diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00000/debug.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00000/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..015da124bc1450a7f1794907a6920aa448837f8d
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00000/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f2cc9a65a8e2526b7fc2fc8086dd48333304376eab3687af0ba679193a3f5914
+size 1542214
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00000/depth.npy b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00000/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..d15686321972443c3c9965a2f104a67688ec5a1f
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00000/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0b6086f06908d2e7c5be86b512106c99cf3a3d646c0a52f5e3b3487ba60ed080
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00000/instance.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00000/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..b94ea3c00f2f8f25ab1ec32b9a228493bf80b8fc
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00000/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8dc33ea255140600ce3f64666d2635a1c36d7d444c15ef284d6d2a1b4e8dde75
+size 39563
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00000/rgb.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00000/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..08549ea58d3ba00e8696cfbfc86a91853515f283
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00000/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bae98719dd9f6f0de2c464cc944931cea83c0aeeeb2f15dd56943133d9eb7fbc
+size 1489002
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00007/debug.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00007/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..155f0f00ab3dbf90b3bd28500a6eb3d829e722dc
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00007/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:72cf0bcf3a065a3c712846b9a5cfc77938f7bb701e66d3f7e96aa2c6f0b6d15b
+size 1562639
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00007/depth.npy b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00007/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..3473b15cf7edf9f20d7978bc96cf9b8a2c15ea0d
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00007/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:47aed65d5e021eff3584eff6b63d04806a9366a98402d6f5618079001e18a0b1
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00007/instance.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00007/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..ec53e4c56613dd9c2ffd7f0654a12e0055351c2a
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00007/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7e249296987543cb0ef4811849bc64c2aa29fcb824c8d752ddd09fea96fccd3b
+size 41413
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00007/rgb.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00007/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..8dc6ad1e67e76244e4dd7e8907513c8a82a9d07f
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00007/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6573996e5d53736256f8d408f836f74aedb3808ef68de78a77c3a6195d6d7d42
+size 1515712
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00014/instance.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00014/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..e8004730b4c5bd8c9a0f89a2efb5252fb02e550c
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00014/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:939a7ad9178a2cbfe15db32665ccbde6973ab140fb8367af691d129ab29d8fc2
+size 46474
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00024/debug.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00024/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..b53d5b6f3468d7f113e63f955f9b4163e33d4742
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00024/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:96ae156eeb65a445bc6cf5cc5fb158f232cc92276c0fb5e4d8f0f4c5f5231ce8
+size 1643651
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00024/depth.npy b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00024/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..dd678daeb0a0b2cd057f4671624ebc5d7c3f9c11
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00024/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:585cc0e7c49a1d9847ff1a7b5edaac2e597dcca5146f93895c66f6c3045ff436
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00024/instance.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00024/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..f5f34a394b73baadbb2d8c4a9669363f90975d6d
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00024/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ad8792392048d9c7db326298a4eb33c98206094793a6b77bd4efbd10a37fcd7d
+size 51398
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00024/rgb.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00024/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..4549ac93a5d1be8d963f833ef34b85956f78837b
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00024/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:81ef721b18187502e0ad68f797d44cb1274fa96a83003ec13af834c50e1d7147
+size 1569159
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00028/debug.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00028/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..398deb7eda4f8ad26241546e18c0340b34f17ae2
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00028/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6721e4fdc8ea619d88801dc5112c69c291e598e24a034e9d952db57c4ce04172
+size 1644799
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00028/depth.npy b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00028/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..359f37c1ddbbe22aa7db6f225546659dc76579d1
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00028/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2d2280e1e3ab700613a56acd0ea94a514187c82541679deb5d4f0fff61ca7b47
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00028/instance.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00028/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..9a36402b6a86ef5ecc6d3014823d4abd656686b5
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00028/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:db8434d65114cdff2c7e0a824fba28d54926d6649ed427728c05d4c7f3967dc9
+size 52352
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00028/rgb.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00028/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..aed0da2542f1782b628b62d9ece1577eb457a583
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00028/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:483bcaf46ff8666cd0171d7b897b197e7d04ea6e23770ef20f27371d52b78022
+size 1563954
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00035/debug.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00035/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..9848ca7cff385f0b7f89587eb7826af2e08862ff
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00035/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e87edf6b6f38a88c8e2f5aa7d65c47f93909c5a74904ccd82fd266e282ab3a22
+size 1652533
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00035/depth.npy b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00035/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..8650e56e000388b0cde3d8c6dd244a9ef517f588
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00035/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dc0b8fe2d1101e8ef7b04334dbd7d2a7dccf02162d8c24f448716062b98a5501
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00035/instance.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00035/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..84de750ef71f273cf1ce9551313c44b2d5806ad9
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00035/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3280173e86af5ce22a7136e3535ff04f678da7b8d3dd61509563b7371d188f66
+size 56458
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00035/rgb.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00035/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..82322e24730fcea6add9d1e99de05e581d404718
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00035/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b2a028c68733fe978343949a193a331a83d1ce21dc17467e5995091527b615b1
+size 1558365
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00040/debug.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00040/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..d3ab2f7ef5f7835259d8bf23401edb1937c971db
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00040/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:300fde006f6b5ae4a45772a5a3aa254339a431b6026f9d00124a111c8725993f
+size 1669297
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00040/depth.npy b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00040/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..df359b902f68b81feffd284846f5c4e8a524b0dd
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00040/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:69a26ad44cb02fb1737aecfac415e024320e1eed3e95d88d30b3bad4642111de
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00040/instance.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00040/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..ada350db8700a154a930ecb279b6a739c43e7d69
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00040/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cabbf980d0f57622d1abb6e7e315c8ec27c4ca1988d57c8edac82e973643bdfb
+size 59346
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00040/rgb.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00040/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..665bb4a8bf7bf2229bc5c01064d61fd1c96c3825
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00040/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b0253cef395802b2fc2b51df4eaed90413c3554eb8b90f65777666782e606fdb
+size 1570974
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00044/debug.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00044/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..a175714979d9b80a968ffaf7a5186ebd75b54fcc
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00044/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:772ce2e6f5272f27eabb39d2ca4c64993bd800b69ae5e6cba0f2e67a63e4e7cc
+size 1655947
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00044/depth.npy b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00044/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..c4fd98529986fa2add693112752acbe127bb4f11
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00044/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:63819da947c280c3642e2d44a13fc3b658eb182d62db8923565633cc2c95c4e4
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00044/instance.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00044/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..a5d52aa0696c1553c83ad23cfd7ca6d7a1705c3a
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00044/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ac947ba4df013347b22c51ee0e6ea01c247da7cb8e87ea0f6d5352844ff12feb
+size 59735
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00044/rgb.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00044/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..b25e2546cc8363e080790a068db5dc6b540a36ea
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00044/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:927260fc90cf70b168f25b43798639ec7cba74e2c94e03cd1d12f8fd5949692d
+size 1534599
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00054/debug.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00054/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..4958996ffac290deea142cf5ab29bd36965ca6be
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00054/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:35e010447e1340bdfcdd22fdf1da14fc0706b5c151083c727f7b7a155f7cc528
+size 1652652
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00054/depth.npy b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00054/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..38fee09467971998a7237e11238a3bcc457f852f
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00054/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:71f824c7bd81b2b44c07613bb65d0957d8e3528d2e8df840c656f84ee0ec26f9
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00054/instance.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00054/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..9a299977cb30fae28fbe4d2b6ee075c78c1c7f45
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00054/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:58081297aa085f54b07bbb6c3cc3e5ca48f5491fcde7179ef2da3b319b3821c6
+size 59816
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00054/rgb.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00054/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..371bc9384f81e2a9dbdb20da3b77eee2484f7e16
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00054/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fb5a2435c347ebf2b11f3166026aafe7606ab96aecf5ee4be1561460db52ab8c
+size 1497720
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00060/debug.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00060/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..0cd8847bdc52da557e554f6cf7b3d38076357198
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00060/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1dbfae422482d89f0cff4f03b6709d781c026f0b2275004a576dbe7a9113b4a2
+size 1618996
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00060/depth.npy b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00060/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..2cf40c222fe718b9a3952f98952470e041ce94b9
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00060/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8eadd3e0df3260c79cd67715f59aa60cb9dd5435f31ad8ede9cd7154c4daaea7
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00060/instance.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00060/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..545a930a4e1f3863f1a74acbf0824b9746148b98
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00060/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:57a8d5918715d643677a5c07b63786b711b020e1435f1913661e249fc9cbd9b2
+size 58117
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00060/rgb.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00060/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..58dc542324400d5c8e8204683ef93b2ced2245ed
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00060/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7351c3d04d1ab608d9fb415e7cd23bd816ebb2cdefa0bb0c30f04fbd2052a578
+size 1466402
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00061/debug.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00061/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..888e2740c3ddc599549e3710cc097400e9634c48
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00061/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cf3f5354cce98d63c9fbe8ec33cfde262945632aefd268812586bf94762f38fd
+size 1625646
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00061/depth.npy b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00061/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..53d4be90e8189cdd5cbcdf4f7c6ab379af210eb8
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00061/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8a4e4e83adf10dcdc8bbba0bce8ddbd78b43b7dc204d44312cd6000641b5555a
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00061/instance.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00061/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..722c0772951dfd47310b572a163238e00e84600f
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00061/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ee60879fd7ba5ab9e3138bad045fe43ba930eb15dc2afeca9bf683e3d5b8536f
+size 58171
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00061/rgb.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00061/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..6c7c682e92f662a93b688bf3c50932f3fab7d9de
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00061/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:53202888959102b422a488d54256d4e1da89cab915c06642db21db3a02f9d445
+size 1466029
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00065/debug.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00065/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..696ca0542b041a3f9c820ec7de11e9f093ff4f74
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00065/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0833033f9896c90104b234c88566e6fc75d364ddcfd169149d5e64ad3859a3db
+size 1605709
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00065/depth.npy b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00065/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..eda29294dd9730611414e8add5a84172fe393ff9
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00065/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7f40015bd6d9229497ff47ef452a452cedfad8ad5b0801d6ad9610a23e70543c
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00065/instance.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00065/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..6cc797992a77c06d6262fb758e5a1f9f9c609399
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00065/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d1442d4955c560cd2d2d871917662e8c9f68757a151630ab206243b676a0df78
+size 56987
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00065/rgb.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00065/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..a67e7533fef1855dd2b9b3cc74a403e04f2a0240
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00065/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:28fd35fb699674a06b6d5bf8c937f6ae01320a1b7684c393f0c2732bdabae64a
+size 1465367
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00068/debug.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00068/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..28045b72c6d0a423c1348c5c6cabfd3428d8d82a
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00068/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:25bb95b51dd62fd8c2c4fa1222a2e7b61b85babef1441219e073ea477827d96b
+size 1595133
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00068/depth.npy b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00068/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..e166f3bcd65ce66733661032a558dbf6a86988f1
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00068/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ed9671a937811e5b3f512ddf3ce4d5186cf2a70b95f9fb58086b585bf2392032
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00068/instance.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00068/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..ba550fd9a99a53582eb5466e75a085c00526cc58
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00068/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fadcc736c1ae8192f97a94512d28223c44d2b968590787c834c59d90c308ce08
+size 56671
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00068/rgb.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00068/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..26cdb693589bee58cdf39a1b3e18aa8556e03105
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00068/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:06606e9a2f78eb1c135490ee8e9dc9fe53ead1f9c56328267b66492b88d8cfa4
+size 1465688
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00070/debug.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00070/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..9bbea4f64946e26baf12060d755642d55e3ea1f6
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00070/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:361e3dc5f0e887c1c56145a9589c4089514fe72bf1ff7d8ff6b44269c0213b80
+size 1602181
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00070/depth.npy b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00070/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..96726e1ea3655de3bbc44b19a94dcc0c7546250c
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00070/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d36af0c26d8658c2ea9ad7c153b24c8efeef3aeb4aee4d9b914087a790052269
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00070/instance.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00070/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..dd961f8e3ecc1b81ee06c5dd5bb5f5ec0bc9d58e
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00070/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4815ea0ed852e674efb61a1f8300bd692d11f5d32c61e3e30e2a2ecdf99b99bf
+size 56128
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00070/rgb.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00070/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..686b684f0f2182ba0c89858c9889f51cb76e334d
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00070/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f89b27116b505a0f92ee4c6005dbc253afd8d3d4a6981e40bdd2c3d10f725f45
+size 1476875
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00071/debug.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00071/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..707eb5607d426084045bf02497f69814cb20aaa4
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00071/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:55b0f08e22fcfb8ea8858df69dd4c9da69f59484df9b78ce0d10c6053599e4b6
+size 1598284
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00071/depth.npy b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00071/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..51598eb6483813291123a787434a159af620805a
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00071/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:06c67b03b3b72e554990b799b8f90901d6bc2d35f4432041bae865ea05599e33
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00071/instance.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00071/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..78e2dfc4ea17ab4317352341412bfed18643d9c9
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00071/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bf315c7a8f6c2813d8476be617f568bb75f3c1766aef72903b987b78e35eadb2
+size 53811
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00071/rgb.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00071/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..74599794036b6a76fa5d988df0b6d1fe249e0c79
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00071/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f74ea2795a19777d4215d55723dbf6fbe0da4886c61808d5ac58ba40e26e6b6c
+size 1471937
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00075/debug.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00075/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..8ab835056ad221e78f9a85ca815538dff5cdc41f
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00075/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:61673d0620257424bafd8e32ff72f20cd9a16672a623c588eeef58ddae2e4b0d
+size 1582905
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00075/depth.npy b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00075/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..f269ea44ca7a7c5c4ff9443236a3769aa0fb28f0
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00075/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2bd17b00cb61afde87d59d7f3a447c2fe115559e16de75c44f701c52cbc25618
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00075/instance.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00075/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..6121cf80b1b91e1f255889889db96a49db9c9bc4
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00075/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d5dd1b9bc264742368112023761a161dbcd3a23a7ed5b9fd634c2fb8804b777c
+size 51156
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00075/rgb.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00075/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..f7943f0ccb8a4b3af71c23ea2f560556ecd5d249
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00075/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:86e0080dd6c79497e753dd5ec3f6a654e09a38d14e1eb50669c5d70141b8d53d
+size 1460553
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00076/debug.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00076/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..fcac831b8d6c842a5a5ba298fbec53ae85d40ce9
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00076/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:193e918f10ea19cc79739560f808ad6a0cfc6295383724b2db43414edae2e447
+size 1588727
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00076/depth.npy b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00076/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..1d280a98bdc6e92584da10bcb1fe9a46bfb28035
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00076/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b431a81bcfed810c5d0cfa1564f39b5aeebf5e742d316a2f91bd3d1cdae34d7b
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00076/instance.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00076/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..1d1d981f26602d8395dcf04333b516b7517c0a8d
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00076/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cbbae36cf4010b52177e53896672ccae3826db638abfd663787e51fe8234903b
+size 51204
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00076/rgb.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00076/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..b55b54920395a13bfe5402919bc88d750b7eee92
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00076/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f960b69e332fa8157997e6fb9ccb37055535fa255309171486c6c2e2d4ab4857
+size 1460466
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00080/debug.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00080/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..fd0570f8447058a4abfb3b4dda3edc7bdfbfb0db
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00080/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:45c5402659ff53e7a0c4b0b3d168d9c2bba2ac93d2b03d9e3fbf79a2f5984197
+size 1565612
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00080/depth.npy b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00080/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..8253c158e32b5364591f5281266adcc1d5963a4a
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00080/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:275fe2570fce4136356d32dad28ad55f27137a83682d2e2772463aa8cf30b57a
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00080/instance.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00080/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..e6e10428b8030177d529a13cc2bcffd02692fb55
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00080/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c01fa975fb4b9dbe07377c01cb54f0a86280019b1db80d5bd482387a87898f25
+size 49683
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00080/rgb.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00080/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..6e9a1ffb9696f8f9f96d7434f15e18ee41ac6d08
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00080/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:69112029eb2e97d3e134514eaaadcd0fab6b4759dcbb39c05e20f1094817476b
+size 1447405
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00081/debug.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00081/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..d72dce4562b2aaedbd34568ade678b0d76f6731c
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00081/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:093b4c570bb44ddb8d90bffa8f87ce4f3646f07ea5e1e04a846561cdcd88e292
+size 1574310
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00081/depth.npy b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00081/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..e137e55218ca0d6b43f593020ccb5dce8e54f95e
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00081/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e25a13888c02ca5435229ad69b02a646fe524c21d7a7720396b729f4d3f277b4
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00081/instance.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00081/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..a35c816ad96fdc27089189f69d91b7c5feb4775d
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00081/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5f89313b0e0a17a7711bc8192fc5b2729797f7304223d4dd842c73487d541781
+size 50863
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00081/rgb.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00081/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..bba65c6203618543851087f862f64c0bd7c0b45c
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00081/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ea338097916867e09bb3ccf04131378f8d60dabc265e3c6854ced7b2c9eda2f0
+size 1439425
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00092/debug.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00092/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..a4ab41656d4876e048b4a60dd46ad7de7ea761d2
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00092/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7d6350c9c2b745e29e0c19bf90b413a29db7706e34d858fe84b97090da18f7d9
+size 1587766
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00092/depth.npy b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00092/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..23c342d92f8b1363bbd0d79981d57196c05f4282
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00092/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:405f3f14e7e9fa46992badec354db6408674941cfe5a9cd09cd56e2d3d005b57
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00092/instance.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00092/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..c94b0b7537a7d9db335721620963fad3e546747a
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00092/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aef45ad4be0181e73fc35ef093fcc0148743525bb08b8546cb97924319cac839
+size 42920
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00092/rgb.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00092/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..75dbc111d2a15211274c0dc5ba69d90c02203dcf
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00092/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:90374b83b56073a4dc66cb40a31f305d23e5471f20b1202e954394bfa6af5b8f
+size 1457997
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00095/debug.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00095/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..c2f9c85c99e20caee0c61db5532b92f2566b703d
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00095/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4056370fe0bdaac125d9966f9f7ed722a8a6622abf5ddf708ac3df6f0a6e34cc
+size 1600980
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00095/depth.npy b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00095/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..10e286b81ebe887d8cc3cd9cdd5f62ad36ad2f12
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00095/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eb463fcd9e8897f50bf69702f5151460850db76a8d1773405065cb1d5ead0959
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00095/instance.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00095/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..bce9b4a9a6bfbaa1d4008d72726badda85c1228b
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00095/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4a2f441a58ed3641b1ac1eb1ab6d86abf3c18ea503617272d3fb4fdcf5124c30
+size 41662
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00095/rgb.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00095/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..0090db12278ae5dc9d36e8a3623a47ad85f05d4e
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00095/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:df61d773fe4251063507a1bc5753599787ca6c94f80d101c3aef6930582f132f
+size 1456358
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00100/debug.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00100/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..c51ee5f185fa1082363f500a48285c52d7f49456
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00100/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:20d5efb66c5bd9d303abc7fb700c3d532ad83021fb5e362ae1a258e3ed8a32f0
+size 1619670
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00100/depth.npy b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00100/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..995822561ef34edcf2010b7bbe43b626bfaddbdc
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00100/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:078746b1ee4590696f5acee4ad23f71f43fbb66f35d5c4635d2047bd5f13c893
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00100/instance.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00100/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..51318e96cd974939eb24c423d58e983d902d81d7
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00100/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d4bd7f74866a1c6f94c978bba6d813c51560c340cb1cedc3cde3d8fa00d038eb
+size 42728
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00100/rgb.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00100/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..f0d18d1668ecb45be16f18085c09583c4e00f63b
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00100/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:09a131438c74fbb3488d858ae14e45ab4d170e97d6a09ce2412cfaa172653ceb
+size 1460841
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00119/debug.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00119/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..2f840153ccd02455137f55409c72118c402f617b
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00119/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:668d2c6550a97cdf2968b5f13594f3ad437cbb17aef4571c91aff2305ce7d24a
+size 1600558
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00119/depth.npy b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00119/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..0efb32bae1cba344a2ad352163f28c6a459508fb
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00119/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4b4a428b08029e92aeb8f1c0c87f7c08f7d5c61e9a8b2987c329a6eedfb5bd7b
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00119/instance.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00119/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..fc43300fce89cb1d246a7fb369e9e7e9792e726f
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00119/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:66aacd1eba3e3295e51d114d7bd50c4125a683b289ee7db1985240cb1488c345
+size 50435
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00119/rgb.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00119/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..f5524bba36ba6fc61d60a808060300b61449f088
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00119/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:78fe049745ebb7104f8a2b63d60961f5efc6cd01d4ac5d8b774e288146db19b4
+size 1483512
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00127/debug.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00127/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..d85eb39ec9851faab9433502bb437c4d2d98f60f
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00127/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:94a48cbf2453ba00a9ea064de2e555fbd6113b2213216eb47de97bca81b5c9c2
+size 1538679
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00127/depth.npy b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00127/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..fd291ce42f956192bfb43ec8c3bf5c8b92d043b5
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00127/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7414d86346beed8f106d4d2aef42ac35c3d70e2e28cdcebae912335bd6df6c9e
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00127/instance.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00127/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..a437caa03e3b2de9b0d42e54c484eb4cafc02e80
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00127/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f4fa70f87c7d2e95b8b383a01ad50abc1dd4cb1cc3762b2ade481cb9b18b1b0a
+size 44286
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00127/rgb.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00127/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..cf1422ba72d9c7c7323315fbdecb02dca3258ee8
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00127/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4d096c9d449004627a3824ccd715552be0d085b1d95dbce5270940e99425a2a1
+size 1490616
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00132/debug.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00132/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..61323ba32c68a7526a7b01b779ea81d3c8923313
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00132/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b7fa6d27f2070508c538a3019ecf1ad2c030131f2e9aa547f474392deba0cbf8
+size 1534596
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00132/depth.npy b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00132/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..0ab5ff9805d8a916cef545155a95439f9c8ffccf
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00132/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:902fb97d9d044f7e3e9acd72b900340b74fcac4f731f234167d108eef863f68c
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00132/instance.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00132/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..90e2797e77a992fa1d9d235a3d1e133d8ed2d624
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00132/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9239bc80d14c29de98555bd3944b0a0c88498c1da990ff40bb275c1c4fa5d4f9
+size 43228
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00132/rgb.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00132/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..4020e158dc84a293bc09256b8558fdb2a8accfb5
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00132/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3fb9172f882da6b7aeac59941aaec99e0561dd887842a818919fe819434e22d2
+size 1490656
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00134/debug.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00134/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..429d90629eeefec41e40e8d0ffa89e9238dd936d
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00134/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e76a446c9f210b1bc44482bae2952d090b0fca73161a9fcbf919a704e19511cd
+size 1536673
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00134/depth.npy b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00134/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..c83b3a0f0618e7dc1d88537977579a5764c16606
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00134/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7af6fe84152b7a30717068af42b6d702003edf46accadfef085ea69418341f53
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00134/instance.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00134/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..790edce1fbc140d4eb757c558f853d6fbfaf9507
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00134/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:db25f3f4b926f999ca98f1ac38c4d95d479e6e6e9726c729e569cd743da2436e
+size 42651
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00134/rgb.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00134/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..7aed4f6bb433519304803cfc8847f95c50842164
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00134/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c3e8466c95005de920e49fced49b16f376b2b97778c574e6ffd0264452e9634a
+size 1489903
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00138/debug.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00138/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..c0bfa64a6b6f1b77cef6643dd8cd7cad96678cd7
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00138/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:85073310bdb782f6b016a8c9c0f27b5083e7ce53f6223c7320a3aebfce7601aa
+size 1527435
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00138/depth.npy b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00138/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..351d0a7daad0dbb336de1c97c782165367736faa
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00138/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0a0f99715c34ba2a9e93f152b715a5be480d641a0612a6734134238b26b14e7e
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00138/instance.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00138/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..0764ace4e1e51f5370a4b7ed09cb948ba817ca35
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00138/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:55acbfc32094e3d306d0154946837e5a639587902e73b85407952945ad3147e3
+size 41150
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00138/rgb.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00138/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..9b964dfbf4c5d388512006e4fb6a13d0f056b48e
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00138/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c372f82ef740d437aff56a7a50866815572d295c2967b33ed1e49801d2a51641
+size 1494084
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00149/debug.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00149/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..0243fd9d481bd6b484b8bf30f5003064e43a0df4
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00149/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a78d903a4c6f2ab7b4550a76654dcc6b76a97dadb3a1076405f8b6394ff029c6
+size 1530872
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00149/depth.npy b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00149/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..603e163345cfdca480c5b7fb752dd7b1f88abbeb
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00149/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5d446c5984f1a9eba3c81555dbea68ff01fb3a98bc892c14b7cd8d8443ddd4be
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00149/instance.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00149/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..08ad120a24081fe0eb1d24d9e4ee90dba49f68fb
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00149/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fe54a77ae6a87031e8601b1ce5995dd6ebe2458c889b13ff1b11bebbcad4c2e8
+size 40697
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00149/rgb.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00149/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..300af12020baf3719fc73d3b1380b70e950ae15e
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00149/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b0664422c3adeb064996c27456b10486e1f3c18f8c9a489fe71fbe2a9048d9d7
+size 1526475
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00150/debug.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00150/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..afdb7c0a8f0e39923c29dbf2b2daccabbf38f1b9
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00150/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:33a4c53b5423554c14601de986122b5f70eb4002d0286ad3cf4677d43edafe80
+size 1550570
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00150/depth.npy b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00150/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..9d6d25f8a8aed7fd6317667d228ecbd8741c57af
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00150/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e387bc5343206256c8ac23a119751921575f4d5185a1792ee0823c9e9452e95a
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00150/instance.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00150/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..65028ffb6f542aa0e19a8c8ab9f5f7ffe21208f7
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00150/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6c98591095c3f934af8dead4cd22580c0ecd54c0c35919032d71199487bab174
+size 40822
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00150/rgb.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00150/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..4624811329ad2ec51d102345e755e5a75cee6e0a
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00150/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c5b3edd28e2b5c60f63307f644b4621cc383f6573b6af5756c26e56cdc701f77
+size 1526387
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00155/debug.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00155/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..93537a22e4743d76a16649be239a2ec723faf8bb
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00155/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d55a477f7e3fcccb01df3666d6ae6bfd812edf18e20afaec6648bdccca07ac37
+size 1539215
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00155/depth.npy b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00155/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..0f096ff6f976a4947bf928e8e55340c577487a62
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00155/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6fa58fcb81e5f3444d9291d5ca92df65ca48373cc6368177bcf480bd7b14ea70
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00155/instance.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00155/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..2f6938129178832dc566b8ce7e538dfacbcfade5
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00155/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:59ab9d8733d12296b3dda164ff4ffb7162b5e6dc7354ec7d705f7657b96d03ed
+size 41955
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00155/rgb.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00155/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..692fc5fb2b15fc59faa0383ea4ab1d9bc142b102
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00155/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4b5976a16444f6c81b4016bc27d2a3cf49a18db21db2c5edeb1d15cdbf21a56d
+size 1536301
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00157/debug.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00157/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..c3d79ddf638a5bbb1f0a9da8217787a6be65ea98
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00157/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5e6594f6194c7f176772d66e3a04d7873f40be982cdf1f1796e4562794ba41aa
+size 1559070
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00157/depth.npy b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00157/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..2983faf79086ec553c4833df8ae7c725d0a68855
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00157/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d8711cee3b5f55dbc5e72b2ac88f4dd916d0d1d2a5a6a48736258988d1389a04
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00157/instance.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00157/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..661812416692d96e37a1ef23ad2c29b6f154c028
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00157/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e8d595c2c8f49ab3614fc81040ecafa97e03116226c742d2a90a517444529669
+size 42954
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00157/rgb.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00157/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..fd2e5c45a8dded0e7f9e71aa635c88eb1c7c46f0
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00157/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dbcdc46900ccc89be63f28ae7488acfe28654725088bc1e13919017ddc52cf00
+size 1538843
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00160/debug.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00160/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..04e03930e94ae3c9f9fea8825b2d2945ded414eb
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00160/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6bdef1fbb6c923cf794cd0b04bb67979b2bd8ed099947f6873de05ff958e5011
+size 1569294
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00160/depth.npy b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00160/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..239da5f8afdd9e03681a9eedc5b5aac64d16a623
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00160/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d38ef1457fe3cbe0d1c4bcea75a30e2184dc8c01eff431c5f5c383de0d8989e8
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00160/instance.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00160/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..4b62bdf80a1e098be21b2fd6e7aa557098327119
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00160/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:32c594372d07c261e6f24017be59747afec090deef69de99eebfd4f169dff6a0
+size 43457
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00160/rgb.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00160/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..7ea76d113f6b50abae099b45957b4c089103b9ee
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00160/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:29a6885456a3ccf2be6c5ad04d2605f02989828bb1f916dc0d70527602437993
+size 1547363
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00165/debug.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00165/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..48364d7844a4a8d9b5413a4138b604d8203974da
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00165/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ce8a2677ad5674d59788db2c5c27b6f64b0afd5069fa824c8b162dbfc2498540
+size 1578633
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00165/depth.npy b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00165/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..a9fc3780b4552c0f7aec4a78c556b8c4c7c180db
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00165/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fddcea84d371a9fce905470eba1ca9a5acf53793e98bb1ece96ee783c73e7df7
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00165/instance.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00165/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..5950348692b2deceaebfe50609ce78e8ce7228b0
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00165/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c7869e5e035a66a0f30f93718a53d80908dc77ef674e2f7d3eae6c44c8888e4a
+size 42255
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00165/rgb.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00165/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..2ad7aa2bde18fd3065031b34c0fd3f3c56a1b855
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00165/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c8fba23efa43968fe6572726e06aacde7596905e641563677f467da4f76d5d2f
+size 1542073
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00174/debug.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00174/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..1043e4cd314d0e0d0875b794ba8ff8da478e3b7c
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00174/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3424e03f73a5b8eed8923763e10d3e6347fbd4ab9aaf28fa1987ab9cdafe0ba3
+size 1558045
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00174/depth.npy b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00174/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..f552e0766f86b0c07e090a1eaeedabbc1375e7d0
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00174/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:050ee0533b41b1b11de04dcb26299743be940eb7871bae6580ab31b216b09458
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00174/instance.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00174/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..2e5c136d1bc6c6fbd97882fddf940e3aa044d48d
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00174/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2e5426a39a38dbfe721120d36acf48cf65260083c4986e3464c0ba03f3a8d4a8
+size 38408
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00174/rgb.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00174/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..411ac4f98614538562e9c6f982ba28143a9b91af
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00174/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e4f91d5fca33ada1c1080196648b60e9da062aa051b167d98abd3fae98b08886
+size 1552554
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00181/debug.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00181/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..8b6b8af06956a7df3b8953cfe1d47a0e434ddc99
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00181/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:82fad065b3334dfbac79af23223354007047e8c04d343920fc97f6545dfd1341
+size 1537544
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00181/depth.npy b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00181/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..8466d875d9ca444a7f0f15ffaa086bc441474e36
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00181/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ad227ee6731e3a2b4281cdf36c14772652898f291e1d4db6ed7fe8c084982a3d
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00181/instance.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00181/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..493fce577db8f12845555b6e6b09fa93532c28a5
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00181/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:80d95639f618774c5bb6b5961a12e3bd733242f4408f398134b187b1fce14dd9
+size 37706
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00181/rgb.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00181/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..1d1cf17db8cb2682517413602476e4bdb5b002b8
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00181/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:90fc3eb68ed1f65edee0483fb1437fa10259a62c35be4ee0db7351587e7e5f23
+size 1540092
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00183/debug.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00183/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..dda422f1ead8b7216b9925bbdaa89818162688df
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00183/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b05eb950d58f4c64ffe7ebc07a970566ae714def3618d311b8b6cd37eefe85a0
+size 1550351
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00183/depth.npy b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00183/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..6722cf7f2b93c6303bd1930451563d6a356f0c7e
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00183/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6dfa3a3996d259946683dabd8eb9efc7285d3a98eaab2cbc568f75f97d6629e1
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00183/instance.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00183/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..824cea6fbdeb4b1fa9fc3b9e353808c0135a3aab
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00183/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f3545d43c1ec24d9644deac724aeef40ea7aa967ad9c17f04443e17f5feffd91
+size 37422
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00183/rgb.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00183/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..8ddb624f6eb597987af2056d1b1a17b7b0479c18
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00183/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ba2d9533ebdd7bd3ed00a986e997952bc5d0fd90ee82c0f56ef4c275610eb044
+size 1548142
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00184/debug.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00184/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..bd913789557458fedea7ab385a96396d37eb6b95
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00184/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b4cf58890d82faebce57b7cb979c38d7450475969cb42369ef3286f628a54aa2
+size 1555876
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00184/depth.npy b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00184/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..6715c025ad39c467103c7d85f22095b963fc0401
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00184/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4ade7c73a1515403eff7b0a821f67556c9a5300587c2fe47bc74eb845c42e4f2
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00184/instance.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00184/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..53f9f4a1e420904a2bc2ed52781752fa5c732990
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00184/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d6d5d530a71988888ecf7a16455288fc0e0fc0098991a8cde7fe6f9bd87b7174
+size 37312
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00184/rgb.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00184/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..ecd44bb46c7367f7cb797a837c02c38878140cff
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00184/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4d79f040c6d64b58e3cab7bd44d45b4860a4f85b706b39c602e1249b7a650104
+size 1542326
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00189/debug.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00189/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..330594c3be9af6c6fedd689decbae4c5f0a16069
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00189/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e4b3804c70b40684d4feefa0e26535f3559cc0b72bdd70377f4470da2b8dff3c
+size 1559611
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00189/depth.npy b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00189/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..c545c2aa6ec33390467ec62f412f6d3cb30c112f
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00189/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fb65130c98b490e1ff766b60e005d80b434010abd9e36a378820b3067cd42621
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00189/instance.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00189/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..d8def42ae5e2ef6551275c09b0fad59491c0fc7c
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00189/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e12c810a01935c74be86851abd7a10b9068293ee95a8b65d05b1f57e3237309b
+size 37881
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00189/rgb.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00189/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..6db634cb2e0c1b93b7314adc639b72f64b688ef2
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00189/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:01d26db90b0c614ff460e59cde58a0205d7d0376540de9c5ab42b8f9f6243383
+size 1545090
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00194/debug.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00194/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..e1fd351184a50f8eecae78577e914eb3fb86d308
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00194/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b53b301dea40ee6760cb4437a9e396166ce96c232182cba6aa10449b3154c4aa
+size 1570309
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00194/depth.npy b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00194/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..f93f69cfe5d30bd1a71eefa224aa148f0c8f63e4
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00194/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:06f5142fddb87f2c1402508ee2dface725afb46cd5b9c6f3dc17e1b90d667213
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00194/instance.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00194/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..561b47665f1741271b5fc042d4b265f233b92896
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00194/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aa2865346eb1b0820ef8d0a55404690c0aed80fab520cdfca213ba7fc21b66e8
+size 37375
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00194/rgb.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00194/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..a171c2569cb9dcafb36210bc6861d5492e347bbf
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00194/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:91064f1e488cdeea82e5f5a362b70da8e885a27e37b2c02396149fd0e49d9144
+size 1544158
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00196/debug.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00196/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..86b23718862c008ed77918c492c025f2e0d82f1d
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00196/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c361c0d59d5382460e9647fe0cf10b575d4b603952692a44b0bdc7adc1ad50e2
+size 1575156
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00196/depth.npy b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00196/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..9b5c266149270e9dc771277f152e1b86756814e4
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00196/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ddd5bb2d88ec185beb71f473bf7a4ddcc59d05399102317cd0b78aa94c82625e
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00196/instance.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00196/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..09bfce42a5871433e8d13541cf5832a7424c2d94
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00196/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1502734e279c42e2a2e850649bd797d24abd52b7ecadd61e39516f7577f74865
+size 36927
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00196/rgb.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00196/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..70bfcfdf80c7fe3a100ae519cb6b06c701c1d1fc
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00196/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6581fd0eae6508eccff7298ab58015cc6b3a69ef0e1464d4082a2b18c5cb3f8c
+size 1554040
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00200/debug.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00200/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..23e9cccc92999a1b3e1ea8f07b59ee39c3357164
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00200/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c8ba7315434b6badd46a0fe4fac13571e2c3b67982435298836bbcc8bed94bf2
+size 1565092
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00200/depth.npy b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00200/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..4695d0ca16f21a4dc0f690358f938c1980248731
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00200/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c40ebce909db72136c21a352fabab24f41efac7042235498e03d73f60cb0d554
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00200/instance.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00200/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..a9ed76448e083f78c1b73db8426be0a90e5936af
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00200/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b847ecaacafb9221f101bfe05eaabec04124fb3dcdfc83acbc15c50691495586
+size 36397
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00200/rgb.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00200/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..a9a16ef36c1db079e85268cff2c147feeab22b68
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00200/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:460bda8f9fc0561447dde06dba3472df868c2ce8f374a4788b5ca2213e43ff5b
+size 1555164
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00205/debug.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00205/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..983e27da6b68c854234ba6249995055f979fedb4
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00205/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:50a6415d39945118c4a0e663080c5105ada7d321fb7c8b97db4339fb1d37eebb
+size 1569957
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00205/depth.npy b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00205/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..d9e758df0ebb3d1c48d4d11bd43b2f2e83d23482
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00205/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6f9110839fb936f4ae8912eb4d2fc002bc12ba566362b5c5300b21fa5c0a157a
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00205/instance.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00205/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..d05599ac44d5820a3e6c61f9b55d85b37ff078c2
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00205/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c8a486f722eeabf580abfc4e90bda2af2d321b8cde4043f452e1abcd771e5953
+size 35994
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00205/rgb.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00205/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..ffdaac7529867a88ed78977ae5a6515a95b770ff
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00205/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9a7dc42d92b592a2de7cbda2fb344f6bfe7cd9a1a0e3c09868e419e5aae295e6
+size 1545299
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00207/debug.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00207/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..6142138e1c3442fcaf4a1008d5f53ff861b09c6b
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00207/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:900706c6bc3ab39f18a86dcd4858c7897b2573dfa9cbe30d3968a36285e333a5
+size 1586805
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00207/depth.npy b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00207/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..8ad366489a4fd1f80b1902046ecad1178d55bb01
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00207/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2c4144536ad1f1faac06b31dde1a4cffc8b7cff23b2d5bad594d88004e4088e7
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00207/instance.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00207/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..bbb14413ea5ff646ec6a726aef24cc6f80e71b66
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00207/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3d7e9bebab63d7ffeb2b9eb3b3240b07a3d81b4c25228f837fe6e565dd235cfb
+size 37859
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00207/rgb.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00207/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..134a34f89830b4a29579c4ca138e5291f335a1b5
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00207/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:781f70512aa5c8f5534e04d775b21eec89802955406a1d770f20eadaf92dcc0e
+size 1553713
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00208/debug.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00208/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..642ca8872fc7d0695487f5e4a95d0286ce0cc002
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00208/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f7c77a3dfe57836ab1790e5e348e66e5a4cf58a8806ff25010f34119ea272b37
+size 1579580
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00208/depth.npy b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00208/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..c3faf060e852a6b4474272a9b205e6a773f92293
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00208/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bd456e0c4aed05377dd2d0f2dd8fc8c6d0252192e3f890de85c820789ec2c003
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00208/rgb.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00208/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..b84af4ac413848c98545de2ff746600c774b7f43
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00208/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eba51f50522d2d4eca1e48f27f5b43c616b6a26f83655450fd32180ec1a08f56
+size 1556900
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00212/debug.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00212/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..e7331dbc9b959590e3b89fbb1350dc35930c9780
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00212/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0da801c930d1a6e31aebf9577dba615001a84a216816be7d7672450e32c789c8
+size 1592323
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00212/depth.npy b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00212/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..c1ee928ab2b0346e04bd94ce11fa90802b03d0c4
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00212/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9596adfba03a109ebb562e35d5a0fb3bc59611fef9ddcd290311aa26179e5a53
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00212/instance.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00212/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..d9cc7e945905c51a299bbc98ce9ba5583a63b43c
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00212/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b852033d124a331686e310836ed73d7b4ef92e386a4cf5ad7b805ed011110acf
+size 47969
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00212/rgb.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00212/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..1e0b70ce6c627bd63b4e557f660e84d12bd99bc9
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00212/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f5d12f8b7d014524e10571cb101348501d32b19eaf0cbe6796960985cc183cf7
+size 1553967
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00214/debug.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00214/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..cc35557ff579ef2a4244b627f9d673bec97340cc
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00214/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:53b4a5ea30c219843a7dd98e3c5283da64585ac0561ffb4694b8b4015907ee48
+size 1587274
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00214/depth.npy b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00214/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..8aa52ae1e7a0c600d7574476a9b1d1d050586f01
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00214/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fe44815102fbaa9fac4fd2882d2682c90674d8f985316b4d215cb432f41f6ec5
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00214/instance.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00214/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..490aa0d14841716e99dd6c2e0579d1e912c97ec9
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00214/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9cfff2375d4d17e2b09fa222f413cfb4fceb1ddce8ce45ec70075efc1a3dcf80
+size 51559
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00214/rgb.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00214/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..0b562af37d66b7fead9c08cfda000c95437d03fd
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00214/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:897fb51ed418bba9e8bbde153ada6116c1b715938e4310ea3738b84695657858
+size 1548343
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00220/debug.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00220/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..25720431e9a97a30ee49fa4cbe6839c505904079
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00220/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:618fd52fa0ed2e0f8ae28b363199ee739f3b5388ad93dda75cd90cf9b6cc1595
+size 1566972
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00220/depth.npy b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00220/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..78bf8862dee853e31a88b0e7ca5fef4439a7bb59
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00220/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0ed32ed3940a19859d79dc4b80f107b2772d6cba5191ac8a57a7f46c41195809
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00220/instance.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00220/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..153a4242c66773ab2629ea99abd1bb592f2d64df
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00220/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ce088b0c77e3d43b8ff850bdd85c9669f7e4c6777a4cd357f139c625818e5e28
+size 56414
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00220/rgb.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00220/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..ffda07ec97d74f51e24132317e812b8a98568dc7
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00220/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1e7150bf1dcdbfee09dbf6553bacb7b630f3602be2db409bb404cfbe163b9ef0
+size 1536242
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00221/debug.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00221/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..12e08d5ba6685817e4783cc12d3f85af96474a85
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00221/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:55cfd687b257fcc7ce12666d52d64c5879625425af9bcdf5a2bff265338b5f5a
+size 1557813
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00221/depth.npy b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00221/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..77a084348709d9600d490d43815232e2e379a444
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00221/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dc0010f1b8c15e4a698cc1e13d61cfdd604fdc1d2c82d258471903513cf27532
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00221/instance.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00221/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..cfd554bf7faeeefef8cd447eec2153ed32b1c565
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00221/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6ed6cc116f106b0c43a559f477b831ca4e1ed70c64adb33072b27338df59042c
+size 57153
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00221/rgb.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00221/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..51520f463b1f69e066b3d06c311cdeba5a213f32
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00221/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ba7dee1ba73e6a3345535c38ffdede767e901707e157a471c42f1d0a53f193f1
+size 1546591
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00222/debug.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00222/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..14a77f9d6ea4036917d961d17609a63d78e1cefd
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00222/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9dd776bc02facfd04e176a4cffd387da6393deb2728f23e532e9989e39a32283
+size 1570001
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00222/depth.npy b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00222/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..24487cf2aa72ab1cb23f7ab43e7540df0c6385d3
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00222/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:055f1c90747156e68ae55eebd6c844f4d753dd6eff62ef6ad32abb9e19b8cb3d
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00222/instance.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00222/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..812015ba22e87c7ea141b56c0652d9db6669ebd2
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00222/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c214820dd6175ee5b1db69b18f2646529afd9cff1c4bf8717133ec0d36c87015
+size 58379
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00222/rgb.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00222/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..6ea24fd0941b9d8272bae9fb476f2a213d0d6cdd
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00222/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:54f562474af2ad35e962ddd5471ac0aff57a4ea41bf81065637a0f74245e278b
+size 1558472
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00224/debug.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00224/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..17179d871d83dfc195ffa60ef5bbf2b71b0e065c
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00224/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:13623cd4b75f32824eb256d79deb3f7f1bc4d201e27c600e0b1e6420acf27dea
+size 1561138
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00224/depth.npy b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00224/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..de6538d673201a76c927ac83c570dd05718a5abb
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00224/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9f85eaa984db1c318bb5b473e8ec0b7e52cc0f38a38a766c86c6704f2c9d3bce
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00224/instance.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00224/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..2ed15b0d4328e887b44ef99ed7dacf5679a8b436
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00224/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:99c83617faac643a833d24008551991aa96cb21be2fe9a66eac43871b1206105
+size 58848
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00224/rgb.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00224/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..dd6ae9272d61334d26574ed399b45a25a8fa1177
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00224/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fb106796ec388b8bc5c368b1e3677ebe5741f653286a403b8f538dff405a8904
+size 1568576
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00230/debug.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00230/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..da115102aa9aa61630ba04565ff2c953ee129c9c
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00230/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c561b43c59fdf77bac2d5e70efc56432136e2225a3d8d90fdd64daa3059c8654
+size 1551684
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00230/depth.npy b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00230/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..cb58f8817b6550221ed9cd1ac8b6c466e23c4512
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00230/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8385ddaacf07870aff801dfd80c62ca15c577d69908b77a7a9298e1ff7098d63
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00230/instance.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00230/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..9f3890ad79fcaf818885a19556904e1d0b628fff
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00230/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:41c3b09ebd1e6183067a99baa81325c0fc19f6af89e2ede3c1283cf207c0c968
+size 64816
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00230/rgb.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00230/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..f22cd7738046aeb4a9faea20d86897d30200dcc4
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00230/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bb11747b1d430bb3360fece2c60b6061e668fb081fd3d67ec6755fb112106df7
+size 1573925
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00236/debug.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00236/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..29351711a2786423327ace710bd96ddcaf3a53fc
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00236/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c89f36bf0ba0a6b97adef94a5712e248afebe268ad1cdfc4c30cd1734a0b910b
+size 1553821
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00236/depth.npy b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00236/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..22f3e19f742ec4ea5b364b6347c6a7f514621330
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00236/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f73e300cc7d3758b6104e01af131c1568e489eba9264978c09846a50f8042722
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00236/instance.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00236/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..a17f64f068425343a9cd10d3330e241613d66518
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00236/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7a521ed2f75ca4e86549cd6cf27ef9e9e349254689a6ed7074b3848203f9f8b3
+size 70209
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00236/rgb.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00236/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..783efcc74c68702ec322f5223dd30172cff0f81c
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00236/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:85a659e5c0a0930097c38f8fc8d70bcd44747736023bf19f6f56838dc0cc894c
+size 1578947
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00251/debug.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00251/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..8d9442cdf8ac9c60abacdd2c29ce3ad937f52e49
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00251/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3e1d02e029cd848ead8a4e797a2eed19d00458b3c5f69541f02cc7514c834438
+size 1619850
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00251/depth.npy b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00251/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..40b22f78f4ce94751e4d3f645e3e4e310d9907e8
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00251/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:df8f7381a9c62de078eb57f4abcbb1629623994dd05c82c5da2514f1589abde6
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00251/instance.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00251/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..6abb545c0c946e8e5f79e5582fcc4b0095e374a3
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00251/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7fb87043cc058cde0e721f878fe20ea64b1fe8c8b84474550c74ba8f42a1205b
+size 75487
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00251/rgb.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00251/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..5210b0185aebfa7587567691c821ddfe64f88c2a
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00251/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a9884a31e18d72e4f71b70e617fd9cb6bdca74d3396004c5465a069cf7e8f041
+size 1623034
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00252/debug.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00252/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..efee1a9590b21a325f7d4399f7d87ce01810c177
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00252/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:40a1d025401ecfffac4506c597920be11e5a94a37a9f27e8693135a1cd8699d9
+size 1618365
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00252/depth.npy b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00252/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..03502ccf89f79de9f4427cbe92334cd0372b1061
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00252/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:014fea00bf63bded290d7ad68832dfe890ed2ada8e3b9c10e6b7006b8fae6d51
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00252/instance.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00252/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..9ac8672dcae8688ae09fd84cb44d0ab791d74bd5
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00252/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3873f17bc3c1dff4244e52b6512bb85875746042f730d7825b39465fd96fc7e4
+size 76756
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00252/rgb.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00252/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..483391967e126888892f172b1641a9934835e039
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00252/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7530bf13f6b763b258db5f0570305b372eafe2378e1ac56c0fbe75ddf332c7cb
+size 1609542
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00257/debug.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00257/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..f978a995db1755549b52c96dbb0c9888321853ff
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00257/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:45307a52467df8912b16a33ed95f0d6ee4f3b116912da939c2a8b8fa7d27c574
+size 1594273
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00257/depth.npy b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00257/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..4cd1b8c834d11103a2538166b276c814dca36513
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00257/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:63b5496890275e1304f4b49371f90f8ab193d6e677b7a2b48e7ddbd1b1994d07
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00257/instance.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00257/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..29d636e164d073c5e933cfe382baae2918a6dbc2
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00257/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9a6e5529fe101b3f3fa7887e05ec8330470c8d5f335f0ca9629915604d60f66e
+size 71671
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00257/rgb.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00257/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..e81d087b83241ab73ff466c3444f37538f15ba60
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00257/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0ca4003b48801d9c19a8df5a640581563b52b3d034acf309b13e81b414d18cea
+size 1587461
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00258/debug.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00258/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..b8cb0e6355be9d1aeada9102b1cfdd8189476ae2
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00258/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a6e17cafb5db763f7c78ca759b0626034da3575b35e88fa950be7a15931653ec
+size 1588593
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00258/depth.npy b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00258/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..bb97fd9fcf68ce96ab5f2bbed526b73548004eac
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00258/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b35c328cd8971f9af09d62eafeacbb447a2e07686f07ef6fb2902ef05e5867c4
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00258/instance.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00258/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..cf5cd335c0aaecbf85532d12d546e90160cb17ce
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00258/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:062cfcc293c6eb4e89be8d19abdadae7cf1dc1de890b5567fe45fb8e7a610c63
+size 70411
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00258/rgb.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00258/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..88849d64ad6a99692010c2d15dd0b6e54feea36b
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00258/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3272a341395d3917cd841e6db1e8f32593949c5ed1f22c742fc9d8f379c6ce1c
+size 1570139
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00262/debug.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00262/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..aa32f475628d40e51cb7f0967f1cc966b9e5be5f
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00262/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d7a8ca6f400a8f3b62d7b3c79405e96c3081ddf209565654bf62bb4ce2430684
+size 1566730
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00262/depth.npy b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00262/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..0d978faeb0a39c9046a2b866c740f73f81cb2abd
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00262/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:370b9b145300d7ba9bcb288a7af9c50b1c7d9addda512cb97577b139dc296a5c
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00262/instance.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00262/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..a11abb3f4ff9894e35a6006347e1652ca608ca36
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00262/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dc2c2571d4e008869cb6478b6bdf3613d4c3e267a1617ea7f5730aba0c0a5387
+size 56737
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00262/rgb.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00262/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..a8a8f887ac2f640d24d4a9136f7fe5a03af13bfc
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00262/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ece74f2ab24c0920fdc076fbb5f9ad32cc50571bffc108786cd6be32af5fa1c1
+size 1539429
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00264/debug.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00264/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..2436f456a524994f58d1fc8ab425ea0db749e9f7
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00264/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:35bfca2d846a3f4efcc83d88917c63ae27eabdffb0eae436fd5105bc289c7a4a
+size 1538351
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00264/depth.npy b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00264/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..5a626544c61166850ad5a845e2b32e7af7d72c2e
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00264/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c4d89e9eb4ec1f09010b2a34f7176d00cfc049f8df54cc8cdee8a840f293a7c7
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00264/instance.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00264/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..f3a8c9ffdd6f8ba90071f5ccb98b12d9b7ca9b19
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00264/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9bd470b7785d711f6d44dc928650d6c2bd8a87b8a1a5e0aec1735b21ecb1133a
+size 51225
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00264/rgb.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00264/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..d65a46bccdb8d26753cae74aae5c2ebe709e64f2
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00264/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f6757e88f6c88d8390d6abdf8aba68b4a1badfb440a6432c9918dcb791d61f5e
+size 1531088
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00266/debug.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00266/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..0c24ee349866f23e23b132dc351527b56112827a
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00266/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:895c6a80ec40e1270dd3ec8cee771fa20c23d39ec24f5c4a3d339fffe70780cb
+size 1526634
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00266/depth.npy b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00266/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..3a022a94a57260e61498101e0bf071e68668fa74
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00266/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:15ed5e66ad60d966402dc786861fc8c283ea957cbf3f331d5ed75682367aedde
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00266/instance.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00266/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..0c27945d12f63d1d95459345a1d5b6aa0dd5d989
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00266/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:45967e5b005ca4994f9dbbe5f9f81279172a5af59718b7f104422c6a33896b58
+size 47052
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00266/rgb.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00266/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..4188c14f37030266a0e1fbcf70a7bcc2ec3cab9f
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00266/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5e6bccb6dff89f53c55cdfdc50852845f51c7341472b2bd124dc03288ec2a15c
+size 1518900
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00269/debug.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00269/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..aea4e5a453802106d1d1ea2477b8aea41766ce55
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00269/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:26da6c83c417396515ed7afd2310928f9b18ddd71e9238d37bc0cca34882a663
+size 1490869
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00269/depth.npy b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00269/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..9a916e2203a39ec286ecbf82315b9ebd7a73fc6c
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00269/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b46b115ed2a0393473fef967438f30c58b1e9b005dbb4b755044fb1fbcd0ffb7
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00269/instance.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00269/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..2643f45b92a69fb9a4fd4e09b24810b849af8cbd
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00269/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7f132ef1381ab00c5485874fd40f2fa8d3a8d5ea4db26dde5efc1331856c980d
+size 44453
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00269/rgb.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00269/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..2f992f2cbbd315cfe50439da5eb4a66d0d18cf89
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00269/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fd8b81a3ef708f18809a8d1b604f67aafc75370e7f93b183697c5f0c52dee9a0
+size 1485457
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00275/debug.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00275/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..1b81f2d7ea86a64ee3b96c9075c0c5e15f05c1ec
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00275/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cdd10be820e5f62b8a2c87db9bd2c57dff9dbb05b85f7ab5d6b70911ff0d7036
+size 1474963
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00275/depth.npy b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00275/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..24d2e936dc99a23e547d4212b5c835b43ff64fd3
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00275/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cbb59adfd9e7ac34c6a8b4b74f4ade62e6dce2ac2c95d8508f7a1815d15845af
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00275/instance.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00275/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..cdf44edda037b1a91057f1d8bfcd24c97ab31989
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00275/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:52ed23d86239b26581bb1ef4b4ae79a7c29b6f851dfcbfba36c13d5f0d68dcd8
+size 37381
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00275/rgb.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00275/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..59d8666cd55e24867a7708f940dc497b9275593f
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00275/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:df31aeddf8eb56ed1f4af4ab7b8e1417efa403b1878d2af0fb87c94c4908101e
+size 1481576
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00277/debug.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00277/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..bc07ae7ca8460d426fa3f7474ca555ab3f9eeebc
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00277/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0e64be799c5d6e6afaf12f9f6a096e03c48f0672af4010977dfd71fb91c0619f
+size 1461993
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00277/depth.npy b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00277/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..62f1faca155c1fea4c90efd8e15e0784d69603d2
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00277/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c56c23d23d37765272f9875fa7cde3e0e6edbaffde73e32000d6c980bdab6a5b
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00277/instance.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00277/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..d87d5a59473e6317e9e686a9d0deb0c80be4129b
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00277/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cfcc0dfa7e7275ef5fa02746ab040ee89180e805b2e29166bcc6be7618bb7053
+size 35705
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00277/rgb.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00277/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..893f41841a55a30127bb0877c6905fb6cf8e5922
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00277/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:131e51105181165a54afeec549008ded513c84f7e4a14af26466b0752a68de73
+size 1469630
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00282/debug.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00282/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..cf9f57ff21165227d1e2658b93159927c5114b04
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00282/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b2941063bc48fee8ad2767e20d55746b15b254d9cc6cc2fdc3a437b60e5e3137
+size 1429521
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00282/depth.npy b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00282/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..88f90e4849fe8ba8c87b2880a058821abd307839
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00282/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f573ada693add6e8c653b3764f83b8197784ab5ab6495f78099eae33f8a7ba19
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00282/instance.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00282/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..e3da031ef11b062bee487d9309dce829018c153a
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00282/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f94a1855fd30a85a0e612be16b75f97013074fb6bfff165720f1f66b5e683535
+size 31137
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00282/rgb.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00282/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..89a96f358047262961a0fd5327d5319b0e11d9fe
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00282/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8fd3a259d9de19e8dba5f9580ea4bc61b844461aadf4bfe0eb5b9b5ee18449ba
+size 1444147
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00294/debug.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00294/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..c960beab6b07a12d1c0d6723c7cfda81592e0870
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00294/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d650b21e20792b8afc3c9f79b615c14cb07ba5237eaba4b76d0245c805d3e276
+size 1452635
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00294/depth.npy b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00294/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..146033d87402ba126b41cb90824ab76722bfdc52
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00294/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5bbb7a8e9cc304c44887117fcc193e5d45369c5c1c7123d70980b2624a55b13c
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00294/instance.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00294/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..3886c2ce1a82a3854e33c3ff9ff63bda720f853c
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00294/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:be38f1ab04da5e718357b45cc3a8bf97d581b7b57a8a56e8ba413369eb6c1ab2
+size 31307
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00294/rgb.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00294/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..c9076578d9e06411288adad652be11bdabefe8f5
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00294/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:027a8ca9e43648f0ac42154180cc2040233e1c15261150108cb1ea6a0b102206
+size 1483502
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00295/debug.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00295/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..2d84eb20923102b3440764e142a22580a0398e44
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00295/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1122179559fb555f19d19d24c7b12804358e53252f3489294f34e6cbe6e30516
+size 1452127
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00295/depth.npy b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00295/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..2d49b285156daaa0a47af58976fbaeb61604b5a4
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00295/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:43afcbed87f626d9dca397216d7f4bbabff4ca29b7e99e5350c0551ad8d14e26
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00295/instance.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00295/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..5a646e08334ea98c4b9f5c360f88b9ece9735931
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00295/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:395cc0b98e5f07af476629d668b77cb717d256ffc614ac0a8b169ad5c9b91d4f
+size 29837
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00295/rgb.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00295/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..f23e17fea7496065468ffa38973d0b4027f36ab8
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00295/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fe18dbd4521136fe0547aefabea97fd195ed516543635fc60b208fc0653c45e1
+size 1487784