5ed2faa04ff25a96cadc59c2eef34fba4
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00085/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1f6d7f201d3f40b3aa9eb0a69a23fdde2854564f84e8a1b1f61cad01eef2b712
+size 1792365
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00085/depth.npy b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00085/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..ff5e4ce8147d7beff8f8e1c82038ba4fe076c638
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00085/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bba405ccee61039b356604b465aededd80ce33680355b50b84c75c9a9fdf285a
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00085/instance.png b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00085/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..14d0824d19399ab6ac92004182f89a37b0b44220
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00085/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:90917833001d2c0a7f88d4dc8fc03e77469ec63a2675eca1e789a56ff2480f41
+size 139912
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00085/rgb.png b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00085/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..600f403544dd2e502b65d2e553c028083467abeb
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00085/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d4057e5e179de95a4c66eb52859f33f2d920126d810799790d00352d30f900cd
+size 1844057
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00087/debug.png b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00087/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..b8e6b38f17d8fffcf4f959c054aa9baade990256
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00087/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7efccd6f682100e6ecacf77e5098e1e34d0066ccfc06ff1d54b9ef0c4714ec2b
+size 1785377
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00087/depth.npy b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00087/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..8204497b528b00b2451d3c5f3e5a96478341d88d
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00087/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cfcbde66ef716fdbc9a5950a20c51c0efda5ecac5391ff4b765944c529376dc0
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00087/instance.png b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00087/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..068b582557b8bd5b4d00233a9b46d49ff352c8c2
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00087/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:545ea3e8c58ee31970665eab6c0e7ce156ea7a04e2c8804a80a034fc9b0eaec6
+size 138792
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00087/rgb.png b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00087/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..0a512d49ce5889cf801beeb3b659f94f3f12bd95
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00087/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9b9616addb293b04232a902b7c8725e6b8534f5ac9b603391eae08727bb4a127
+size 1844565
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00089/debug.png b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00089/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..db688ad5d7f02a0e39fe1bbe0e05f31082f78234
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00089/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:316d0148724e790d63fc23b18b478d5846c12751d67a7131363c51bcf51b1eec
+size 1788317
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00089/depth.npy b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00089/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..6010034e486028ed02b5fffd0988990bb9c81a80
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00089/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1bbd4f1028228babd35112b4e836799431bb887a2cf79cb290eb7a41406c9101
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00089/instance.png b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00089/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..133c8fab897de04d9d323e6c8208a619744f7194
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00089/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7d45790edeb432881dae18fa66a67daf3c122e0d976aa7ed2ee7c3f216193f57
+size 137788
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00089/rgb.png b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00089/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..e1a41d21333322dbe9aea8a84f31d8854bb53ba6
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00089/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:59598a22e719443fc7063bf5bf624390d1bdc1800ed327d4698627c8b2333481
+size 1840747
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00090/debug.png b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00090/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..0aefaae27e18bb5bf69f37cb6b9be235a9751080
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00090/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8d991a4323699f748da8cb6cdf8dee342440a9a66a30fc6da2cc4c63b6eac837
+size 1785398
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00090/depth.npy b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00090/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..b40529a3e9b3560be09cbc51fdc43b579e92a336
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00090/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:845d296c6fb0d8f56e132f86a9ad4a69639cdb3479d8980a1f3151a9068c9993
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00090/instance.png b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00090/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..6b7981aa1c26a37ac416f6e22fa0184aceb62033
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00090/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:46babc2d9dbd7672c54eeaaad7e9680b08019a79f54a5023a67160efbee48617
+size 138312
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00090/rgb.png b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00090/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..a16ab8abdd2a98cb63889d7ddfdbbcb226c0a989
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00090/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ef17ceb120cc45aff9c80e781259db0a23ce03ad298016df273230793bb825c0
+size 1838038
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00111/debug.png b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00111/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..e454b376dd2b05b210dae26606b00d67bf88ea57
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00111/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:101e7a775a07f5cdbf6d211b1ce0767f2f0e81ef3ee7fcfd21b632897fc1b187
+size 1793235
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00111/depth.npy b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00111/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..ed97f1a7d0bca38bc215f467775f82dedcd9faa8
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00111/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:65a2052ec20c3b156511827f39a0bd0877865e50162d17749777e8d7e3aac70f
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00111/instance.png b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00111/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..959217ebd6f703900ea61d6b64d8d4b7dff77658
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00111/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b1e4c752aa8a6b0c4fcd10e098850827dccbdb3349fb5ffbfebb17212418e716
+size 148823
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00111/rgb.png b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00111/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..852f513ab446b0d3f66fae12f167c7119e72cd55
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00111/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:966c50890d00c75eb8ebb2ed1cd0bb2bb54902e7d5301c24d3a363f1945e1499
+size 1867706
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00112/debug.png b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00112/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..eec45b22e07dca9637d248172f77cfffa8a77ac1
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00112/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:52c97228d47856cf7b5870a624acdd1658a4ecbbbcf45cf54ddd3a8d1624e8f0
+size 1797976
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00112/depth.npy b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00112/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..5c586188b9399c47c75c8841c19937c092c95469
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00112/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4d28656de147686cd308ee475e50bec72b8fc79b62855132b5ff7bceed472533
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00112/instance.png b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00112/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..55afc3f3a86de7924252d424c49081c35cff6a04
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00112/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bef457abe7502e4076bd7af123c51c6a33208f8fe561f27da7423645b7012f04
+size 150162
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00112/rgb.png b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00112/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..b288a9bc44b42a68f270fdbf12c24da08db7bafb
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00112/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6cff92ec4abfa8661a15078e7e797ce3a139fd9ad6827706b2fc91e0bb5f6218
+size 1854836
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00116/debug.png b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00116/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..8752f3035cd9f7f50fb2f3aa9d5a5716ee6a56b7
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00116/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9e28714299e895d9fc888ff6804bb99b07b76e82493ed846dbe3a44a8f1d8e50
+size 1806267
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00116/depth.npy b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00116/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..3ee67310488bd6c2d0cbd226f3f43b53047ce1f1
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00116/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:298af96acb99569f66d43b885a9d23d439d0082c691a9e9f96f622e1db5a7197
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00116/instance.png b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00116/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..295a0aa32b89c09390fbb4e215a6afbbc0fa742f
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00116/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7ac0f1c2eb8e3f4001307ec8acdf704c7335029fdf9ab8df116ecf25dfc4ba23
+size 144704
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00116/rgb.png b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00116/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..2add1540c8fe621fe9100619b550a7f2787c9c31
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00116/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2f2fcf696c3922b43eac06c4ad5d9cd6ee960db8d6f9d9c87a6f22bfa9afe6b2
+size 1867858
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00120/debug.png b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00120/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..40058d264f3f1056f935885165a98453e708ce7a
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00120/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:08140b40f26b72446c6aac72d421f18b1b92b5b24af58fc1436a35e280ccb0d6
+size 1822844
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00120/depth.npy b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00120/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..d16b7382dc0d99f895c5aec017d49cfaad290f1f
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00120/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:003f88e49e538c4f6e7ecbba2c065c222474b8e270e711d8b00c8907bf59afcf
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00120/instance.png b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00120/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..0544708280ceec00b600b86105829a7d72f54abd
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00120/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d789fb67be2cf7ed57c58b62736962988f9b8f3c0bd1b4d61d3c9c2cbb7c7a88
+size 140985
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00120/rgb.png b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00120/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..25d2c11da80305b66878a719d99f68f1031b3939
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00120/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c14769f6d14841126df667a19866524cc36c9f4ab4151642e8e369ee5ca4e6d8
+size 1875107
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00123/debug.png b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00123/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..38cfe99e843ce99a0288c0df5e3b6a8643db371c
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00123/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:efc51eb61e1aced460a7700d4a5f680331892257c52acc4228d5c52a31563ac0
+size 1820527
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00123/depth.npy b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00123/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..47c65cbe9e1045bcd047f6e19cc515a254dc531c
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00123/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:72ab2ff2e086620f41d9feed44120267bdfed666b9d5d18f22f3b18317c440b9
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00123/instance.png b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00123/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..6fca1a1ca58872615fe37829cd754cdae5cf58cf
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00123/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c0a17fce7dc1ad86526bf98d4a4a5ece2605d63b41a899e4935b2201e17ea0a7
+size 142192
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00123/rgb.png b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00123/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..e0bf72a2369e4fae280637d1224d470a5d371d34
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00123/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:17449a179dc519f431b307fb4e8e9c5bbd50e614673cb4dc99a4a19f4dbf9e47
+size 1892618
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00125/debug.png b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00125/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..f8c582cdd0de08b71ed9f834e990ac358baadb37
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00125/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:53a722a2b6760700f528bbb49088e3154b006d3b35eaf2abde80ce9e038564dd
+size 1823343
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00125/depth.npy b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00125/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..0597de38f6f5fa7799783da13a1f965bc66488fb
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00125/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8fbd689018326984a97100714dddd9873be9082c0bdf8c750d2fb38a8809d9d5
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00125/instance.png b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00125/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..919522b17af67ddd0ccd5d57d6370f2972041c60
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00125/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7494f4a529c7f867bfea14b59c0be3d24e95fb71c86ac40462622957d6e02aff
+size 141563
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00125/rgb.png b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00125/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..b9af635577831a516920f9a10abbef6f9a36a991
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00125/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bfcf8b431a46a3fb89fa0b5b9d0912c17b4c1b879c2fa4b988ab2f9fe03ed6ff
+size 1885513
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00130/debug.png b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00130/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..7f59ed06898d5b3dc7b4b2f7f290cf44502a92cd
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00130/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9f1e3978d6600e30d3f5bfc383dae94ea3ee51949ba0f503bf1c452bbd3098ce
+size 1832074
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00130/depth.npy b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00130/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..c319a371d3716a63fc8b4edd1115694d087d2cca
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00130/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d68747b0fdac7f42d27897526497117379d04a82fac32013af661a0eeda4e04f
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00130/instance.png b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00130/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..fb32d9ac9adfb89fd54905562144c78b9d218987
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00130/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:26cd2ac5008174c6e24ca4b61a7eca3c4d9f2ceba4c0c14a8fd00ece833c1bfe
+size 146504
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00130/rgb.png b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00130/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..ef0e0b78783700f437d1ee7d7fc838baf2ce1943
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00130/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d4fbaa4ed3b17617a6301f35d5784e0a6e6f65757fa52baeeb4302399be3a83d
+size 1894966
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00133/debug.png b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00133/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..fcc33a09c2a972d5e52c7b61a850c9e0b0cd3f97
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00133/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cf633a793435f53fa36044b4f4ceafde08ba55737ed5187e67ea8e0fb0f5bfef
+size 1846238
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00133/depth.npy b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00133/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..2d88fa9d52954276bb15d6f854cf56abec80f58b
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00133/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a7ceb5f7bcc0a49431c784da53b6ad33ab8752887e28ef89791ceff7dd292473
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00133/instance.png b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00133/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..4ba3269cd4bcdfc4f2f7d8001bb1a80f6ff24000
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00133/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:70e939b411e3f98a2498de89c9683d45b446500755b5add9bb750bbc585a5e53
+size 150487
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00133/rgb.png b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00133/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..448b28437b107c41fc909117e547f010eedd7b79
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00133/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a129abd6ef879e34192d343e4bc54ee6c2b578b423b4f9d40a6878bed6b95ec6
+size 1905379
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00144/debug.png b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00144/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..bb1d1d9e5496a1c4693f2166f4f9503073d940af
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00144/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b195648e2269ddd2179d9764b06aaabc6206eaab33c78d13808b08fb939f7255
+size 1907632
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00144/depth.npy b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00144/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..62142d8e6573774caaee766ee3769bc5a536fe17
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00144/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8b30fe7316a146738ff964e3fa5ed55a56b24484fa3e93655b687a878dcb083b
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00144/instance.png b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00144/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..137c0ddefd49ac47c8eb45247e6f93b69466e39f
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00144/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bca193dcc763b37c92aab2d44fc7275742bd0a8d1e2c176b632ad2dc348c8de6
+size 142328
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00144/rgb.png b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00144/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..8b90c7378363cb7f83cabdd6f65bcdb8cc214477
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/ORI/frames_playback/frame_00144/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:942c61a694297b6a5ba527da63c2d80c3931fd58809f94ccda3582ced7b899b8
+size 1950591
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/ORI/perturbation_visualization.png b/data_v7/Town07_Opt/trajectory_1777252836/ORI/perturbation_visualization.png
new file mode 100644
index 0000000000000000000000000000000000000000..dfaa46112796b87f2e44f7fb782e3df1a0b4aa26
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/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/Town07_Opt/trajectory_1777252836/aug_001/perturbation_visualization.png b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/perturbation_visualization.png
new file mode 100644
index 0000000000000000000000000000000000000000..4cff43e8eaa1333da029d84c84b76b9be0010372
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/perturbation_visualization.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:228f6b6ffd8bc491179ce2d00ff86e28ddcba791870844a8c447630b3ea570e6
+size 204117