diff --git a/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00087/debug.png b/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00087/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..8e631f2fab34d1feeb383b0f9af4674152f1141c
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00087/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:205e724fc69f04fb9f5ac96f3296e2e40307d822ce62506423d5ee5234e3d39a
+size 1602714
diff --git a/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00087/depth.npy b/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00087/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..eb3730fecb39f65b5150e66e976a9ad0d99ee755
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00087/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3ebb6e364435abed3ddc8827a7c31915a1f8690eb9a133d64915b6fc1bdb48ba
+size 3686528
diff --git a/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00087/instance.png b/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00087/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..5bc1b49948c5e284a4593f70eb16846383094c4d
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00087/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1b39f3b090117d9c9319b748a93f5b4989f6aabccd4277b72d2f7631eefeed5e
+size 51584
diff --git a/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00087/rgb.png b/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00087/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..a0607ceed228b7676cdff36cd556f842e8e46c83
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00087/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1228859635fe6456071ed57c3aa81f1736fde8a2d9eabfff4c6e1814e4863e93
+size 1599400
diff --git a/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00116/debug.png b/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00116/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..fe02b20e22a55016a93c0136af990790ab7a2b76
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00116/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:49bfba49ef07545a4c45547adbf2fff50e7ce612ee70010b9b0f419c9aa92637
+size 1642556
diff --git a/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00116/depth.npy b/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00116/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..9cc8ccabeec38fcda36e8ef6d719545a50d41b61
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00116/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:20a981815f73dc088834286eb9d17cefde486e4079b8de8bf619cc1b28db6574
+size 3686528
diff --git a/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00116/instance.png b/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00116/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..12042fed3aa2fce04c87e02ca2f216ba5c5cac99
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00116/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:22352d072076e4a2bd52d1dea7dc89d93d70f6c4e00fdfee9b4a08d7b6c76236
+size 60024
diff --git a/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00116/rgb.png b/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00116/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..f62339abab14df2fba712e87326d00475131b424
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00116/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1ee8071faac88d93412ac1a4094496a0a106251f5b49f0d4945f0a49270f20bc
+size 1642229
diff --git a/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00170/debug.png b/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00170/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..63b125fd054bca37623f3ae90cd021b517e049fa
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00170/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c73f3dbdcc9cd9ef6c7af702a63b1d7823c41295e3952479ba94e157d9cfefde
+size 1716925
diff --git a/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00170/rgb.png b/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00170/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..cf95627518c19d01c0f72ed544c3150cdacc8ef0
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00170/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:603fe56b5ac09ddc859590e5433ff3e8a53ee643e2b27c2d1d52ccd9366cc912
+size 1689305
diff --git a/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00178/debug.png b/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00178/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..898114bfd9e799154d4ba70c586114bd3cff9aae
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00178/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b9ae2fb2bbf429b6215f2e3b18537c4025def2ec842e4b2ed8db4c604cc634df
+size 1693145
diff --git a/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00178/depth.npy b/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00178/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..02fbcbe4411ce62948571f2693483c5c2a2fa5af
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00178/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b6b4e407ef675ac2f0c4f45745373b60a8bb53c57fd90be368efe2a22af97378
+size 3686528
diff --git a/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00178/instance.png b/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00178/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..07975587d81f78f7fd78612186e09197c9030f8e
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00178/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:11f5b1d1b51ef87fae18774aa08f057417c8633b37d8c1df268feeb17e678f4c
+size 81048
diff --git a/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00178/rgb.png b/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00178/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..b7b982cdaf541b7d1dec4e63e78c50f28077b4a9
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777245997/ORI/frames_playback/frame_00178/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d8e18bf1a7306d9163e5efab47ed678250a1bf3bf384907299b8cbffad0aa79c
+size 1666979
diff --git a/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00010/debug.png b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00010/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..e05eb060fef8641eef073fc392340d473e50a3fb
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00010/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:661aa86bd80c5bcf951adcafe5288924fd076b8d92a6d342e0ed9ae4ee618b4c
+size 1681040
diff --git a/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00010/depth.npy b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00010/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..a8fdc98101f215f326d7ae80eafb682e2787742c
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00010/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:54af95515f884e7851ef5dbaebc65ec1bfa5740bceda5ea429b4257807ecbf12
+size 3686528
diff --git a/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00010/instance.png b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00010/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..0040c8a65201821b5e21eafe0077ac555e3774d1
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00010/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:54d61b61cba34b823379880ac18bceb5e1c2ef1388386ca7a4810bc069081755
+size 54815
diff --git a/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00010/rgb.png b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00010/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..d8db96ec9b8d27ae6f252474a76705d365eb5d48
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00010/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:951c09cdaea7ae5728a45e7c9fa3c9955283d6bbed250a3a7eb47484ab9d1893
+size 1591147
diff --git a/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00012/debug.png b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00012/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..acf61d04c2d44b4314cb653016de67b2985a5252
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00012/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:31bb1f2e852b7973b5b3b9279d2d36f772548cebb8f742f4e5fb6a584b72b084
+size 1701473
diff --git a/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00012/depth.npy b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00012/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..99a2e2c371418a88a52be7ed53de642f24284678
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00012/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a8aff2c76fa38509980e0b6104ef0f73a69f8814406ba8c002c27f894e9be1fa
+size 3686528
diff --git a/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00012/instance.png b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00012/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..d06c29a8aefd06bb7108d98549cb931c2f5845f2
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00012/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:660caaf770f084c76eda6f2677f3175332d670b0c805e47f2cc00610e9f66fb3
+size 55934
diff --git a/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00012/rgb.png b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00012/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..dabf89fdf4ce3e4ca7cfbbe1f9f7e724351914ab
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00012/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bc3ca4a72ef0a3edb1b75688648df1f98643f2c96e21367535607a195d13aee1
+size 1605145
diff --git a/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00015/debug.png b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00015/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..cf8b26329a65d41840744f140d9834bdb88d584c
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00015/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c7fd34b1ae1858c070552d4d0a482425fd387043528236fa04e4323ad16cd32e
+size 1716889
diff --git a/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00015/depth.npy b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00015/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..26b78723ff66a2630c4efe8291f18a250a6b22e5
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00015/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8037b548a422197aaca7043ec1a064bdfc5c64e84ae3e7df63fa0d9e1d394e4f
+size 3686528
diff --git a/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00015/instance.png b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00015/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..b971ce8b98f877c0c02576f40b8466c6b641ce6e
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00015/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2ef60806ca37e8d250304128a14a877c9b251eab7710b645a79013a84295b821
+size 56658
diff --git a/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00015/rgb.png b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00015/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..1665c77dfa83c2c8d1cf3142e080d361e50cc7ec
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00015/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:828f6c6b24cbe8ecc321358b7de38d521b8ea68442ec32924239b37dfcef37d2
+size 1613393
diff --git a/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00016/debug.png b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00016/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..d7c4dbe6532e6a22a74cd60cfe33c452f41f672b
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00016/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d92c9b58b6e6b72fb626180d8b3ba8fda7ace73697100d34d50e3212fcce743d
+size 1728352
diff --git a/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00016/depth.npy b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00016/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..012d22a4a8c9b5d32fad8fb0e9a2a0481f2e0e57
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00016/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:33bd64e440d6487a9f0449b4362553d77fd72fe5fbbe4f23e9fc2f245522e899
+size 3686528
diff --git a/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00016/instance.png b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00016/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..25326a8a3313de0254815f273a4b968f760a7f41
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00016/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7247907b1d1ca2487c9be85a47d635b1147231bb69838a2ea4b2a3e7645389e2
+size 56686
diff --git a/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00016/rgb.png b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00016/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..92f72dc4bbc06499a435e1418a7f3d2e456a831f
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00016/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5184456962502636d910e9690468b000d0628fc6ffa79baa84d56d4ded120a70
+size 1640415
diff --git a/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00027/debug.png b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00027/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..2e8f75b8746f8f1db8f2431b04f1b94dc0b680d0
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00027/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e0a0a7c542e40f4bda6169626432d97883ccfe1b72889bf683ddc51401cda6e1
+size 1677746
diff --git a/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00027/depth.npy b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00027/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..c607fc428bceef6482ae0fd2d4bbeca18568ebd8
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00027/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6feb7f5d4eaf3dfd9f5424416752f2bf6724e84a58080775d75b0c7c1666ae93
+size 3686528
diff --git a/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00027/instance.png b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00027/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..de52ff1f101dff2ba7d8b4622eb7b0bd040df56a
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00027/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eed62aaf57b5b1061f6476571e0253c62ffebfae5c409e82c3e3d848dff49d98
+size 58401
diff --git a/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00027/rgb.png b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00027/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..8dd86865305950319d7734fc2474aa0542a8bf00
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00027/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a71df6267eca4385f01c606c5b9f0f0aaeec763d90834eeeced70186625c129f
+size 1601704
diff --git a/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00037/debug.png b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00037/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..94928565b66e3bdf10cc6769442d9ef25efcee4b
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00037/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c9f2575ee98b91cccc9cb139fc6a1d1d835b20c55001e36d704ae43f78618122
+size 1724410
diff --git a/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00037/depth.npy b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00037/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..89f04a2643eb9f7da82039bdb16b599c817a8ac5
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00037/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d49a62a4d911223059d5930315c1f02807a2ef4e05e2022e8a00d6cd70822266
+size 3686528
diff --git a/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00037/instance.png b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00037/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..37ad54120f3db378943b44ae2a66bbbcf0bce91f
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00037/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:01f35920e13d19666d15eff9134f735ee42b643123f1402aaaea14e1764cd7ca
+size 59488
diff --git a/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00037/rgb.png b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00037/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..b8854808bf77f0ef29fa16301bdb4b9295cccd8c
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00037/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:00bd6b868c4194fbd2d4ee16f37cafc060f129c1d5fc8c1c612f80566ce06dd0
+size 1663151
diff --git a/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00039/debug.png b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00039/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..96a07df49f5832af4f44c0036547edb2b3b8c883
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00039/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:41019ac249ece23d72af2cf412029957e8ef09f3b86cbbdfedd26beb989b28a6
+size 1719589
diff --git a/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00039/depth.npy b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00039/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..decdc1ef3c5781e902a349b4428eb573a72d9765
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00039/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f8bb3967c4513e11c29252361790337b945fc046f04c36652aa6b8b8e6fd6e0b
+size 3686528
diff --git a/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00039/instance.png b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00039/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..babcbfb12c68b2d66d1ca65e31ec50baac40437f
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00039/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:24857af3f724095aa9a35eacec6d1d07f388b18e66f67202263ef26c0ec75fc0
+size 59785
diff --git a/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00039/rgb.png b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00039/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..777d5ac33d2a6a49bcdb0f48b4c56b8fdaaabb5b
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00039/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:84610602db0aef18523ebbe1d74db687730d05485595316ca2a4691a0ab3702a
+size 1665079
diff --git a/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00042/debug.png b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00042/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..0fb3c5c1efe4aa53f76a0ebebb2b32bd96d40a29
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00042/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:707bfbd244316d28a14f2b13c1e10a2fa3e5f84f995f1eba017bc8ef7dbd67f4
+size 1724273
diff --git a/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00042/depth.npy b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00042/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..86f9c3bbd815430c95da67cf7bab3dd7f62e8353
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00042/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3d9d292f2315a89675ae9f6eb41a7dfa9a0cfb6174edb964e79eb5fcf9107908
+size 3686528
diff --git a/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00042/instance.png b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00042/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..1f462673bcb8f808fb677596b3ed2ad95c88092d
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00042/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fbfcbc369c45cc8753203d3ed0fc6afcc99627188b632b6be1bceeb0c60694e8
+size 61315
diff --git a/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00042/rgb.png b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00042/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..a055ae2a87488ea9478f4d4910afce72f7c525aa
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00042/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1b06df3332074e21465a72ea0b701c1f9338bab9f6c73aae91c8c452ae8af58a
+size 1669913
diff --git a/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00049/debug.png b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00049/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..5d00ef088fab25ad580f35afb8de771ca4890cee
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00049/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6d125783f79ca78eb6717b50993e5051949ef1fe9cb065a96cdb0ad8b6aaa964
+size 1686404
diff --git a/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00049/depth.npy b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00049/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..1404a11a0d5fb6342974ee781c0a4cf8322a31bc
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00049/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:78016d5659acaaa4e8524613a9164d61d4acc51fc3229470c56260c4c89a9689
+size 3686528
diff --git a/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00049/instance.png b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00049/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..be4f89d28e16426599687702559ca3d7da0b9640
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00049/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d5050da9b48102a0bea001d8d22a42d67a86a96805ba40193a3d1ce1c727dcc4
+size 62960
diff --git a/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00049/rgb.png b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00049/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..7beeafc6d143ef400f1096e924349667fd353c0e
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00049/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c87a09e1175723015165bd8f03ddd99184b959587a505da1871654a1f0fe87f5
+size 1667322
diff --git a/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00055/debug.png b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00055/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..82c844e65ede4fe035df40bb0a3cdf20ed379ad6
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00055/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:150c9624b976af1f8f88882b6c0caacd5c724c2d64912df50032eef239e0ce35
+size 1694756
diff --git a/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00055/depth.npy b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00055/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..86d941bdb329938f47d1e782e598566953c2346b
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00055/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f6ee62dc46e316f42fc09c9f266aa53a005ed2181247235b80c830c69ddba89a
+size 3686528
diff --git a/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00055/instance.png b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00055/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..3b900ef1fb7e385953696b104d248606acd6fd4e
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00055/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eac479793b117349a64b011d689f7e9fc4ee3b4c68eb4032f0058a14caef3d2d
+size 68363
diff --git a/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00055/rgb.png b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00055/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..adcc2e281dcfb80c7a228da91237bed40d6518a1
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00055/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bb50392a7dbb2f14fdd0bc5441e83c888ad04fa3fbe9e289b3c27a0fd911d0cb
+size 1652567
diff --git a/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00069/debug.png b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00069/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..629826e8449ed3d3dc9e7d2f61fde43a5d633028
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00069/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bcfaa38ab59ef7807c0ac7b78ba61da2c9746135da4f68b0f59a21139c056ee6
+size 1625374
diff --git a/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00069/depth.npy b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00069/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..3df3aec19e3c0c3aca82a14c39438e1915a17835
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00069/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:79b2f5bc1cffae4a56fd1f31f8bbcc46be08a80e29e5e571111685151356bdfd
+size 3686528
diff --git a/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00069/instance.png b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00069/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..c5d65b63b08904c682b68ea4473cb82d4236faf0
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00069/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9e09b66f8fbcd62a0f8d1f68af8773837fb2053474ebbb70c061a3eacac049f9
+size 76100
diff --git a/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00069/rgb.png b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00069/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..65faef99c49b26f2e2aae4806f92189c2534f2eb
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00069/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7b1cbb7da3e125202508e4675e20ee3a1b69771970bca0444901a9d7e162ad3c
+size 1567761
diff --git a/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00074/debug.png b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00074/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..b602009efc391a6233a96a08dc1d8cdf6b391bce
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00074/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cd4649324d6425ed02ca63609f7fb8e4e84ec81530759dc01ddf9a5124391784
+size 1640800
diff --git a/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00074/depth.npy b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00074/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..9f2117eae64779265cc7d96a95447b813c2f1e24
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00074/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6aefe4074171302d4d7d247a565a99775366d41e31ea39a5a9cacd0bd94971ec
+size 3686528
diff --git a/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00074/instance.png b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00074/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..2df917d5f70b17c1010ea7a887bdd6f68d4299a5
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00074/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:03b5df99a0916728b41a43d3b7404b56e2698a278b3a497f3ff4e371860293a0
+size 77327
diff --git a/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00074/rgb.png b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00074/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..bd5f29067d98801858c86772a5566a2afde2ecc1
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00074/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ccc23009b9c1850f9118729e6df204bcb455aad15a3eb1e698e229bcec8da360
+size 1616151
diff --git a/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00078/debug.png b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00078/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..9b05af8c3383c4f33675b71c23756db843ee84fe
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00078/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7fd72f3e2366360f0ea2a154905ba453a2568ba1ad11ba5e271b43744af03ab4
+size 1645350
diff --git a/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00078/depth.npy b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00078/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..6d7ea4e808d6f519c85d7625afae5a3551e313b0
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00078/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b7c948ac4dfed9a1c79d6ab80e3e16312b79e60d19ef3986669b6364a1e00e44
+size 3686528
diff --git a/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00078/instance.png b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00078/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..21e81fca066ac500030219571757b0a0d291b84e
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00078/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d054ee05360ce1da5b8c3ba7b1ab680a3c1280c273d680589f00d178ab5fb29b
+size 79277
diff --git a/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00078/rgb.png b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00078/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..b229aa1e1ba2f550bf34d1385a19efbdb4e042e3
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00078/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e57f1a9061bd0d2e000d26ed787ed11e2de7e67e76170842dc338cbd3c016608
+size 1626979
diff --git a/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00086/debug.png b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00086/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..33958356de8edf5447bb3862efdcd0496f9e4ad6
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00086/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:31d878731194bb2939de5dabb6b81f5c4d7923791550ed171e4cb07ba5dc7b35
+size 1632233
diff --git a/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00086/depth.npy b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00086/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..7d79547e769b7c241284db404967eeb1d0cb6189
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00086/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b07b9ce528dcc086663f4669f6d3f1a085732c8c8c2213f6e95c6d7d4ec6ab40
+size 3686528
diff --git a/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00086/instance.png b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00086/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..901ae0130f9cd7fb03cc60d7af6171eb34e23666
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00086/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f8f5b0e308ed45c4a45dd1a631d649046b964e4742ffc8f42da6f08af48d62b8
+size 80842
diff --git a/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00086/rgb.png b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00086/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..7279a277ce852ab18e3ee9e953b21b55102a1198
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00086/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e0367cc7ca3853d0ce2597366f85ed9a234d882bf71447e90e52d52cdc21d577
+size 1629261
diff --git a/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00088/debug.png b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00088/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..1f4c26b66222e58e8cd3a6a8a004da6ce9cdda1f
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00088/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7e7542e624e4df45fd4a1ebed16e6d30cc059234190f7fc293ebc9d8f552d0ea
+size 1633015
diff --git a/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00088/depth.npy b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00088/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..addadf85c4fc672a3bdb56aa693c09998d267fc4
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00088/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2d14d2b87d1ad89f11583e5bb82be6aa69eb30a40bf298d4ab3094409df5b052
+size 3686528
diff --git a/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00088/instance.png b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00088/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..b063c9ef0f3f111834b7a52afce493ab4aba90b1
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00088/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ff7036283e23943d2207d51572196601275eee25317b98014cb3517f60027fb5
+size 79022
diff --git a/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00088/rgb.png b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00088/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..e7f32a173d221d8224209ab05f4a6da4d65b7430
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00088/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eee9c3b95a938a613e0451d7e9a8622d45fc6dec53603cc07a2669cd007be512
+size 1625225
diff --git a/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00096/debug.png b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00096/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..e0291859920004a74a78a147343992946ecaf745
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00096/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5714587715e0c5fc2cd563dd77717f5fb600947f3d199c16502a2005dace7fc3
+size 1683820
diff --git a/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00096/depth.npy b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00096/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..02aa37280542ae85f8cc92a46da855529e4c0426
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00096/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d718619bcf718037c8f3093acf1b8c5a8a65c4d3d8ad3a1df4677374e634b824
+size 3686528
diff --git a/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00096/instance.png b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00096/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..1c8f0c6c8cea46250fc2e3207d498cf675fab3ec
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00096/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:08fd948fc4c6a83228243acd0be1756c9d84b4fde9254a837d71bd7ed258468d
+size 70216
diff --git a/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00096/rgb.png b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00096/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..740f75cd829af5089ef14084360847e46829e7f9
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00096/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1d8a561a865e4942063dc5dcdf93c3311c67b297ffb945e6d55a88e8de5e4dfd
+size 1653303
diff --git a/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00099/debug.png b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00099/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..f39f9b02084a66a24528a50a9bf19e8f3150c3be
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00099/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:51d2e43fc7e6e3f59511c760cbe95943afbbb58fa3ab4aa7969ffee822d81b1e
+size 1688148
diff --git a/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00099/depth.npy b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00099/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..8aacef4b8b262dc8cd85fcb7cddc9ee000405260
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00099/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b0ff6777ec78ce3bfff25c009a56799e23855d1efa433cf7935dd2d4415236a9
+size 3686528
diff --git a/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00099/instance.png b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00099/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..933ef31de1f15f8730f907f3a9ee6619d7ab2fb0
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00099/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ee59672f5512349488444a4d66207e894bc890be97945095664c80ad8f67c080
+size 65327
diff --git a/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00099/rgb.png b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00099/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..5f8def5181f372bc70a7718ece149bacae3a5fd2
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00099/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b6c607667ca31c927fc68f6f4d9d4fe06dd2757ed1a6512b00911f4e694614b7
+size 1656497
diff --git a/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00101/debug.png b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00101/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..966678315145903b3d2c61fef40337836694feaf
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00101/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eb889e615784c3c7f42205d597ffd40945a7eaf80db3cb97a2d7cf25b04e3253
+size 1716670
diff --git a/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00101/depth.npy b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00101/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..c0bbfac9a18a541c9073f924aa2112b50829d0eb
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00101/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e3286046e4781a60252451595b563badb07e6f31247d6091620a1c1ae0cef3ea
+size 3686528
diff --git a/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00101/instance.png b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00101/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..550d99ad47a8e0a076dce6d0371583241dbdf47f
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00101/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:81328949d7d2d2f72a0863252f9e3c37aa5ee78d768c0a4c050541f38b05c611
+size 66315
diff --git a/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00101/rgb.png b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00101/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..76badbbd39230621b0169a013b60c980a3f095dc
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00101/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:30702d1b20391e3e22ffb64b7dc78094f551d45c323cfceaaf85b96ad72d5ef9
+size 1693215
diff --git a/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00105/debug.png b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00105/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..5b58891e5a79b2a47257c5d66ab04f9a003fd92a
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00105/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:613861190eff97dd07733a477aee10160d1e1aa1ceea1935eb050abefedeacd4
+size 1708223
diff --git a/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00105/depth.npy b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00105/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..4a6eb3acabeaad81dfcd49aa22a83d29a03083f5
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00105/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b7ef97bb1fb7623ac7d1c8b556b8b4046fcec774aab3cca8b2a1f515e9631d33
+size 3686528
diff --git a/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00105/instance.png b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00105/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..f05a513d562cbdcb7406b495dcb70d328865d6b0
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00105/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9c9ad1e6a85506ab8c8f447630e5ff6207879693f74717f31653390a41b0d422
+size 67179
diff --git a/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00105/rgb.png b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00105/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..595434fa53f3649e4f031c2f91a7cb09f226438c
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00105/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6255782b8a90cb52da0ef32b6bcc7a850a01119470fbcada11aaaf24553b819f
+size 1677504
diff --git a/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00126/debug.png b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00126/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..ebb06d5f27c0fd3070fa2cfe854286688b12b762
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00126/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:41f88ef0b0803e98787f869da818b5647d842e911b450a5d83b4873dd2a3e630
+size 1679620
diff --git a/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00126/depth.npy b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00126/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..8f692a9825b6cce553b3c3f0b7bbb781f28d6c9e
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00126/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:116001c358f338d9779ff99e84f140f211dd341f29cfa6b532f5859c08a14e16
+size 3686528
diff --git a/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00126/instance.png b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00126/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..8c42e377dd6ef7c325df033a912756b35fc915a7
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00126/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a30a15d42fefb62b34b0a29277d2b5c19c5db33f8f9789505a4a12bddd960489
+size 78910
diff --git a/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00126/rgb.png b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00126/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..f9ffd4d2fbb3137fc90db1dd82eff78938b7a13d
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00126/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d20f387101416bfb85ecb8ba51c624c55426e992faa26fa74be39ab5c4a124b2
+size 1679382
diff --git a/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00128/depth.npy b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00128/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..b9d502617a9ba5af3d49f2360e2baad55bf864d2
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00128/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0827a19edc3481f577f29d41c25f77469f8e447a2f7d7ab32d287bcf29a20138
+size 3686528
diff --git a/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00128/instance.png b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00128/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..eb89e04beadfb1563f20d86fb40d09d242d92d44
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00128/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2449dbff2fdb8f940dbc7c748612ec29c74b6bc717a090595f65c09cf8828ec8
+size 81456
diff --git a/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00136/debug.png b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00136/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..c21d3e4701f19def732459458182f48c61fa1c8c
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00136/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dd657a300c86e656fa727d98fc7e01da81753abe77c2df5f298ca536c55a0210
+size 1613793
diff --git a/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00136/depth.npy b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00136/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..59d26ac1ca9c9bf0ac9e677b6d7aa6b67a701e4d
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00136/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c7c8f040f7e6ddc9a512c7e12143ee992771dc8ea18765684903ba822886eb5f
+size 3686528
diff --git a/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00136/instance.png b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00136/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..9ece1da3af3d23ee558fa47b1f3dbf4f5be07e31
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00136/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6dce247fcc1eadfccde2d66ef01feeda20d22a464aa16ac8e2c0d5e8947ea31f
+size 75712
diff --git a/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00136/rgb.png b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00136/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..0465804bf74c39e94d63a2d0ea23750627a87d7d
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00136/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7223099272ceb9b3b3fc8de8c980954ebd14c3fb61ba9f097e784497b023bb30
+size 1621420