diff --git a/.gitattributes b/.gitattributes
index b27f94ec66564ebe55444fc5a261985d55a56a17..2a36e4e248b6d26cebfd84aaeebbe2dd670a3ec4 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -386,3 +386,5 @@ data_v7/Town03_Opt/trajectory_1777075872/ORI/trajectory.json filter=lfs diff=lfs
 data_v7/Town03_Opt/trajectory_1777075872/aug_001/trajectory.json filter=lfs diff=lfs merge=lfs -text
 data_v7/Town03_Opt/trajectory_1777298042/ORI/trajectory.json filter=lfs diff=lfs merge=lfs -text
 data_v7/Town03_Opt/trajectory_1777298042/aug_001/trajectory.json filter=lfs diff=lfs merge=lfs -text
+data_v7/Town03_Opt/trajectory_1777245997/ORI/trajectory.json filter=lfs diff=lfs merge=lfs -text
+data_v7/Town03_Opt/trajectory_1777245997/aug_001/trajectory.json filter=lfs diff=lfs merge=lfs -text
diff --git a/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00017/debug.png b/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00017/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..e6b66d080c24b549f02b30cb55f0032d400074ee
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00017/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:02226ad60f3bc0f1fffacc737d061b027790b87c41630a271139a7a8cb8cd0f1
+size 1695984
diff --git a/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00017/depth.npy b/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00017/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..74f48c349973359f68add354c57c0b4eb56e5f3c
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00017/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:68cb122bba9f966eed6822225426e7b235fc75230c9f7271cd1f0446c4a493f7
+size 3686528
diff --git a/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00017/instance.png b/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00017/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..36b24d3c2dfb097fe2511c779eb80e4f49bdc825
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00017/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9b9f6e0e9c4500c3346a49fed76ecbb5c74bb2522fdc5d3e122a843d0783b0f3
+size 30056
diff --git a/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00017/rgb.png b/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00017/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..c199eef159f9ce15b1a8d370892abe0f6eccbd60
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00017/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:44bc363067cca3116fc5d271b9e2646c7bd2591202c77c16278e492997f5fd30
+size 1690331
diff --git a/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00034/debug.png b/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00034/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..921a223f2a69c92416dd314d5c64c4f1fc4b00af
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00034/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ee2c3647d98e2ec656fcefda933b547b967d2df57eb23958a609f4948de243bc
+size 1586038
diff --git a/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00034/depth.npy b/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00034/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..4ad2a4026b4d8c99da2992f4b410334849e70faf
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00034/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7a7035841f5f6307e049b7b70150f7f503bf81d265b50c0f899d747e78c2d34d
+size 3686528
diff --git a/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00034/instance.png b/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00034/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..5e736dce9bd48925f57152806514b295cf71cecf
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00034/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0cfcfed19c6d4f8e2a87779c16a5898f78b13a5ffd3570b19c7ea2ca03407af0
+size 29643
diff --git a/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00034/rgb.png b/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00034/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..669a822777c22c6dd0fa860dc635b037faf1571f
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00034/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:45908bedea11e364304305e74c0ae416d83a2a7aa5d4889e614bc1b8fa7319fb
+size 1567534
diff --git a/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00041/debug.png b/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00041/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..b41238b33bcf5f97be856c0ed44bc3f2dbcdc345
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00041/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fec8a2536a6f0c8b0ebc8f54fa978d44159a8ecc382591ab95cf4fe1389c6361
+size 1555622
diff --git a/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00041/depth.npy b/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00041/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..d594c283d874794cadc0a4b59f280f091545f0a4
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00041/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bbe2953ad727819e5f4d755979590091ce68255ff8ee9abe17742d55e83af230
+size 3686528
diff --git a/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00041/instance.png b/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00041/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..2433b78d92d9c3b3c1baaaa4fea1f69560748455
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00041/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d751c1b2f5bebc2bac4f4b0a35b7f57936cac7b1cf16d8133c3368497809f95a
+size 27763
diff --git a/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00041/rgb.png b/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00041/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..cbd4bf8ef1126526abf9dd96b2466479fcf22143
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00041/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ade284b6e083caa56571f44567dff264686da2b93636a35eed8d935abe0c225e
+size 1545262
diff --git a/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00047/debug.png b/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00047/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..8ce6d2a10af9195fb8a938c87514d4451c58bc46
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00047/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c1c6afb818856bad808ba99c52db18c78a29072e60a93d00c1f7c20488929168
+size 1535662
diff --git a/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00047/depth.npy b/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00047/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..2f17a853fdc3b3ca99b59a24ba71d51226e1199d
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00047/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:08a077d9fd416f6ede7f97dd47478a1b0d7f39b3d0f5ccd90ccf869f693c6fc4
+size 3686528
diff --git a/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00047/instance.png b/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00047/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..75bfb0cf8b0ac1600b0eb79072f7e4a6d92c71f7
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00047/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8508e9efc032ce0b0b30a7e086d43ce33b6825053d8bd6a76b4a694aa8f23592
+size 28100
diff --git a/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00047/rgb.png b/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00047/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..75eb9bce0001446d97af9ee695028d56912c48f2
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00047/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5ceaef5cfa04f8b228ac6eea0d21da6d35f65c42e93b65a1ffd0c632f3676605
+size 1524185
diff --git a/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00058/debug.png b/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00058/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..203290d3bfa363a7bf8b2cfd9b4034693a438108
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00058/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6c3ca5c106b095050985cadb069fff348fff7325ddba4cb9af4f8e254b9a2dde
+size 1568313
diff --git a/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00058/depth.npy b/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00058/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..4347f80b83903d3cb0b57c7f00858882296673e6
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00058/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:daf7460b80e7b97e8c7400e81e7a0c13f92ce12c3bce1f009966362351da6fa3
+size 3686528
diff --git a/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00058/instance.png b/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00058/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..5c559b6b05ae026005a0a288efd1c797942e5b18
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00058/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fd706e09dd9099bb9b8b70ca284a2baaff8dde48df11529305b4ff68edbc22e3
+size 30790
diff --git a/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00058/rgb.png b/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00058/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..3bd7912d9a752ce73f04cd6c087a35e01e49569e
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00058/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f8cbb8c905959db05ade883e824d9c8763702b81e3c1f1214afa4826596b1df0
+size 1530328
diff --git a/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00062/debug.png b/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00062/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..2d38763d0867b9a49cc5a7281b92101b3a112dec
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00062/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:56731f8e383ca3556910e5ba7cc4849d420e83d67773fb25e907883762039b25
+size 1641593
diff --git a/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00062/depth.npy b/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00062/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..eea4f46302425dfef945eba7cc79cd325579e75e
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00062/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b9f66014785b11183607fc5f2701ccf0a3a90e71a910b61cc2d250685f813e9d
+size 3686528
diff --git a/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00062/instance.png b/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00062/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..8f6e506a7a7296c042675aa8335bcede3975b22e
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00062/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e76bf906f14b320210d334acb5154c9266d12626499ab121aefe278d131a64a0
+size 34446
diff --git a/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00062/rgb.png b/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00062/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..cc919beb6c31202a5b76c8104c8b6865e48667f8
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00062/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4ea51d110ea21730498885fb29f82f5c37162b59bc629fa97a04f9e6d6cea05d
+size 1599661
diff --git a/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00090/debug.png b/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00090/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..db7aa1adb15e997ddda4ce5f82b6ea805a21dafb
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00090/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:259d1b5296fa8f1adcb1d65ba722b214f5c3961baf641a8c666c3978beb46645
+size 1639301
diff --git a/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00090/depth.npy b/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00090/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..27fe25de39386c278b907058818f678652b50a44
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00090/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0177b0b3bc8e1105546f7fdd9852b0aca8b62faf2b43d078b46dcf62fa77501b
+size 3686528
diff --git a/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00090/instance.png b/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00090/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..5f74c3702a9f5145641c905c7095e2a4e234503c
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00090/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2bd5010abcfa9a15f52ca3dc990d033ae8d878acc5c799f69bd608c06a873190
+size 54304
diff --git a/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00090/rgb.png b/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00090/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..5aff16c533623e4477a3b6367b790f1969967097
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00090/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2f1d3e1fe6ad1bbaeb3468b4e4a0c71e32427c4389276a06ce18861ceee9dc11
+size 1633796
diff --git a/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00111/debug.png b/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00111/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..2203145a1ea9f4af0743eda6015f8463ca9d4694
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00111/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8e2a5faf62395e3bd58b08f35bbf38b4bbe3713a0760d2f5672c753538d2df1a
+size 1628411
diff --git a/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00111/depth.npy b/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00111/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..66f8bb96674b4336d12ab19403bed165a10b0997
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00111/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3bea915b7e1947580e21340086ef63a7338b5ca8a3d51ac114eeef68a9fa0045
+size 3686528
diff --git a/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00111/instance.png b/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00111/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..b56ee30019ef6b858cb12e78c8d1641eedbb3061
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00111/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5c9822b9511ba563393b1d75636d9b70f7f81b97f933a02807565c27d9580453
+size 58034
diff --git a/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00111/rgb.png b/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00111/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..9f6ece4e078c79d3e82c3416112cf7bfd5755c70
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00111/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:18b06d7217c6dac8a8d5f6439a3a5107c961c28164a6a7d0486840a8c20f85e9
+size 1618159
diff --git a/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00120/debug.png b/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00120/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..93a0623c9592250ed963df0abc9b24953160c6e0
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00120/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:91ab35debe1476b7e2cd4622ccbebd361374ceb41474f1892e7c663919640bcc
+size 1658027
diff --git a/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00120/depth.npy b/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00120/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..71170be9fb39db26dddd95c40548d68df2d43019
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00120/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4ae91117ddab9bf74c98f3e8d670c4793c05ad2aef13dd5e1db4012b798e2b22
+size 3686528
diff --git a/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00120/instance.png b/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00120/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..0664bd36efa33e5e2935d1ce5b2d061e5a7c7792
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00120/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:68853abe2211844ed7cbab1b29aab836370121f3f5ac5840f48989dc73bf1d8e
+size 60495
diff --git a/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00120/rgb.png b/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00120/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..3830605e655d87c21e1da795ba2917567b5e38c4
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00120/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:914c7524498b6f471dd2c98b559417ae7f5a0f7b6e24d91453e58e9e8b409c7a
+size 1655181
diff --git a/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00130/debug.png b/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00130/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..d75780fac1da8df731369629201c6ceab60c556e
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00130/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:70e7eb8d9ec34db045c9cb7f1cec6009fa7a79838fa833c9bd757982983b96ab
+size 1693001
diff --git a/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00130/depth.npy b/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00130/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..0462e5bf844ee587ed9306a75aa58b37ed4c9d8e
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00130/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6de71d44c142418ded1fce85873532efce4578656b49e85ed37a3480dfae6c36
+size 3686528
diff --git a/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00130/instance.png b/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00130/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..53d2d8dddf8b461d2e2e59a0faafdfc45a93d2bf
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00130/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b19404132c0ac7abc3b89575162e8acf0c89d609f1ed484a4c7ce32df3324911
+size 60508
diff --git a/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00130/rgb.png b/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00130/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..d21d7f7eb68e764b3fad9295f3c75e91189a85a6
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00130/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ca3dd1845915d81a980a3e875c7d9485be145662896f37841b212c1ccc9e684b
+size 1679161
diff --git a/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00133/debug.png b/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00133/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..c8ff304ebe6111aa2d974a6d947640bbc4aa76ce
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00133/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d16711b7e43eabb1d7ce6090817cda031814fc18c44407c397dd67953533cb59
+size 1712807
diff --git a/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00133/depth.npy b/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00133/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..6e1e49b9c2f339571dc1ae20bd2c2228fd3b4ff0
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00133/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4db329edfe6dcb0138970d6457cc0d02735f4af7c458332f9811dd4b8a5edea4
+size 3686528
diff --git a/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00133/instance.png b/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00133/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..e44a41d07db341ae3ce500861858f7b52d28bab6
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00133/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1a847a9e8a1d178801b6d656043c99f2c93299d56d12efafd5293ddf17a15d3a
+size 60479
diff --git a/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00133/rgb.png b/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00133/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..039d0de766ac7729429629fe4ecb01dd87b8e08e
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00133/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7a37f931e44454c7976f7315831846f920139095337a8685df5d4965d48ec4a7
+size 1697798
diff --git a/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00156/debug.png b/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00156/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..ee58c7efe76ab6ca472f104686151dd3a303ac36
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00156/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:45841a2cd3acb98739b71fb7f8bc58b1ca16344a81e8b601890c062b8567b305
+size 1717571
diff --git a/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00156/depth.npy b/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00156/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..cc12bdea14311067db6aafb266bbf979bba39e8a
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00156/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:78fb5af6ea401a150723a6aa87eb2e99977f01406a679ad01248dc503dcd82a7
+size 3686528
diff --git a/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00156/instance.png b/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00156/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..736047493bb98ea3ea7fdf809db4d157637f5b6a
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00156/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bab9a4f797d818cb7e17d20671cbded652fab0430bdb311811f3f993203c0795
+size 60344
diff --git a/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00156/rgb.png b/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00156/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..fab65f6b289d6ff10726bee5a1bbec3c0ffb1e25
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00156/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4499ccd8f1cd1ebe67efad63d732881e3c92d75ee54d2c467349f44b21adaf81
+size 1698922
diff --git a/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00158/debug.png b/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00158/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..8ff860e54007a117d665c2d7c888172004975840
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00158/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c4ca23bf01c40e1c190401489a14d1b1c205679c23e6f362370327fc3cfb2040
+size 1714038
diff --git a/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00158/depth.npy b/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00158/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..14297922d709f67fff2cdac68a42f64f1ff59f58
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00158/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:310a60b68af7f6856d4f8baa838412f26fe24423af875fd3b637443d98cbc2dd
+size 3686528
diff --git a/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00158/instance.png b/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00158/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..1ad90ef27a4f002d7ea0450e0f768ef7f0ca83ef
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00158/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e92d31d6e18d2c5e9a651c8aa9b0bc857a55de37a3abbb4b30833a7c346775a7
+size 62457
diff --git a/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00158/rgb.png b/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00158/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..2661880e5c0f5f44c4e93420cae8bdc813089b35
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00158/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:be02293b002b133d6e9c30972370c31284fd8bfcb18e25784fb5a3a00a226532
+size 1699922
diff --git a/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00163/debug.png b/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00163/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..99284bf8c3f1a0cb92cad6d189b93d2a628ee9c8
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00163/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:80747d0ddc09e4f040949bc167c87c11d2b2252fce7a2348f6ca9fae3e1ac5c6
+size 1714633
diff --git a/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00163/depth.npy b/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00163/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..2dbc0b647061fabd66f13af65029263895146712
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00163/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5907508432aa9a85b54a9baecbfbadadd56466ab0a0405845ac7c6c02fedf335
+size 3686528
diff --git a/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00163/instance.png b/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00163/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..69bed19b1dd1239cee8720e8e47b7db8a39856a7
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00163/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:073721d45839020f2a9ee18804061605957bdfc9ee062c08f9a7a5a1d02182cf
+size 70100
diff --git a/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00163/rgb.png b/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00163/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..4a523507329450f337f3ea453ebf89f1c8ddf37b
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00163/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d9f9f658ab2dc65270858ccdae0e95aac4c5cbc0875cc8df6a8761d26b71b316
+size 1693372
diff --git a/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00175/debug.png b/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00175/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..d4217dc308792a604b704191e2e526948f3d9a59
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00175/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d9821bf087dc19ce225c24df40db72e2f6b7d7e2f3ec6073a6eeaf4835162315
+size 1711046
diff --git a/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00175/depth.npy b/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00175/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..baf6af44ddd8895b9419a33aabc191f357d19f50
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00175/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:71734f235b07fbd6e9bcde7d64364879dbacb6a10bdb7fe6303688c75725cc1e
+size 3686528
diff --git a/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00175/instance.png b/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00175/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..183a18c88da51f874d2609458b55fdc45ef4965f
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00175/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7ed3455ee728844f239aa631d3437124115a6f5c8f3c810fd552a592bc7ce401
+size 81181
diff --git a/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00175/rgb.png b/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00175/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..b486842cc94c3345ac942ba3140c55a1b50322d9
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00175/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c3ba8e8d4eaeb7835dbe5a56991925687403140b77522d046ba74e52045935f0
+size 1688338
diff --git a/data_v7/Town03_Opt/trajectory_1777245997/ORI/perturbation_visualization.png b/data_v7/Town03_Opt/trajectory_1777245997/ORI/perturbation_visualization.png
new file mode 100644
index 0000000000000000000000000000000000000000..dfaa46112796b87f2e44f7fb782e3df1a0b4aa26
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777245997/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/Town03_Opt/trajectory_1777245997/ORI/trajectory.json b/data_v7/Town03_Opt/trajectory_1777245997/ORI/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..e5239703f15d86d93def5651ea359f80b22e54f4
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777245997/ORI/trajectory.json
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f60f2bcc9991e7c474bbb6e00d35c36fcf72c33baafb07adc10cc71f1a4a14ef
+size 12266958
diff --git a/data_v7/Town03_Opt/trajectory_1777245997/aug_001/perturbation_visualization.png b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/perturbation_visualization.png
new file mode 100644
index 0000000000000000000000000000000000000000..f7d9256e0e19a228abf2abd29f063676c80918de
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/perturbation_visualization.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:afba879b89dd4ba74b747c411a11f703f120655ea814a3cdc4a8582da0ab66ff
+size 222646
diff --git a/data_v7/Town03_Opt/trajectory_1777245997/aug_001/trajectory.json b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..1c35c515c7aef870af8683f7a3143eff3d735c6c
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/trajectory.json
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aea90346f600939b99c3a27f2821f3b253f0b938b0668e39f451102aab24bab5
+size 12238214
diff --git a/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00020/debug.png b/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00020/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..1cd3fca1d46271376c2cc3e07be11ec124c1f1f4
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00020/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4b46802e8d03d9930c390310736c92eeb515b8b6d18f3f4cced23a547de0259f
+size 1745431
diff --git a/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00020/depth.npy b/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00020/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..74a100d50d17d053b8e2aad884b94a179689c8ae
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00020/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e43715ac5c72188cb26311e4dc6a76ecc88804770c1c17643339de87ef228a25
+size 3686528
diff --git a/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00020/instance.png b/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00020/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..d10467c43d4e7315632ce8d39f42b85d35b1cbe0
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00020/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ec200b359655ddafadbf5adc5fc7c11bc3d6ba8721428a44d4da16dc6805823e
+size 55833
diff --git a/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00020/rgb.png b/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00020/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..eff0ced5a24f497017648834f1afb6525c16d810
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00020/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d66cb08ae12737525fae0b51f263a62206a01b628be6ddcb7fd4ad204f8ace36
+size 1628168
diff --git a/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00023/debug.png b/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00023/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..5c30d24f5e4169a51186d1a962e11ad3c16882cd
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00023/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:83d5c079ec37b099e484e32a66c5569f9ff4df07d0def15054f3ff21e63b28f9
+size 1745314
diff --git a/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00023/depth.npy b/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00023/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..726808f762eb8ec09be19392012d41b0674a8602
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00023/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3f9334e4476b0af985eb5918c6fa0e54bf95db78367e825c3cae7da04569db2e
+size 3686528
diff --git a/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00023/instance.png b/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00023/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..76cabe1a130afea52e7bc6a5a63fcd5b474c3afb
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00023/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7f5c4e41cc515bb049aeb586cb3ae9de0a26413a0568ff9b84d3e24b5bb5637f
+size 66852
diff --git a/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00023/rgb.png b/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00023/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..237636c974d11cbe3c30c4299a9f662ee70e9500
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00023/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d44fbcf432ee707344a35f73d0aebbc1ccfcbf5d230b3ef64b833fa04673b6b1
+size 1629379
diff --git a/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00026/debug.png b/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00026/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..dfb291f5fe69ca08eb0cddad901990c813b8cdc5
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00026/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:153f67cdd8bb59585a3a2f8b9e18d1418b10fbd68d0582cf56bc1a5bcb323b58
+size 1724827
diff --git a/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00026/depth.npy b/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00026/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..6774e36885da32e729b4a567e46ed21ffdb185ca
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00026/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:49ffcb8f9c237aa3f95247c61d7a27042cdd62e9ab7ff04a51644b22d0c36cd0
+size 3686528
diff --git a/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00026/instance.png b/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00026/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..0806c65b8395fdd6a1a77dfc507a651c0fb956fc
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00026/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:efb021a67ad7a72af7adb86496689e239bee24b729c54fc11423324bcf22f0a5
+size 52049
diff --git a/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00026/rgb.png b/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00026/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..ee53974a87e4227a652031abd7047bf43014ede4
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00026/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:490c0df8f41198c3d2b8a2efe75d23b1f2fa190ae79187717fb43cb6649c1f22
+size 1624429
diff --git a/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00045/debug.png b/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00045/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..3c6b8d3464df8d30c8ac8409ddbc10446091557d
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00045/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8016dbc4ffa684cd2aac38c7fba5ac7fc417601ebb8142dcf7036806b257d9ff
+size 1748001
diff --git a/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00045/depth.npy b/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00045/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..7f329e3316c7da711333c5b5f91054991933f60f
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00045/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:346c186ac824c6641ec9fbdd3fdbe4e30ebe0ca8f40dbd3f31db170532841b00
+size 3686528
diff --git a/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00045/instance.png b/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00045/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..829368d2088bde1cc105c159c954b2a80cc6efa0
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00045/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:408006b59616d9b467441b9af48bfa995da318588a4cc9bb916c4981932b482d
+size 62866
diff --git a/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00045/rgb.png b/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00045/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..6cc1e520567e227fce1a438b97ed2fe5d9acf9f0
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00045/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fe4d57ae03e4d08873411b9fb1f2c0d33a37d82db5c4ec2499e48c645b4ece35
+size 1688537
diff --git a/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00048/debug.png b/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00048/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..6a57c1c2892dad4c589fbb4a5be011034d7a467d
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00048/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1449bcdcab9f9294652b6fd863abfffa7ed432ddadf493dc297f6ee1659cf2d7
+size 1707368
diff --git a/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00048/depth.npy b/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00048/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..c5a8d244c4e4174c8be9e68930aacbc4dc366a58
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00048/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4089c5479f5219489bcc743839174f2c96d200902e028e8a9b0c496539ec80ca
+size 3686528
diff --git a/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00048/instance.png b/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00048/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..d8932b3dd8129784f4a06909db4407f3dd4fda4b
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00048/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:24973e8426e1b315d72b3fa1f811f0b19249be4ba7fe66e0a39845b4da859953
+size 72641
diff --git a/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00048/rgb.png b/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00048/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..9bca8aaf52213774ad8ec9c90f068131dfc05204
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00048/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4a4f391277891c9c6636cfec72cdc92f8f1400f24c5bd16557fea5b5a77b68dc
+size 1637791
diff --git a/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00052/debug.png b/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00052/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..29d03ceecd66fba4ef7f8ef4aa74654c822381b7
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00052/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5ce40b39b783bd1a3c3983e3bd07347cfd5bd86742dfb006e89c4f1916f4db7e
+size 1730742
diff --git a/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00052/depth.npy b/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00052/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..e5cc991213986cb50d6dba2885f08e78108edfac
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00052/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6375f40eeff78795934433440187795f01721e1809cc83a5d178e4f658e4e4db
+size 3686528
diff --git a/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00052/instance.png b/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00052/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..5b8fc8e4bae71a1351b9c423158f5308531dddd9
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00052/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8883fa51e088b86a527bb39ab4ec891265afeff6a99bf3dbeac63e50d0d67c59
+size 64632
diff --git a/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00052/rgb.png b/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00052/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..00555c3a7f4b51510730bdfac22ce2ce555c135d
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00052/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:91cbd096fa7dd476154d82a77b4989a42e8feb7c97d8e1bd3f717a5b676117ab
+size 1672304
diff --git a/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00094/debug.png b/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00094/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..40be819f3df99f0a391f39683c30a28df44edcc0
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00094/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8349130b7bacb04ff09ee6dea21fa4d0e8f74427adc23dd5999eb6d123c8df96
+size 1691911
diff --git a/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00094/depth.npy b/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00094/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..6471742ea29f2dad588f677dc0cc7d88d9f9dc3a
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00094/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e95e40d70c903d8b77a41796414fb8dbd3eb38c849db04d7dad0b1560fb0ac4a
+size 3686528
diff --git a/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00094/instance.png b/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00094/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..354207038ea0897b4f0a2cb43597d90b8d78e3cd
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00094/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:19064c4860aee7f88c8efc2abf75b22e2bb82908c8f95d3d032195495b394e35
+size 75639
diff --git a/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00094/rgb.png b/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00094/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..42f52d42675a8ee8141927b8368b5c6de7d1dcad
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00094/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cb004382f68c1bf4cd54e96025f5568891a2c15550ef2642dfe39eec59442534
+size 1628464
diff --git a/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00107/debug.png b/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00107/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..13d2b12f0ff155332e260c03e5a854005d12ce12
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00107/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:91f6a6aee3123a1fa0444eeefd530029fff271ec347621586ddad3db9f166ec6
+size 1733662
diff --git a/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00107/depth.npy b/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00107/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..fc4171fbe49a7f7ae8134e3b71cd84d63fcaa5a9
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00107/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d32b99f567ba34c36766d8a8e63e07e19bea129d070e353c801facbbe36e8e36
+size 3686528
diff --git a/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00107/instance.png b/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00107/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..7133c262dddced80eafbefecf36359736c95d06c
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00107/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:45f3a5ef1bcbc20e7bae198e479107eb9801749f30cb94e4ae76c5bbb8c24302
+size 67350
diff --git a/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00107/rgb.png b/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00107/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..b6869a230f2f5aeb11bfd7f0d51992d0d0c18f71
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00107/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0943338a7ef2d980d7698d37939e62cbf9e16f9eae06fdc9312abde39d4700fb
+size 1679880
diff --git a/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00117/debug.png b/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00117/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..21a9926867b57ec7ead8e94231fae56199d36f59
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00117/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5c3de765af52172ca2a63bf8f99f74f0c6364d567e1a54368b77e1a9eb403453
+size 1744705
diff --git a/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00117/depth.npy b/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00117/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..2e0030dbd8fdf9345d4dd1f47a82636f9e048b8d
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00117/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:76dd9d9db5973748983f5aacc18d451ee991778fdba267e7f8e336b2fdbdf339
+size 3686528
diff --git a/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00117/instance.png b/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00117/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..d28e9440b2b670f84b9558045d8b05d821951233
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00117/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:66689eb6fa70b60b45b22170449376920cb8d7c7534c8db6bdd87503aa9216ea
+size 65512
diff --git a/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00117/rgb.png b/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00117/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..344505777a93a5a967fa1878fd0b11e1beaf62c1
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00117/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b2795d01d898d4055b9bce4eb957d83e33ef489352c9ec1275687b5c6dc1f040
+size 1718383