diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00007/debug.png b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00007/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..77e23c8ff1fe22f53786ab5eae147381b6288a67
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00007/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3d690a46f67acb49bc37b17ddb77164c10b2499493742932d73680db1c10970d
+size 1877460
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00007/depth.npy b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00007/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..e0a26f7678896ebc977cc43ecc73f87714b345af
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00007/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9f36665a298a8acec97c863dc68fdd6c962995f986061213e4d5505123711ee3
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00007/instance.png b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00007/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..3e2a8bb9d5a32165a83db372bfd954842c7407e8
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00007/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4990daadf8554173420e93ec47ab38fb2ece4bafe9465ad58a3d76dcb8cedc32
+size 143430
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00007/rgb.png b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00007/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..fb5367b97b27406f16380ce9993809e7f8b0125a
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00007/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5be7027ba6627fee554f94e7420595f20618f4c011eabf4a644747b42c876991
+size 1962096
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00010/debug.png b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00010/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..8c6e751d53e075cc410092920d8ccd348723084d
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00010/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f3784989693784d52063b3f0353cadf928b1acbadb6cc270dd15d61bdc79f423
+size 1871323
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00010/depth.npy b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00010/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..c963c61127c161ceac720570a10df1a39c5288cb
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00010/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3097f2028c2872d9babf0bbec01c12e2f1c9f0d861bd066f93b825c762ff75ab
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00010/instance.png b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00010/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..62e60ae6ca2cbb65f53d6446feb062ab781bb662
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00010/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:00543b64e267498643e305fc60e1fae8a95ecd3f67103fb4f945cdf44738f2f7
+size 145191
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00010/rgb.png b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00010/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..b37d3193b390386c296e37db2961815d48994860
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00010/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d374aac379dcaaa59c17c4e5ed970ad56b8caa87c99eb062aa42bfbe9fdfa6cf
+size 1957910
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00012/debug.png b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00012/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..772fad783dd59f8b3746ff16028dfdc10189fc07
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00012/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:402303f6ba9a1fb762f2275f924bdb691fadbde744e67740c5c9c02c6156bc52
+size 1873782
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00012/depth.npy b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00012/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..84aef6d1af4a9106dbe6daa9a61744e8f8132c0a
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00012/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7f80452473f142c9557233f6f7aa353f243995620fdccb32758166f566bfd866
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00012/instance.png b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00012/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..3ff0687bdfe5ad6db72b23c017533501c2d76ba5
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00012/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c5f7f8947ed9967b07af26492ae969a11c40e7b9f843d5ddeeeb3238e4178f53
+size 142021
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00012/rgb.png b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00012/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..a37d9311969e0f11da153d3b5c8f27253109744f
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00012/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0ba993e455ee5a2c86a21ef9bf4874fc11ea39830941faf068ca75ab21c1aaa4
+size 1952802
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00015/debug.png b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00015/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..02f13c39e9cca2976eae73a9f1186c33a428bf0f
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00015/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:341338a85105e3905684c948b91cc952d9367a5b2d9cdd7cac6a20a81a9c657d
+size 1870579
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00015/depth.npy b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00015/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..4edb4c353d326cfd66c68693b39a29e19e635ac9
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00015/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:28baaec6078223ba6239de286ce6995585d1b7be2614fb108d235355f816f17d
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00015/instance.png b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00015/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..59477ab2bd62c8d74033a19d7ba9568af7af9f32
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00015/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d962114197a85e386c403fe0f78a64a63379cb459e226f3f1355b25d8e9e9a2c
+size 142229
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00015/rgb.png b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00015/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..6a06ef6b2b0839d1d8df4cd0579e8785faa537ca
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00015/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6aa60a6e85412f3403fb3e16b49a55e424ad25f7bc8300b8786a07cd47ef10fc
+size 1955761
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00016/debug.png b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00016/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..e065a1578f43a11146b239160f79e6aa4e257978
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00016/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a8d740a475b31a47bda5a6c6b047d044330203004d31d80571e1a492ca548f92
+size 1869062
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00016/depth.npy b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00016/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..764ef4c666cda9f9586f58628ee533f030da388d
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00016/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:be45765d421406f2345a0cf6ef7e8f787629305007f7e1bba63d37cf08c90fe2
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00016/instance.png b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00016/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..17b9e1436e7607ee5714d60483cd582bf2153c66
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00016/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0b621e2c23eb64e235071602bc202d01c5fa2825bf448b7e1edfc0f3d5130fe3
+size 141301
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00016/rgb.png b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00016/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..5113d88498437f7ab150e4ef51b6eac97e0f16ba
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00016/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e27f03861469b7d1481b9a9b261aafd4a16cf19315b8e92b0fc0ea1cbd9dd666
+size 1950364
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00020/debug.png b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00020/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..ef71bfe25e3aeb11c75f25f423e021df6ae7a281
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00020/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:92744c87ae6a31378ecac72714ec9285956b6d6df15daabfc1dee7711019c801
+size 1862345
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00020/depth.npy b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00020/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..72ab7935146872c208beb9bd94ca883c9241dbe3
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00020/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0b661387ddb937a919464a2b6be6af10caf73037ea2b05650a59d4b6540499c1
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00020/instance.png b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00020/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..1b4023c1a5bc8c80d5c4da2c1eac1e5285cf0767
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00020/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:43e7513f5878b2f02cf33be7f1cdc1796eda6daa728d948d6cb675e72de9dfa1
+size 143339
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00020/rgb.png b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00020/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..6b75b080a2fd0ea59a26873b05cdb2b31b853ecd
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00020/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:94afb44e2fa6cd1ddf1788931efe16d6a505f4926c5cbe7629efa5de3c63ac71
+size 1933905
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00023/debug.png b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00023/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..0bf16b57f02eb91aa7f83706b7bc827e5afd512d
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00023/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:db62360f32172eb7947c4213ed48a7d61c83541c926bedb50f81876c4334f151
+size 1863726
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00023/depth.npy b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00023/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..a49ea03555ae051c2fa3b3d7823b8cceb6e4d72d
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00023/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:53a66abb384640bfae9bdef06c54332520b81451a4f72de34c26f331f4e00b7a
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00023/instance.png b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00023/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..aef7ba4eb073db7716e35f92e41985330205e9c2
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00023/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:db294bc05dabf8fbb2af058d19e439d70e96d0901b84429e8aa1d31652026ac7
+size 139876
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00023/rgb.png b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00023/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..cd401cd7ef34bc2d8912e48c7658724416734234
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00023/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:791d4beaf4eb89480c78761b51bdb9fa4dfa0ef00589beac95ec71233855bbde
+size 1939875
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00026/debug.png b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00026/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..a39af293f82a8e4f6f45e72a962e8cddbb61a8ae
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00026/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:19b6c1bff0ec0b3af5b02af8d787eda94a664ce03d6bd203521002a1e66460ea
+size 1867448
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00026/depth.npy b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00026/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..00f1d571068b7a2e2e1205419c1223e59d2b5370
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00026/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1e9ffc70284a6bdadb8dcf549da80265918dcd97d121f0dcdf3a89e0f396b823
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00026/instance.png b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00026/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..799cadc1e021fa6bfb24c76408872e43adab6d39
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00026/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:04b9126d1f93178ab4881b8b8ee15de7803195d0f8451a05b89923c50eca0455
+size 140430
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00026/rgb.png b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00026/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..67e4d9d879ca81348e7dba381ad31f5031ddb5a3
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00026/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9165a173c3392262363141f9a0e8b59814d69ea9849b566167b1115df7c0ee20
+size 1941860
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00027/debug.png b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00027/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..ce0b627aeaadad23f2f8f96052be3e945988543c
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00027/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cebfeca9f1059c14b27c6cf4c4ab7f8314afbdf24d11b08715113882caf57e23
+size 1855503
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00027/depth.npy b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00027/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..add92fde3bb11254ddd565451f124e0308786075
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00027/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3308b1d6c6c2d70cc7c5a4daa7e7aede90d2d7c3e6fb19b14fec8aced4409df3
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00027/instance.png b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00027/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..3db9d4c3972625e6502fd7c3eb35d9055f6cf6db
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00027/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:73fa5dd68b55ca371ba9a5ba16d2f0a37e35b585aa1d86778391a785c6360b66
+size 140423
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00027/rgb.png b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00027/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..210a9e6d3da5e0372278385020593ef7c469ed47
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00027/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b1407dfd353cec6076b80fe37e1222d9385eefdf281e8f30446d279d10731d2f
+size 1934584
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00028/debug.png b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00028/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..41a33e88e1e22593d8446741b632cb8ac6a653eb
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00028/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:25e0ec6fdab71522c243719a2357022d0be541b5f1a430019c962c714698c4b6
+size 1866577
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00028/depth.npy b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00028/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..36b819c7dea66ab2f82c939d7632aca193906c3f
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00028/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:48c4f12ab580752ed6a3160d123d89e43eb150c559f598617d90f3d7d33028f3
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00028/instance.png b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00028/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..eefec0689f620ef50e8a01fac18eaeb3fd6a47c9
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00028/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a4c75fce6a4066fb655b656c725b6e9237bd1093e3adf1ba51a7ba6a5585c984
+size 140981
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00028/rgb.png b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00028/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..debead7d549d7452d2eacd989ef72c483782e5ba
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00028/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8841936431752223d36c9a2904696fa5f2431c8dedf1539f136a237dde618b7c
+size 1932768
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00037/debug.png b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00037/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..db8bf884848d6e67d64e628e32da390c69d9bacc
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00037/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7d1244da5150c26cde6922812c73c0b87c174c6882463970789ddc388b1d27f2
+size 1865173
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00037/depth.npy b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00037/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..73af6212a634b4070cf8f1d2366b6387bcc36c53
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00037/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:97bf61cc4125c6cdfa7bceca9d4d3b53728d5e59f1bb42e8bb1e2a0bdfd131f9
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00037/instance.png b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00037/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..38c39b6a9d2c8e7d4362a7e17b61506bbb95d922
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00037/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:073601690cad8e7b8fe868ea564ecc664f6ebd3e92f801f5f6ee7bcad0879083
+size 141584
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00037/rgb.png b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00037/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..c3d76a1e67351e74490b41d40178a2547e603670
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00037/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fe2d2a9cc97d8a0b6ddd67b9ccd02d7b0c5e9349780b3d829e2c38de733bdbad
+size 1939836
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00039/debug.png b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00039/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..dcbaa78c0d7783e069041eeb69820983682f64e1
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00039/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6a18f8a4a87b896b95921f5713c593ad2a2fd818ffca48d76d47e5adb9d6d31a
+size 1861099
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00039/depth.npy b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00039/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..465a4a1e8823c83b30c11aa77304f6b7933c2e85
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00039/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c1bec7191e9c76eb3780c92a6a1c6b157dc05a8afd17219303f853247027d5be
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00039/instance.png b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00039/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..ea1ce627f37c4784b0686a9d2bd6263f39bcb944
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00039/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:34d84f82fbf972c98827a4ae2dc26d33385dde905b070362c2b1d4070ffd66e3
+size 140940
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00039/rgb.png b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00039/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..e428b37c7c2f1cc5948fa3e605c8e037296612da
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00039/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6fcf0368ba34a8cb52c0f848703905d24b2a87555ae2051338749eee7bd85131
+size 1943794
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00042/debug.png b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00042/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..108b41970c61bb572c0ae88df1a70b7454cea76a
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00042/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:95d3e13509291c2c46121fe73dbe6996b21f3eadda0c184450508f9c410884af
+size 1865470
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00042/depth.npy b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00042/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..dfd8695892a2a4ebdee7be7a81a2a3473156b1e6
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00042/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b3fd76e4e0490cd335917d0429a9905a8ffea8e77ce60c8a23983e4de470791d
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00042/instance.png b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00042/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..2dd84d62029ee4d9be1946d166477934fbd0e595
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00042/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a2e297dc790a1ad972e3d3b05b35c507ac73d18e8254daff97e9418baab8f6fa
+size 141564
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00042/rgb.png b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00042/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..91552fe63ee717127e2b79d0032bb328b89dc33e
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00042/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:567d335175d73d07cfa8409737d9be9094bca5677782e0dc04a23087a0511e04
+size 1945752
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00044/debug.png b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00044/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..8949ad78811203831a031484d131a2f570dc9b38
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00044/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:946c7bf4098c56ff4380041467c1bd3a52e32ccd7184200a0cc2655b7fee3f85
+size 1860721
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00044/depth.npy b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00044/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..43618a66eb89290fb2f046672b14a08d565b2f28
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00044/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b1520a8869e1291a6da2266c619ffc448f46505cceabb7ab086ce9d94e4d6e0c
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00044/instance.png b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00044/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..82ba69740fd6e366d3b51bc153f0dda6f3ce10bc
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00044/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:39be639c2e74ac5f0820f37f9bd48bc6d547168fd0c94ca9fcb09d1e3574e978
+size 140601
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00044/rgb.png b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00044/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..45cba2705ca4936e3f471cf67debcc80c8542f57
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00044/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0b9fd9f63fa6a981f38e4a264fa69194e12adc70267ceb6e34fa19810618d003
+size 1940214
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00045/debug.png b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00045/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..e81297f05d3d0987a424f3f28b6804c468e16de7
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00045/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:00df3874f6a3ea66fe3e3c333e29266fd09c6f09bf7afd16482e858a45ae4fb3
+size 1874170
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00045/depth.npy b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00045/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..0e56fba0d88542b3482fd9800c3d2e6d45d86841
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00045/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:21c76ae9e11bc719b7b94d975c54d26b3fc1efb2b25a4450b2730fc608141fb7
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00045/instance.png b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00045/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..cf33ffac75e998f96fe4808684698db5f8416acd
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00045/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f92ffa42bccd0de253979ff3689593be1275c6c8a1276995c270b395c3c752ac
+size 138853
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00045/rgb.png b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00045/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..1bd322e4a8e529e8fc930a40789a39d29ed4f7ff
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00045/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b2170934793853ff99e1186a00967bec62d788cdfc60b2926edc4734bb2e9e3b
+size 1951546
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00048/debug.png b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00048/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..3011a960ca13637823836e34bd387d44dfaf3de1
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00048/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:df8f2623d83a108715a71a0ec5c376357a37b51db2a7dc4735664984a22a2220
+size 1868902
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00048/depth.npy b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00048/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..b425284b551a01243cec8c8c542b44e0ffe68d65
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00048/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:467098e97c6e72bc4120d484f8fcd0874c0bdf9359c4b175399bf3b8b150b78d
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00048/instance.png b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00048/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..1ae763564d521dc65dbf9b8516a0a98e775cd340
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00048/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a6075c804b78fe8216eac35b666ca27031b96a1bc08ff53b4a3871cbdf67f373
+size 138972
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00048/rgb.png b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00048/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..1ac552bcf898f6bc2c5f63e881aa32cecfef0d4d
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00048/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f159712bd5e81b34c58515cc846c67d1c085d11f633a3bab00535734b5e68dd2
+size 1955259
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00049/debug.png b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00049/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..ff3a2a7e2b5892052aaa5b8be8cf8ab5976297dd
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00049/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8e29e81c24075b77d25c932debde5ecaad849d7baf23c7bf4988202d37b643cd
+size 1867680
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00049/depth.npy b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00049/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..51d9b85e102e2ac85c0c5b1c209a8db08db16a30
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00049/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0740f1eafd408456b51dbe6d21336cde81d4fef43f4d66504dcc9308bd33e4bb
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00049/instance.png b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00049/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..12cb27db3f2d69fa7d708467d19214be02c6f5db
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00049/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:047234a48e08ecea594df674eaa808c68136286ff29f7ed0357533a2017f8116
+size 140906
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00049/rgb.png b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00049/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..6aeab73106b55d5acbfc89ba8dc1dbf6af4c11f9
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00049/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a7794f667aab98600e7a5bf5589341bfbe5e7f64794d462fd021f7ab80ba5201
+size 1952691
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00052/debug.png b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00052/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..741592ad0721b48c6a745122577da819e4bda11b
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00052/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b3cde0d618eb1324c5d2a415740b1c058204d9545ecc7c457a1bc0dde3ec027f
+size 1852441
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00052/depth.npy b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00052/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..30815ab4e95123d25852a1cbab38c40b3b1c7db5
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00052/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1a24eddfe20071eaf747aae83c85e1fc691a78af11f72ac845b94ad1b7574f3f
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00052/instance.png b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00052/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..ead288bf42738a280bbf1a0bdc4553c14eccf19e
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00052/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:81dfbbbb69f7d5723ad3a5e5ca179245bfe92ed47a646444fc48bc0f510d21fc
+size 135970
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00052/rgb.png b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00052/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..7ac4c598475b759cfd6ac5c0f05169c9eca586cd
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00052/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:780afa7db1c136874449befcdd6936896fe4f42bfd02f702bf029a18adb96b90
+size 1940099
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00055/debug.png b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00055/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..794765044dec5636702dfab1e5d2d8ee9e9f68b2
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00055/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:47da24a5166875def4951ce4a84cadd34c13783050fc2a5f8ec7a7b0e2bbf4b4
+size 1861642
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00055/depth.npy b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00055/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..5764457cd7777fd97e8d97ec7a3bd45c1e64835f
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00055/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d85080d3edc43ceb00946c0437f3072ba242be0d24f5d52e1ebd70251f598628
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00055/instance.png b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00055/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..1035726eb54c7bda37b81767338834b5c8f2097a
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00055/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fc8ad814a50dd8afcc821d37ea12e7fb710ded680a3d7201b7975a0ca2d2c554
+size 136485
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00055/rgb.png b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00055/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..a20053f783bcc27a8333b399d123db1d58da1aea
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00055/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ba595725780262fc2829b1df1ca47cdd148f32bb10f39252ab161a15bd926c84
+size 1935650
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00060/debug.png b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00060/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..82bb16554cb8300a1f32046d20563045d8afd662
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00060/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9c39897bca91f9946bf07a4b40c562af531008981ea304d58c59fd8987ac6602
+size 1865120
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00060/depth.npy b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00060/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..61387670baf1c9c9192aafd0dae00d2d572cba7e
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00060/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e0b236f611caaf69be81ef23e416e43f4c47dad21bfe0c79ff599103e8f9724f
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00060/instance.png b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00060/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..1f9b4817722b872b4e885e3405497dd83b8ce5da
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00060/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e8043ee027e3b915517fc48ca5e23a81d9bc0443076a0f77369629e48be7d330
+size 133034
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00060/rgb.png b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00060/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..57666a89e0fde9b6d709493d14c64bb50c794444
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00060/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0e5e7fc65d9f4c18e3e5a45bc4f6d38b7626305b2fc3f3cb55ce6a9d81635a45
+size 1946051
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00069/debug.png b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00069/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..096a0cf8d0ce2690dabad62f2f867e7175e852c7
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00069/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:de5344318db0c20131f6adc81fb79801224b59804a6a8c4943f610e078aff786
+size 1869512
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00069/depth.npy b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00069/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..33799174584582fdf4ec3276c5db52236d7fea3a
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00069/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:95f34193b216f58926b37c5b7cfe10a061854074cde29f1d9d96e5bf4c69c834
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00069/instance.png b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00069/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..cf9d08e30c67dcf7a50ed84d6ebfa1bd3c46e6d2
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00069/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1cca4b01e2c101d985a89ca541b016109eaf11c44ee3614abb8d067a6717e1a6
+size 134230
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00069/rgb.png b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00069/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..8e3890581f1652e8d71ca26c62099f4cfa371a98
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00069/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a742affefa3a97d50659150f889bd85d43d2fef06da7f88afe3ee1a8a7669c03
+size 1945705
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00074/debug.png b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00074/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..833e9a42bdad1fc76506961501d68e4cd83d7f3e
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00074/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e3ec038563b07fc4bf58c61038487c95704eb1baf8e9cad13a47211a740a4e4e
+size 1866637
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00074/depth.npy b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00074/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..914a1b2584ea1ee8de5bb0a59f49c4e770c5c756
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00074/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3fe3d5abe2c9cf68f82b2b5fcc8240b3d5474d5a9625b3cf63a29598c4e02f1e
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00074/instance.png b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00074/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..922fc96d524ec5ef8def573b577fd2edf33697cb
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00074/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0be5a420755ed604399bfce6ea1eca78ae68bdc57408ad573ed29c32c00a7bff
+size 141060
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00074/rgb.png b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00074/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..4a8e2afdfccce17454365b8ca2982906c96785da
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00074/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:41addf69375728feb6e19e8c77b1448e783282bfc45c57173d1462bb2127d004
+size 1945298
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00076/debug.png b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00076/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..3ebbeb8506094b6deee2e16dd27c29731b56d374
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00076/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:96d4b830b1396ec79c7586ed52632ba5a07c06e0098b578d0689408fbd72135d
+size 1873575
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00076/depth.npy b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00076/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..d1d8a573339deb33e2d4cfb994438d78226a55ec
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00076/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ce1dd9f74142156cdc397b2fa6235ac1955fbe82cbb92dd7004b64ae1df1b25a
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00076/instance.png b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00076/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..5664d55b3d3f431994db663e4632073b8cc92f79
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00076/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:601c85f7d354a96c17b027a35d5872d68bf99bb37111465f823c177b24477af7
+size 142949
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00076/rgb.png b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00076/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..e62f4009e59692165dec8f1f038ec98c6cca1db1
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00076/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2f26d96f340df8fa4c540aac29a3cb02cc5dbcdbffb25ba9f8c088aa6671c91d
+size 1942978
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00078/debug.png b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00078/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..9dd859dd1119ff49ca009555c487b2621bdd8763
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00078/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aafd0fbc28ced6ce74d734c71684e1b0f19315d012a8884fcf0638c8fec40c44
+size 1870830
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00078/depth.npy b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00078/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..413e9b22a2cbff6e3acaf0e5add4412fae7a2e28
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00078/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8a6d69966a09804f47b21a06dda9cc7225dedd4f01b34942b977dfedaee96b65
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00078/instance.png b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00078/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..768ef7cb7cb33b349a1c68ef8929e296f5e4976e
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00078/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:35cd6caff4935781d75a32838d22cf50bf100db9bfa3733df9e4900be2cb9648
+size 144509
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00078/rgb.png b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00078/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..ddfd68d9ae0f03efb7c539537666fb874916ba33
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00078/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4689fcd774c2b784b8acfe4c6d200fa00b92917f6657e03fe13b99fef2112777
+size 1949038
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00086/debug.png b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00086/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..fc00abcc65ee99af1ef7074f1298bce16ccc7cff
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00086/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6f1a208dac962fe92919c6f7c0c27c0473f3b19d3466753770d223926e583cb1
+size 1889366
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00086/depth.npy b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00086/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..48551a7e76af3448194b417ed794c06b450c1b9e
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00086/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:84dc0b3fce1f9c0f8f039926a87904322986738acfd9694a5511bd0220587c05
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00086/instance.png b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00086/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..0a1500d68e761a2c4676c00112b88512e84fcbfe
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00086/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:373224ffea623c4ddf6a26a9ab729b04fc5578dec542e742eef901ef7912e38f
+size 143215
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00086/rgb.png b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00086/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..894c6bf6a01cbd38736db9fb9c4f2e9f27a36eda
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00086/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5c7d46d8e834089481215f513ab678b713c13cfe01fee76660eca1110a295414
+size 1964140
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00088/debug.png b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00088/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..2308ca873b746230661686634702112bfbcf539d
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00088/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:42aaf40e09e98d9076b11cbb7ffba8f6bdfaedd02d7a00a016b16413d1ec7fa8
+size 1884799
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00088/depth.npy b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00088/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..93cf092b8368b914db3332366793e48ec5036e1b
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00088/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1e77c4533835fded8de73d674fb66466a44b025cf29baffe1ddc4e36df94aacc
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00088/instance.png b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00088/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..2a110bce31f25beeed4b1bb6948db1dd7210c78f
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00088/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7d0ccea54e485883315b8ecefbb3a48bacae7e3d567db32113d2faf4fac6f4e1
+size 138675
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00088/rgb.png b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00088/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..4ada24a863158c2c4055ef50a097e23524ee3154
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00088/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:81400dd9637da55b6609bd1c5c32307a7a4088b9df015a72fa376c1649aaef31
+size 1968543
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00092/debug.png b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00092/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..0c2c15c7133911e1af70a9b2b1042427c40e7713
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00092/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ce1eb224d60ce22cb8238db43d3874f0a1101b42a37c036e1a961ba5a18d3dd8
+size 1896352
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00092/depth.npy b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00092/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..0cf4570587f4c761a21df8dc89be289695e88aae
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00092/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a4990592471bfe19fc12873915c51be49f27c5d2ad8615e97a2d4462d2d84295
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00092/instance.png b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00092/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..adaa24a10003f88e8e778528d6d7e15f8d4d04a7
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00092/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4bc295354aa8308a22bfb649d316456d1a0827b5828262d492825fedbe07426e
+size 138953
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00092/rgb.png b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00092/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..58648c49a1d149276f2b6d6dc040dda8a3483629
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00092/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:76173090e8728b6d7b13aa50a3e3bf73231666893247e0998d8f9798b8b9da2a
+size 1963845
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00094/debug.png b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00094/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..1d8ead37440798937a734757c0f72f94da274f0f
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00094/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c1f416100949439b57b9c2d3a3ee516faed14a78d30f50fce2089f27c60d85a2
+size 1899244
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00094/depth.npy b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00094/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..b7020ab5fed5f95e1b2503a4992fa4406b417e8b
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00094/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:06d85ecdf4d68e7e5caa4811a2ae1549aaa03f3c4512d2bb171f480ca71d315c
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00094/instance.png b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00094/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..ad52c2ac1f1a5b374c0c79e7c7928ae3fef95cde
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00094/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:67521fc3f9254821625731bd37cb43d47ff3f8e57bf5eacf20c9204101878b6b
+size 138359
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00094/rgb.png b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00094/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..097d296c6a28fdc5e7b21160fd91022ade431110
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00094/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:68f4e058cf27e04c2e969572c19cdd4b5eae0b044c5eeb90bd3c08674c943d77
+size 1965776
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00096/debug.png b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00096/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..90fec36839f324bedc2c0f017cb611e064cdfec5
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00096/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6b0c44b411fb5f1ce4ad99d189feba03774bd2e8e75620558e512bfca486053b
+size 1894702
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00096/depth.npy b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00096/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..b7e022504ad84029c9cea1c5cd640906642fa3d7
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00096/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2716e265920f002f696e6b0c10280e63b5690592b57d655bafd122c19fbef9c1
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00096/instance.png b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00096/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..79ef07a3a8f62c412f24d3391baa9f97ba0684fc
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00096/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2c1276931b6992224a3410c800aa92fb4abf9c22bb249d8728c40ce3109e07c7
+size 139362
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00096/rgb.png b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00096/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..9837c5c62d7627e9e0d7cc0771c0fcd385e005e3
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00096/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6648d36a45a8ed932c71d784ded0d08b16aef3893ef7c11632ed1f7d0a4aabb4
+size 1966619
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00099/debug.png b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00099/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..16558aba1c6698f202c0efcbf9279208cfc509cb
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00099/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2e9c246ad06ebffab6b23e199a224e4f97357b132c9e44f70f42b6dcf6fdd7f7
+size 1908420
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00099/depth.npy b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00099/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..5797663cc0c3fce62c171c9ed0637c8499506764
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00099/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6c4df0b14b11f573a6d1717b34154e44e824d2e82d31b77f45839340ca57dc60
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00099/instance.png b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00099/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..e80625d9dd54f720a944d3df9f4a7a2bc0c04518
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00099/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a2af013947e4a325314f9d62d5c0b6e26ab53b57dfbb520d0725999e4e8e21c1
+size 135562
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00099/rgb.png b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00099/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..ed8ff1157c9e7963ab200e79105747d1e931c31d
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00099/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:742aaaed13b69fadf0c27357b70eadd4b2e23ba19a098ca80a30bb90051f2d64
+size 1975181
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00101/debug.png b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00101/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..260124d145a5dfea670e6b4602cfb07969c1478b
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00101/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2f0dc21bbaae5264c28004282cd43ee8b3cc784e44c8ae54ef8f67a787248a94
+size 1900036
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00101/depth.npy b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00101/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..af7e4b70a43aca24294069f6fa408bd6a30045ae
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00101/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:00d589c10f429146f37af3bc6444b08049694f0e99863a23269280684d381afd
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00101/instance.png b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00101/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..b575a9e70dcb306e9fff775f958f382cee1fabbb
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00101/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ed8a9b9a4f716eb68b567269d7d132b9b96e54652b69fd0e20aa66c82b55204f
+size 135689
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00101/rgb.png b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00101/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..f7297be66a9ceed3957080812b669be2a07fa791
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00101/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2eb766446b463b84b0212f67e1bc8ff7f50371127cd796715e15b5a41d2fef24
+size 1973052
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00105/debug.png b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00105/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..f1d95dd217966b8195c0c5fc1a9113a431f3f8e0
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00105/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cdb77339820f2456c0332d18a4a061d0facf471aa682bb6a687380465659d5ff
+size 1915846
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00105/depth.npy b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00105/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..95ae32050b440e06926944473c6c881eba526b1c
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00105/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:705991a050593bfc042650f5979e8b101dafaacba9e637ec737fece63f6cd920
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00105/instance.png b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00105/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..4bbf43f1acbcab030cbfd763c29ac9ede7e13a90
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00105/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e81f980bab35fdbbd1fab7494cd048ff4fb44fbf4cc82914328c83f01624811d
+size 138647
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00105/rgb.png b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00105/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..a47ad57e547ca62d9d51775612eda2b40a16690f
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00105/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dd1add5c788339b0a8bb6fdfbf04e32acaa6f5e165ee0ac81e6621d23b34765e
+size 1980338
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00107/debug.png b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00107/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..de4b1faca7088dcbacbdb0a5454e7b50810ae0c8
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00107/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e04ddb64613d0e9a650c842853d25d7c22f95d3cd6a3785d1ba20fb99ffafa28
+size 1922980
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00107/depth.npy b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00107/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..60bca06d57ad9830d820fbda263af16d904e8ea0
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00107/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:54cc2e72e655e59d74e789d0e69f65a9674c322ce435c1a6429820a4a3783ec9
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00107/instance.png b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00107/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..4c9c736af8dbed1713d759b74704c5a58a38a7d4
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00107/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:efffa94fa3fa7f5619acb342399623ee46ddfaeb6ac5781fa430359ebe4c0d4f
+size 139856
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00107/rgb.png b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00107/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..7170e59cb1dd9b084bc16c04ea13ffd43df25d26
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00107/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:83e50eb06c458ce0e81469e5b90e559051911c6147e01751fe0285b249a5ac77
+size 1977192
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00113/debug.png b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00113/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..0083b0704399337e5dc714787a7f57cbd58d01fd
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00113/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bab617255c8b7531f813ee1a1ce5579cf3a420162ef5b94593511c8fbcb611ae
+size 1918054
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00113/depth.npy b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00113/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..96eccfac3a6c61003a1c87308c8c7b969641c4e7
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00113/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1c3527581bd2ebd951341b0b8aea23c2b46dc493808ef6a146661bf80ea0f831
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00113/instance.png b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00113/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..ea1da1c1167f4266c3883d60c601dee30f4578ef
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00113/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bb9ae6b2aaf8bfa0752c7470b7ac577f9eadbe6bf10fc18bd9f87c9b3253b91d
+size 136240
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00113/rgb.png b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00113/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..851410c864a46f4d03932660a6a552423575841a
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00113/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a9e7747e4635976323e40f0ee730cac9fb2e2b8fe85199c50d520aabf9929fd2
+size 1962030
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00117/debug.png b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00117/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..d6054b16f51f3aa636a3eecce57d1e99868a58dd
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00117/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:abd616fa34256c0f0baa08419da9ee4ecce2ce8a313f3a4b62b5fb48e30d3833
+size 1930554
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00117/depth.npy b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00117/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..fb9e23ffb9438a0c8cf5ad99e539d2df8382cfb4
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00117/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:08af63746724f7e952b7643bf611dabfb4fb8bbfcb761afc0a1358aa9fdbdccd
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00117/instance.png b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00117/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..fbdf0775cefb3f2db12f7ed07a6b4f376f24f453
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00117/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b94fb82ad0a58aab3073b2be7f82e2af545ef008ba2ab8db498b9c9763d070af
+size 134267
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00117/rgb.png b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00117/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..0b392f10f39e20af7fe9746f02ecb34791eb3f64
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00117/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:718540c4de1e524cb45c8d096fd52798c3fa86303541ae64b173b9e1b5046799
+size 1972835
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00121/debug.png b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00121/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..02a9047f9e54f947d6ae3c6e00ba02536061b627
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00121/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:25d9dcb23d79c427989f27a471ea896a0f813f0c16165b8e6bc6dd0d36a2bbff
+size 1927350
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00121/depth.npy b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00121/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..d53742a0923d20b046d38eebfda168de892a8d00
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00121/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b54fc129f6b02818c60fdeccc6ec38a3280fa8723a15a75ed5fac9511fcf58de
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00121/instance.png b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00121/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..e7b9cb14af52fed5fd08ed0939c33c6efddbfa0c
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00121/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c8025e4c56c0d869fd197571ee84e8501d415810263e18b0cbca257c03ae99e2
+size 138391
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00121/rgb.png b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00121/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..fe5957fb3834b09120d7b87b990b16a716c53e4b
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00121/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:71e6e6c0941d48fa44851669888773ac0a46e3e760589a9814098bc607f06941
+size 1969537
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00126/debug.png b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00126/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..964285f01f1d234fae31021311bdfb9f5c52e974
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00126/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:851c721e1e97c5d8f3a416eee06ab989accb3452470cdc97f365412983309716
+size 1929802
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00126/depth.npy b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00126/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..73f3dfec03696f90b41a26a86cca8a238a03e568
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00126/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7c3ce91d7595baa1a498678e8b44ab32a108e702ac8a2bf500955da60b3498b1
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00126/instance.png b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00126/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..b61092470f42939a597783aad40077011a03053a
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00126/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8afcf577b183f531ca47d2aedd759bf2c934bcd780b49ece8f4b0ddb87ed8794
+size 141206
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00126/rgb.png b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00126/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..fd3983962188b9bcc730a4ee73521154ae3eb4e1
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00126/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5c2cf197c626b27b934472322042d3581dfca79f69107be55f7bf00e90b5f700
+size 1962953
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00128/debug.png b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00128/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..4851b236a7ba2b4208f295ca5c17375fa79b59a3
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00128/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b73164fd40984a8f2d909b8a80997c0daf838aa63d9e965bef49690cf65122e4
+size 1928351
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00128/depth.npy b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00128/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..5fe7ad537a0de98cbbb83c55193bc865b1f9f616
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00128/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:16e86b540061287885086578bf73f5c92d38aa152970fcab2e205e85e43048ad
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00128/instance.png b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00128/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..bd7d73fc061f39e36f8efe01fc81243abbfa2377
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00128/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4719fe9cc03bc29745875e5f9e2a33764748a318b5b99fe434c8f5554312cc18
+size 138017
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00128/rgb.png b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00128/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..9963f997adbb8847df6dc96381129955405465fc
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00128/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0af36f6088e44d4e2297ac9d7a0dc037390be058b22398dcc2ce68a195b4556c
+size 1962702
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00132/debug.png b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00132/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..4e1ed7408e56d9c71218d3e42dfea5da02b102f5
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00132/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b2aadb9fac2baaba018516b618cb808253089646c011f360c455ba8ea7c8587f
+size 1938721
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00132/depth.npy b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00132/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..e0ad6aec4d151413d6e640730b11badd3d5e44aa
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00132/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e2d38f1e64bf624c3bb08dce2db0db6553eebc2b231dd4a65e27e042875bbc8c
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00132/instance.png b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00132/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..48d63c9cb65a1b03fd0b808ce4f5f7fc4cfee994
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00132/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0557c32f03f2e4f6a17405bf01bb5d188670df72d9e2e2ae1f74cb950f9d69a1
+size 140282
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00132/rgb.png b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00132/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..4c676696fba7f18c992b2b747fa7a6530462b224
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00132/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a712fff1fd4d8e8aceae1940b6bbacb3d49bb72d0735bb362f78020f73d2f9be
+size 1965676
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00135/debug.png b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00135/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..809be9e693b79d3e478d6ab8cc6e06f661f9b6d8
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00135/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:09d317e681dc454131e624b8bf776dc95be9088549dfa51b62e301cde2a8765a
+size 1924098
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00135/depth.npy b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00135/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..2ebdd87abecca785e6adf6a2d5c767e84f15d47d
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00135/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e95b12e6ce54eb1a6ac56558ef4a38ede4a9a1046cf9de96784ff7755d9dae56
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00135/instance.png b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00135/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..a234c1d1f436eb3d7ccf1c6ca40d5ce9630de9a1
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00135/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:32c5bf1dd1d100fa6b42c4131e1883468de28940e5e171cb148c7773f26bcee1
+size 139663
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00135/rgb.png b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00135/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..0852c92c62a75ec9e5329cb28c6bc4c9f1936456
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00135/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e76e190d743a4187371cea026f40556d1acc3d2cc7207d3c6913176780bdd256
+size 1965074
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00136/debug.png b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00136/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..e84b3ea3f66851580a06fd2faa271dc441272700
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00136/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:14196086af6e0a9c604026db2c486898b6680513ca5878d8a82e4c329f23a376
+size 1921130
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00136/depth.npy b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00136/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..6de839777f740f79eeaf350bccdedf79252d122d
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00136/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3612e8eb26c42d1d4b68061b0a07d71335e701ebcb6fa43de5793a4b4938e84f
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00136/instance.png b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00136/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..a3bbcbef01a06287074b2b7d60dce1cbbc1e9351
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00136/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d2474c418eab6b41fbde4e5abbc3b4737723f34bc68d60633a209e601283a182
+size 141165
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00136/rgb.png b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00136/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..61e967b6f399d26ac7a1d7dab5f4e50bc852bfcf
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00136/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f3e652c00e63b1ee1375d9f0697a069b8eb0d0949c77e5d59e591c348c42092d
+size 1963688
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00141/debug.png b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00141/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..d86b480ef6cfee1b369df0167280346f1acd258f
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00141/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dfc4a6aa0bd1f9362f860244e07e43f2e7e8138ab18732c2f9f814399f324fe9
+size 1903266
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00141/depth.npy b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00141/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..8ffdd431a8ef381815ec5e9b7d625548764edf42
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00141/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:50f75de5c734dd3aea29502a87ba5d5e9ebcce77eb1e54d3f687578b20fe52b0
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00141/instance.png b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00141/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..ea074b92ad986cfd4820589464a9ce41ddfdd5ec
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00141/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c8fbf29ce18cc313dee6598fae83c0d75309a8d86f088fc69c83b08577695092
+size 140372
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00141/rgb.png b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00141/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..fd1153c4af93b383346b8fd38dac530e9fe8c774
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00141/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4ef73a722f3bba48e5491900be666d173b0fe0c318fc3b1a23b06d96024c0dd4
+size 1950790
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00142/debug.png b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00142/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..bc23f77cbe54c3dbd97d5e5141b295a32978f746
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00142/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:699ecc368e20eb6a85f9b858aa568f9aca84b4e427abeb2ca67ed852f289d806
+size 1909765
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00142/depth.npy b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00142/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..6924d47ed2f7fdc75ad0fb0d9b55d2cea2a30c37
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00142/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ce93ec7a839dddd520cf8ce4f5df5eb537aa97470d241b7a0a7429ab8dabf1aa
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00142/instance.png b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00142/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..079aea6ffdb3577a6e5bccde12193590147377c6
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00142/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3778dea698b77b2bee4ed8e51b93f210ffd06f5b3c869feb85803200db92f295
+size 141268
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00142/rgb.png b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00142/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..72a37ddfaab5600fd6cb474ead88518a54324a48
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00142/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:911f2c707ff09d27161165372759431a578c92007dda1962e0bfa2af794bc96e
+size 1949725
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00152/debug.png b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00152/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..b7dc34c5d84d1be196babb9cc0fd9b2d5a517103
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00152/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fcdc4481720c63f3db20d0191e6aa7133082e0e1f4cf12d25e0a1211aab7293c
+size 1937048
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00152/depth.npy b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00152/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..9e69e677f16ccdf50c40d98c7c2c4b65050d8e6d
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00152/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:071926dccbfb728b057fc1238896fb5ba739086b88edf1f2fdb61c67df8d55b7
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00152/instance.png b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00152/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..95670b863ef37a5f26880a4c683156407d0dcc91
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00152/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a8774416bb9fa629465549220b81c966a3d78afef37e589a16a8c93002e9687d
+size 138745
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00152/rgb.png b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00152/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..65ef518198012954db2a1c1a5345e9523b41a8ef
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00152/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cea4a25f39b2488b9ac2befab4d3652b4a771fd1aba013dfe8d719180232a822
+size 1982407
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00153/debug.png b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00153/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..9b5e70460ad90dc48151180e5c18d09b63bf6a41
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00153/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:696e909a23e263494dd8b4ffcc24b8c1777013dc7ec832a5678b4dee1d2b2b85
+size 1933596
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00153/depth.npy b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00153/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..573179332afb1b8caf86eae26daa1c733f66d12a
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00153/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e6e4db03951c4dbc5ceaec7d549fe12f59a687f71e3f30cd07ffc00743256b86
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00153/instance.png b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00153/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..ac6744586563e83e90202bbe3b410f0b9db6cd64
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00153/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:84c9965b8cf10ef86c5e1525e9cb7e2fad3072cfa0b2ee0ceb29484abf58f950
+size 139003
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00153/rgb.png b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00153/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..3f9069a057796ddfcfe36b9df0d219f4260060d9
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00153/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d74616afbe6f6790d33cae0432c130e95c9023912d5e0efc2101d57f61fdf4b1
+size 1978330
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00155/debug.png b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00155/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..702d95f7290682b0fe063f655178f53b9c5c1412
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00155/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c9e4df5a3272e6d5a9bbb5e3fe90e2b5155ddcf370e0aaa4cb067e05d0de7c19
+size 1957359
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00155/depth.npy b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00155/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..71b5e1719fba1231e98646f0e11e721d0074a209
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00155/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3b078739acfc090e13cea075f109d482d4ff7217aa4284cb35fc287abc7f3ede
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00155/instance.png b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00155/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..c8f06ea724945e860a7ea2b1d533a9d79bfcf7ee
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00155/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b3c71fb180f2e84bc4c843a3a75ab42fb265f868a259fdc3865983a51dfb83f7
+size 141065
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00155/rgb.png b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00155/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..cefbeeba93cf02acf81cd7590cbf09f7575fb276
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00155/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:caf7935f925ee506039a98e491de43a8aad3bc82fe6a99c1d0b9a92dfedc821b
+size 1997805
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00159/debug.png b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00159/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..0eaee865c9100853f817faedc405954bbe4f03d1
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00159/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ad3bccc27497e1e8dd1fd35fdda9a5433fafa8702ad770d8925cf1526b9d8a2e
+size 2000208
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00159/depth.npy b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00159/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..0871d445cc7a0c5f0a9a7421fdda6cedbc42d0bb
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00159/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6a46f41c7627edde316afb830528565d6ba9cafaa336ea9b20e19b0c2cd6dc1c
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00159/instance.png b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00159/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..f25a271867c1191bb9ef3e549ff38f61566085eb
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00159/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d3ea72d74e87c08161d92817f01cfc3bf15f3a6f74107e41f51633a6df731706
+size 147474
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00159/rgb.png b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00159/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..e8af4ee3927aaa8cf8c152c4172057ef88e26400
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00159/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3c3a2942cb17b746d6af62f3a3720e271118cfde870521434a5a3d36eac93589
+size 2050157
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00160/instance.png b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00160/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..2a2fc7bcb0e631bc5df043db1145f7cb0cf1f9db
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00160/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cd32f44fbb3c876775fba6cec90f8fc474be2e472d8d26273c0f395323e62763
+size 146591
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00161/debug.png b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00161/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..180fe1d07071a4c247c2ba50fade8b0493bbb64d
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00161/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7e4733b4bfdfa3d2649a1521a588af4434845c78ae21b5c81a3d25d49fff8637
+size 2012244
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00161/depth.npy b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00161/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..3153ac0589b2fbdd2d3948d5feb3c4a54cc0ca95
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00161/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:29102198a78f8d0c472243a2fce3a5d448ec94ea218a58ad35a9842a80ffa391
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00161/instance.png b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00161/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..33555fab00b7940c5432742dc117ebdc7d17a72e
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00161/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ea7edd7c3377318ed9c1d23799876749275423915af31dc81cb7eae793099584
+size 145573
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00161/rgb.png b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00161/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..a2823b66e2dc3d9389ca451189a7d61af70c6290
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00161/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:64b0ebeeb70571b9c048278da8d14018ba5128a828b7841513441ffb191900a8
+size 2068898
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00164/debug.png b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00164/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..2a1a49d71ee0a9543c197e9d9dcd270a3e5acb23
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00164/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9ea9f18722b213fbe453bfd3d3996d34a334034b6ceea7f64692eea185c356fc
+size 2035862
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00164/depth.npy b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00164/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..69e820a2370abf5f83414a14c229f7daf6f8dd2f
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00164/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2e78557f9af60a3656006d6d7aa32bf6ba0835c34de884c1acc3ece8083a6ee4
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00164/instance.png b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00164/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..5f166f585173923612bc5d41ce1a59f73599a13a
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00164/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:67e36868a4c634a4e86b6aced43e914973bb6d0cd8ffbba3eaea6c6ee9efee2d
+size 149289
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00164/rgb.png b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00164/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..3452b9518735aa61dfa9d9fc27d2ca9634bc60a6
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00164/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ca5eb4b6dbed8b763ed88701f52c690fb70f9c10acc07662bfa3e06c756ee757
+size 2093396
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00166/debug.png b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00166/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..ac7226b72ad6dc7ab5db1b34b7ba1bbfc6a9cbea
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00166/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9e9522715d73978c794222e747fbeaa6bc3b985f0ff88c7d2b054cd831b74b65
+size 2060277
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00166/depth.npy b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00166/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..c9e329a7a92a5e5da888fc2f26bb694bbb5e3a64
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00166/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:08044e562cdd1c04e0324b60a209ac3b10fe7271750e6bcd0851b2552c653e10
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00166/instance.png b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00166/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..daf04dbd90a43799500e184d26251e12af7a8a74
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00166/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5a68d9222eafc20e372d7ab1bfa241a7118c1f436008969fccab53daf973edc6
+size 152978
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00166/rgb.png b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00166/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..54fb819463144d2d2aa879328ca54476e17c840c
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00166/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9693f659b3f3dceb5fc49f50ee3441a3d453bd592315af9ab58e3405fcd54ca3
+size 2117402
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00167/debug.png b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00167/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..90dfd2ee7d3a96c6dfc5b1931c24d3a58dc2ce4a
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00167/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0d802aa5e970be2cc6cc8d2d8413d631325b1a756654065ef468f6d452c34d09
+size 2065693
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00167/depth.npy b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00167/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..d698003061cf89f11e9d8a0a663b2f27932473ca
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00167/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:37d8c190bc7ec14a0b420246dbc30798caa07e5308ffcd52a6dba2235efeb608
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00167/instance.png b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00167/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..bf164cf02ea638558a4fe3a6415166c27e7f1fb8
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00167/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fab5dff726b0d17e47811a9dacddb040758c45254a13f7be45e141997264e891
+size 154330
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00167/rgb.png b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00167/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..9ced6e08d925c66e5b65c76a2538c1260731f447
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00167/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:951e4cfb283e29626e381227bafdf889e532faeb2d9162fa34d55901b30faf13
+size 2116295
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00169/debug.png b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00169/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..95a24abaf3e0831a3c946c966077300784c53565
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00169/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:97fbc61e930f317d1cefb9a89a944c8900e934fd61d349213a34e4876d627271
+size 2084409
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00169/depth.npy b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00169/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..13678c03292b867ca457a7e00abd7d62932ae326
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00169/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0d677f557a6b3614294681ff7e902b31ef53944021684bd3a5858ccc80a05cbb
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00169/instance.png b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00169/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..9e662b675d31810515a2016f52ac9fef842b9b55
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00169/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:12d297f172830574ece5fe609ee345c7feb4358822e29c9a3291951704704057
+size 157221
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00169/rgb.png b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00169/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..1a9e5d5e19b65a3de09066b3f75eb26d841445d4
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00169/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:93952e0ee9adfc54cc0976270d7c55c096ea641d613366baf1db355da52c19da
+size 2131559
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00171/debug.png b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00171/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..59e79f69003e866de6ed8993e3b9e88b96758126
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00171/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9d9952c9cd57f28a50443dfeb7a09c07d4136b7d8cdd57c8250f4151dd3ebec7
+size 2104078
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00171/depth.npy b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00171/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..971094942bed006985e6d3697209df68f812bb82
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00171/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f02bacc35ed9d41ec3f8702b5750a5060cfd8b785a79ff4c89ec8f15ac18e579
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00171/instance.png b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00171/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..f2d8c274c84302e71900574f4faaa0d16cbc10ff
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00171/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3d944a3652701ed450875bc42792160d0e689148647370c97fc737a93f60ea1a
+size 159843
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00171/rgb.png b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00171/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..b0f58986bf93186a7326783e6aec0e10d88afd81
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00171/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b30379abb6ccdf78adf4512f9ea67f55b89f4736a88e01021bbbc679569a081f
+size 2146068
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00174/debug.png b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00174/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..04527d568d9ffdb8c10877c83584cb2962db06e7
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00174/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2dcd545a4d3b0908bbbe7f940b706003e3ae746ef3fa3f76a582e64aec16c488
+size 2116698
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00174/depth.npy b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00174/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..8f8e5f06fc8f84d91a03280973724a38ba82f299
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00174/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b4791bd735b507d4a7f3125215ef5bacd7a8676ebc74c515dd37d817318a7015
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00174/instance.png b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00174/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..69212cf2c6511fcede405fa0220443343195b47b
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00174/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:30ee952b5adbd13b7f864316819ef24f2d62703a5018a023dcf64dd581f2028f
+size 164769
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00174/rgb.png b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00174/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..f38ca49ec7becafebc43017b505c74546f878826
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00174/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e95ae68c43b230ac6f509542a843df5794bc17f96ea0b9870eebaabdde9e48bd
+size 2161908
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00181/debug.png b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00181/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..11250565c845eeb2790dfcd8b5303adb5dfe072b
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00181/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6ac5f74bd8c3a99627de2eda5875b2ffdd2d92fa375c68ef152ac06ac1afeb9d
+size 2139874
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00181/depth.npy b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00181/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..bc5f0370a0d1a334d30b1ac190a4b3ac564ea66b
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00181/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0875179ee27e3c788d4dd4b32f69cd3f92245e0834977624b53ecbb6764df08d
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00181/instance.png b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00181/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..9a93f558814b7d59844c363ecd8ebe8f82cf7664
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00181/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:64dbebc4e25883a258acb3e8ca78813043a3dd04e236a9fe0821f4ce2f8ebe74
+size 169628
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00181/rgb.png b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00181/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..3d0607d1bfb1f6f34aa03cb312bde784d6e4dd80
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/ORI/frames_playback/frame_00181/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2b5a81c50683b777df6843830d9f7a8b37fb30c512afc5782e8b834537818006
+size 2177342
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/aug_001/frames_playback/frame_00017/debug.png b/data_v7/Town07_Opt/trajectory_1777126224/aug_001/frames_playback/frame_00017/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..a7a0ccbe29622885043686b64d8d1ad5d33f1568
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/aug_001/frames_playback/frame_00017/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6ae4eea80439effa9e0e450111bfccd3703b34097b33c59ac912a8b177ec0562
+size 1923620
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/aug_001/frames_playback/frame_00017/depth.npy b/data_v7/Town07_Opt/trajectory_1777126224/aug_001/frames_playback/frame_00017/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..72c00006392fe2c543a700cbccdc30ac84673cdb
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/aug_001/frames_playback/frame_00017/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:db31ec08162cf9b5b56007c900ca1b5f6ee743129a918ed80495e71fec472399
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/aug_001/frames_playback/frame_00017/rgb.png b/data_v7/Town07_Opt/trajectory_1777126224/aug_001/frames_playback/frame_00017/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..1538a40136165d2e4e88f7878e24ae4b6a1d5313
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/aug_001/frames_playback/frame_00017/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:13bd4c41e8eb88dc5d85c13cfa03777c51b3b8cadb84fa4e9e6f88bd0aeaedc0
+size 1969059
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/aug_001/frames_playback/frame_00034/debug.png b/data_v7/Town07_Opt/trajectory_1777126224/aug_001/frames_playback/frame_00034/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..54df603a02b585bd0a4949a0c960637b53a973a5
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/aug_001/frames_playback/frame_00034/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f4cf80de9d15068d937235c31ab24a82f2f901a8dc1469fc957bd3c6a7c512a7
+size 1931774
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/aug_001/frames_playback/frame_00034/depth.npy b/data_v7/Town07_Opt/trajectory_1777126224/aug_001/frames_playback/frame_00034/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..f386d9ac018e85f8a2a0361878c2ed4e29d3bf5d
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/aug_001/frames_playback/frame_00034/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c6d1b3488bf46f492ee8e72c461c385dac79d3e6453f4dd1005b88dfa1683e01
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/aug_001/frames_playback/frame_00034/instance.png b/data_v7/Town07_Opt/trajectory_1777126224/aug_001/frames_playback/frame_00034/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..58ddd8c641c7be688ea5e7f35444f1054f76f1fa
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/aug_001/frames_playback/frame_00034/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:173c7261cdc33717b6d72a02183bc253835ded12b85e55617f5717bc86df5fdd
+size 131616
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/aug_001/frames_playback/frame_00034/rgb.png b/data_v7/Town07_Opt/trajectory_1777126224/aug_001/frames_playback/frame_00034/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..58d52420a4a86c594c09d093e470f8b39d98bd16
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/aug_001/frames_playback/frame_00034/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f5a13a0214f0c6f8b142065b324970ac8e0b340729da3438c1260312b82739c2
+size 1982271
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/aug_001/frames_playback/frame_00062/debug.png b/data_v7/Town07_Opt/trajectory_1777126224/aug_001/frames_playback/frame_00062/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..5868d33c4b2f7cec0bbf858c3440769f94f1a1f5
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/aug_001/frames_playback/frame_00062/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3700a9cd0ba48662aa67d26a8b1d3fbf761b59968996673590f81db042e1795b
+size 1890971
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/aug_001/frames_playback/frame_00062/depth.npy b/data_v7/Town07_Opt/trajectory_1777126224/aug_001/frames_playback/frame_00062/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..181cab1afedb723ac7bebbafc4d06a54c3341099
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/aug_001/frames_playback/frame_00062/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5a59287f180ae6b78bf4c4d2d718fc0b6bb4cf8cfe0689e086a6e332d92e42e0
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/aug_001/frames_playback/frame_00062/instance.png b/data_v7/Town07_Opt/trajectory_1777126224/aug_001/frames_playback/frame_00062/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..d8568fbcedbac1f7c43449d245478aaf09b36a52
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/aug_001/frames_playback/frame_00062/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:08dae6bec341df4b3bf2fad3e4892f7d4d30c3bc25841975b258307624880d3e
+size 134978
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/aug_001/frames_playback/frame_00062/rgb.png b/data_v7/Town07_Opt/trajectory_1777126224/aug_001/frames_playback/frame_00062/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..e6e4bdcb74cef4ec55e01b6ffa5704ed5079b006
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/aug_001/frames_playback/frame_00062/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f38197c54f5618109bb2bbcb4ded5677aae4ac64572f258a016c0325170fe50d
+size 1942933
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/aug_001/frames_playback/frame_00090/debug.png b/data_v7/Town07_Opt/trajectory_1777126224/aug_001/frames_playback/frame_00090/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..c97c900bc23e6513f8af911de53a8824b254f726
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/aug_001/frames_playback/frame_00090/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b8cf910d7440fc1695912f0415529042776887f6e4b2a8240f4e2cf9b64005f3
+size 1962304
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/aug_001/frames_playback/frame_00090/depth.npy b/data_v7/Town07_Opt/trajectory_1777126224/aug_001/frames_playback/frame_00090/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..55c601f451b77ba9d3aa25b502a2b766f8d74d08
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/aug_001/frames_playback/frame_00090/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a9003d2bae397b9cd2d87b5cad843826539d67ad426afc2868a3faca1829ae09
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/aug_001/frames_playback/frame_00090/instance.png b/data_v7/Town07_Opt/trajectory_1777126224/aug_001/frames_playback/frame_00090/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..ad11725c9fe99776c71510547c7fa1cbe6f6c1f7
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/aug_001/frames_playback/frame_00090/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:84b6eb921e9844625859d8cffe178542c0c572ea624f861c47e32399a039869f
+size 131388
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/aug_001/frames_playback/frame_00090/rgb.png b/data_v7/Town07_Opt/trajectory_1777126224/aug_001/frames_playback/frame_00090/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..31754574227735d2f8f62e0966d21d39ddceac19
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/aug_001/frames_playback/frame_00090/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:894d29f26813d1bbb06fefc79edda1f8ab9c2cd86c35d30f0dfca74d21526ca7
+size 2005680
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/aug_001/frames_playback/frame_00111/debug.png b/data_v7/Town07_Opt/trajectory_1777126224/aug_001/frames_playback/frame_00111/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..38f35eb7c46bb1f3f0cf4e5152245972e506cf64
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/aug_001/frames_playback/frame_00111/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5e142522756f31d3ca29ff7c45ecfd2d2c9f7c608dd6332ca93e77343a7c75b9
+size 1951961
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/aug_001/frames_playback/frame_00111/depth.npy b/data_v7/Town07_Opt/trajectory_1777126224/aug_001/frames_playback/frame_00111/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..3016cb16b5b7a9bc6b7f1dcd45641e98e4548450
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/aug_001/frames_playback/frame_00111/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9bba947b494032d6be878dd44858689392515f72859072a98cafe09082f819ce
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/aug_001/frames_playback/frame_00111/instance.png b/data_v7/Town07_Opt/trajectory_1777126224/aug_001/frames_playback/frame_00111/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..94a5fce9f088590525ced39c4abccf80612ce5bd
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/aug_001/frames_playback/frame_00111/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:70575b8633dd08ade8cebd54b91c0520b3969bca3ae238afcd326775e8d4e616
+size 134915
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/aug_001/frames_playback/frame_00111/rgb.png b/data_v7/Town07_Opt/trajectory_1777126224/aug_001/frames_playback/frame_00111/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..16b5065997e53c776a74663df786580d158d3ea4
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/aug_001/frames_playback/frame_00111/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0e75dcdead2ae5fad10cc9daeff093715f783fe16d26ad3aaf9146f0c37fe8ff
+size 1972594
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/aug_001/frames_playback/frame_00130/debug.png b/data_v7/Town07_Opt/trajectory_1777126224/aug_001/frames_playback/frame_00130/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..c308f31e2c742b3447269011d291616c0d80940f
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/aug_001/frames_playback/frame_00130/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1b7cc08bd9b8512f8fe4e74710341ddae585690f4003b33c473eb6633d171987
+size 1964622
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/aug_001/frames_playback/frame_00130/depth.npy b/data_v7/Town07_Opt/trajectory_1777126224/aug_001/frames_playback/frame_00130/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..a6ef0f5deb881726965516bd365abe7bcd3483fe
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/aug_001/frames_playback/frame_00130/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:23171b92a424f92449fd18d293c39a714403662518fbffbd86545e97ae7620a1
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/aug_001/frames_playback/frame_00130/instance.png b/data_v7/Town07_Opt/trajectory_1777126224/aug_001/frames_playback/frame_00130/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..67c384a86dad6e4cea6bbc38480c9bea24d57a1e
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/aug_001/frames_playback/frame_00130/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b67acc91623e29de0e682deaf1f33b87c90e820dad01ea3126adca0960ac1377
+size 137994
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/aug_001/frames_playback/frame_00130/rgb.png b/data_v7/Town07_Opt/trajectory_1777126224/aug_001/frames_playback/frame_00130/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..ccf7a139990552698ed3692ba9406b43547a3c60
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/aug_001/frames_playback/frame_00130/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:12cca219c4a0febe61187680f5f145048a9ec01fff20996e1ad4777d2c269b45
+size 1968266
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/aug_001/frames_playback/frame_00133/debug.png b/data_v7/Town07_Opt/trajectory_1777126224/aug_001/frames_playback/frame_00133/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..57650280e66c876e49cdeb90fcec949b851420e0
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/aug_001/frames_playback/frame_00133/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f65647572585df8c4f4446284b511a4c86fb493cf311fbcf2e352c6f198e3346
+size 2001017
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/aug_001/frames_playback/frame_00133/depth.npy b/data_v7/Town07_Opt/trajectory_1777126224/aug_001/frames_playback/frame_00133/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..f2f7515a897238d0e093577bfa444fb10fe966fa
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/aug_001/frames_playback/frame_00133/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d2e5e6717fb5e92a8736aebc8d5e37739497048e28824de7cd198faffddf9c24
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/aug_001/frames_playback/frame_00133/instance.png b/data_v7/Town07_Opt/trajectory_1777126224/aug_001/frames_playback/frame_00133/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..1b7aee1f47c72de1f053c98fc3bc65e476139bd7
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/aug_001/frames_playback/frame_00133/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ea3dceff628265a754556cba9f1291891356041f8461fa46d873432d38e8f412
+size 132355
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/aug_001/frames_playback/frame_00133/rgb.png b/data_v7/Town07_Opt/trajectory_1777126224/aug_001/frames_playback/frame_00133/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..8e5a55596474efc92780f88abac844cf68114c2f
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/aug_001/frames_playback/frame_00133/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:16bc760c24b3ab0ca7414fab88a3bf2057930f6af83de909c6c81af855ef93ef
+size 1993305
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/aug_001/frames_playback/frame_00156/debug.png b/data_v7/Town07_Opt/trajectory_1777126224/aug_001/frames_playback/frame_00156/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..d0f05a8d2d43f5063773185cd2b54ba2f8a5941d
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/aug_001/frames_playback/frame_00156/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5fe0ef94c7f81e19cf8f21800cddc9c672dbce11875a1a54c6a358bb36075d74
+size 1993952
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/aug_001/frames_playback/frame_00156/depth.npy b/data_v7/Town07_Opt/trajectory_1777126224/aug_001/frames_playback/frame_00156/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..ec4697361c1dc68acea64ba7829836c1f97d6921
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/aug_001/frames_playback/frame_00156/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f48bd52b6012152cbcd66e2db6c3cb10a73e906d782bf83cce63ac8e7790fe5a
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/aug_001/frames_playback/frame_00156/instance.png b/data_v7/Town07_Opt/trajectory_1777126224/aug_001/frames_playback/frame_00156/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..a5b265010de965dd749c0f3ce375556934daf9d0
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/aug_001/frames_playback/frame_00156/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bdc2dbee741a5d8c3da27dee8cdd01f4f15df6d2573a229a69513ceef18cf201
+size 144287
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/aug_001/frames_playback/frame_00156/rgb.png b/data_v7/Town07_Opt/trajectory_1777126224/aug_001/frames_playback/frame_00156/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..a12ef2be99c7fcdcb225dc4aaeb559a99bf4f3ae
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/aug_001/frames_playback/frame_00156/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a1458da98e2c7f586833c274fbe48aec6f34e01c2ffd8d427c78e1ba575a38fd
+size 2004826
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/aug_001/frames_playback/frame_00158/debug.png b/data_v7/Town07_Opt/trajectory_1777126224/aug_001/frames_playback/frame_00158/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..2b8cb2b3e92c121a9ae3bbc2e7d2ffa9e8008e2e
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/aug_001/frames_playback/frame_00158/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a8195f6f5a51db04240b47aa4fa4b446f43e64e5ecc4461f784092a54d1dbf7c
+size 2017304
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/aug_001/frames_playback/frame_00158/depth.npy b/data_v7/Town07_Opt/trajectory_1777126224/aug_001/frames_playback/frame_00158/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..64e9fc100b171bf64c3e3b00ff5bdc1313884bec
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/aug_001/frames_playback/frame_00158/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:591d408512c934361f2478d1b3bb5e077d9a2506841772aff49a8e3e5f4c8a76
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/aug_001/frames_playback/frame_00158/instance.png b/data_v7/Town07_Opt/trajectory_1777126224/aug_001/frames_playback/frame_00158/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..34c064f36aec4c0d3531c0bc9ac42a33f1af3a46
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/aug_001/frames_playback/frame_00158/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cc0cb2969a1d4e185a71a12361fb609f9ad27dfe6e33899a3d2df1a0caedcf30
+size 150230
diff --git a/data_v7/Town07_Opt/trajectory_1777126224/aug_001/frames_playback/frame_00158/rgb.png b/data_v7/Town07_Opt/trajectory_1777126224/aug_001/frames_playback/frame_00158/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..f5d7a1bff6547b8b4b3bef9327f79b467e073dbc
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777126224/aug_001/frames_playback/frame_00158/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:affffad1d6b36b6ce84a15b6806077c75a661c9573220487c357bb27e43cf538
+size 2031389