diff --git a/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00004/debug.png b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00004/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..f4d57fcb4c55a58e7c0099538edd9c88104b0570
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00004/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:238a89719190d69f1537b2ea074c0adf465478f7281a2a5fa0e1382aff744d27
+size 1823213
diff --git a/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00004/depth.npy b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00004/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..964412581533bd4354fc5634e1b5daa483ecd6bc
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00004/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:423ed207ac2bfac92315c9bd41d1d9ad64a7be70fe4bab2b2a9a5b92d0055e5b
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00004/instance.png b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00004/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..2e4e8c36c195e3215e6e802de9c05b36999a8577
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00004/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aa3677acde1082d1a6d6ee6735009b111d5dee99df737b09670464ea8a7773cc
+size 154089
diff --git a/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00004/rgb.png b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00004/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..6f1474ff0a428a6f50631b6db145e4b0e23d67c3
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00004/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:52169bc5c16621f4eb3fd209c6a1e7bac7ecf46d7bc3b047690a781b9e6a8b5e
+size 1813197
diff --git a/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00008/debug.png b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00008/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..e17123178682d218979851185111cdef0a66b912
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00008/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:54130f65181fe268db51fee1bd5aad9fc54ad5aac3a3cdff108664da7418be39
+size 1810704
diff --git a/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00009/debug.png b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00009/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..05bf2998cb47b535f8b52e4b1683574669016ae9
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00009/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f2b497f52261f0a26527e6e4ad1a46527724def10c81384d45dfd1e32a2a7a5f
+size 1802031
diff --git a/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00009/depth.npy b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00009/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..d737b4e77d6eeadd866b3119c04c77862bd259d5
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00009/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:446f396acccf127b889da76b2ff3b72716ddfc51b326dc8c8ccae632204ee394
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00009/instance.png b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00009/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..5e05f6cebbe3fb2cd6703b863d450a2faf724c00
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00009/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e7fcf8fc5c04cfd2ffd8db616afcf38a12dc071ecf61a864857c8599082caa95
+size 153517
diff --git a/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00009/rgb.png b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00009/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..148b6f2e7b9f12765f6c29fa99a5fc8b631f37f3
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00009/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:77d82101a6cde8e62183b5d53c82e426c78ea083148c5fb42f4ae4f7abef1529
+size 1790565
diff --git a/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00017/debug.png b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00017/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..6fe33bc9a7f78523df6b8354f423be5e1964b107
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00017/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3cb39fcdf150ec7783ac5e83dd517fae1f3d290f0e4b12e17cbf78eb819b2ff2
+size 1787957
diff --git a/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00017/depth.npy b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00017/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..ec940993ef8216180c7226a6fd91e9df4029be7f
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00017/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f6f090e03e47ede58ac6b2517546162e33acec339893c49023c1e1ad6bd1b3c4
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00017/instance.png b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00017/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..3a77cd9343617af69d384de5ed0bbf2cdb97bca3
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00017/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2b72548aed1ef30b241bc044dae03130765d8f03fd52f71da3be45a42b9b08ce
+size 150280
diff --git a/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00017/rgb.png b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00017/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..04ae3ce5ae4bd8ac39511ff28a71ad976827729a
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00017/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7d0a321e12f838a8ab23768455a371ec2ac4a9a064d55f96d09726a0dc5acdae
+size 1815890
diff --git a/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00021/debug.png b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00021/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..932379316006a262835c923136a7da58a65901c4
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00021/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f4d48a9db33a987f6af531fe1610c124a94038f0a659cc651eb2a4d2cb56d2d8
+size 1781170
diff --git a/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00021/depth.npy b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00021/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..d96fa45598d2394e307e03448dc79aeaebbfc3ea
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00021/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:70850446f9582a1cd73ef3ff2ea9af3a40c7881bf7eb4352393d775e9563c3b7
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00021/instance.png b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00021/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..c9aa1b884c4bb6be810cd2ad2e816cde7aa17f46
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00021/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c4b11a3c846ce0b48923d1273c4e50b294ecddb7d7fec794f78c53b9176b6319
+size 152402
diff --git a/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00021/rgb.png b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00021/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..c708d76e0f669d7f22f36e96725c5f90dd9e7b64
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00021/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c6d6fd4a6250d899ee2188a53ccd45a21a022f94d71f4636ddec0916ad1d7944
+size 1813578
diff --git a/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00022/debug.png b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00022/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..07a42528b30f7abff620fc4f6b95743715a854e2
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00022/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c9e34458941288d119d5ef7e4287a2e5f5efc779ca9de6a282f4f1606d2eaaf2
+size 1775833
diff --git a/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00022/depth.npy b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00022/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..6cedd071abd0d5b3554ca516dc0102ce1d0be912
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00022/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f4b27028e9d109f2690d953f0855509e79cb1c4ae74e0a19ad1d2e6da6f35c73
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00022/instance.png b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00022/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..709d668927cec45fbd804f9b20edfae812a21bb9
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00022/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0021330c5782cc3142e4894dad3cfabc73d4c5801f3873ed5d49bb828901abc4
+size 153304
diff --git a/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00022/rgb.png b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00022/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..a10fc1db8139e3a21365687064d02cd07ba40bec
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00022/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1e594b10da577d57a9d1b023000fad458340e8d3d86154e0a5be23e7160fcc09
+size 1819152
diff --git a/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00034/debug.png b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00034/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..67b8489f9535e79e089f43cd3af3944f761dac30
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00034/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fbd00c56cc59f017a5374e1b92aa5950c647b1ef3c78e5265c98bfb0b117ec75
+size 1750905
diff --git a/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00034/depth.npy b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00034/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..f7ba2eee7feb33c8c894fe98a70dd1dd310a6583
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00034/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a39fc5f0dc4de5952874feab4a6118efaafee8feef5772ed611e4ac0156a23c0
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00034/instance.png b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00034/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..233863a17babf946417bbc7ccefd928857403e0e
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00034/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5b663413e08195d25d064b634487900106757d2199ddd9f8301482817193f39c
+size 159251
diff --git a/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00034/rgb.png b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00034/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..8780dca4e46a817c6ec70d08a6f9458bb6d16ed1
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00034/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e0c97fa3dbee10bf836b482a7c960c2c69a4b984ef7751b84d91ea9a34acb879
+size 1811117
diff --git a/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00041/debug.png b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00041/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..9aac922d715a4907ba85099a6800947edc33d595
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00041/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:053b788570dd2ba5e18e54c206e729e8b84e323419ca65dfe6fac748e08273a4
+size 1726223
diff --git a/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00041/depth.npy b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00041/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..d88a62543d8d2fe6eee864e55c8802dd07a216cf
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00041/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f28286c703d90c3aa6c5085aaddabb72f8dde44395efca7d9109193b6a7d2481
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00041/instance.png b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00041/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..68af0a515da8fada3f4400021a0c389a972b406b
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00041/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:909c6790eeb03f3990e758678f7e879b5833adfd3381fa218f34585547c48def
+size 148482
diff --git a/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00041/rgb.png b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00041/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..5f7e22470ccbeda44f0dbb8005194941d3650b99
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00041/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dedcdc27b8c033d0af41382ffed2fded0c43909866de3812a2a74072397320df
+size 1767419
diff --git a/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00046/debug.png b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00046/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..efb8c69c957d6f0c355a25a076d7cff40d2f935d
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00046/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ef908f692ba3c7984d3e5330d445aefdd0cb64900d2adb21b8e49626d83656cf
+size 1707524
diff --git a/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00046/depth.npy b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00046/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..af3a2b6bd5488e80e54c9b02880c8b63d589ca7d
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00046/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:775b2f601c4b61bdf6e4c098ab2b161ae27d56ea4305fd432ac0d0cbce871f01
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00046/instance.png b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00046/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..dea1385fd5a58f52771a89c28002916ad571cbfa
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00046/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dc0d767f5dbdb06bd9e7522c302a5a3b5be8e2bb492f0c689c5b14a255727bc4
+size 145210
diff --git a/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00046/rgb.png b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00046/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..156eebccf818fe5a7b7e459819a4a43b1c17b821
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00046/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1c770655382598a89cfa8be6ff983710c525098c70e191886d9830e0fff25b1f
+size 1746653
diff --git a/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00047/debug.png b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00047/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..96f95f9232b7b3d5316b055acd3a21474a2f1ef5
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00047/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1e11e0a0c5ced140375cf30541f1f9284a091e1c685fb9c9ad6d279b08ee7eb9
+size 1703078
diff --git a/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00047/depth.npy b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00047/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..a18e291302e056bba95c7fc0c9ed70db1846376b
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00047/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ad11495f2fcda9596481ac505ba0b58bbc00558fee5c641ff4439b61f1e3774b
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00047/instance.png b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00047/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..a292aaaac90f0821f15681f982d2b0969510f8ba
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00047/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c96ab6e873ec0ff4a41f76b56502048b4b2bb0d7eba2a7426be05b36c5b7b98b
+size 143247
diff --git a/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00047/rgb.png b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00047/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..56f3e738943eaa6065317f9e9ee5154835de529f
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00047/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:891a243807155eefd62da3943bfcb6577f96dc6d822e1b641db993c701370266
+size 1736175
diff --git a/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00053/debug.png b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00053/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..648114bcc12fd4b9b8b607ae3b1be5813aacd5f9
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00053/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ba03bad27e9e6db26869bee4bd7fb845ade957863d2c7ece0f8c70fb3d555068
+size 1684671
diff --git a/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00053/depth.npy b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00053/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..88c56b6a3eb5e0a0f43e18edec5873578e9cfd23
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00053/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:04a17fa3c6cfde76e19aa95b1866db63ea0e33d296b34c80f9a1aa57f144d558
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00053/instance.png b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00053/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..0f34b455c93103c48f34a6ec87e1aafe6d73c3d0
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00053/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0e7095dadf5f152e371cb022023290cfaa979cd16457e93d97fac93dbd5f8512
+size 126579
diff --git a/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00053/rgb.png b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00053/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..f6b39ae0b79fe663119edc6ef4b2191b8a099649
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00053/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:27bdb8a99c2b921ccbb9c36edb8be44248df77f7456dd5336d8c1ec189a4fea3
+size 1698823
diff --git a/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00058/debug.png b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00058/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..03a7e95c0a137061c79113b91a87ad11c619cf1d
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00058/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7bb5cba4645c2cab522d2452f02e73a7595e201d383fbb11dc499793fcd8f2e8
+size 1673825
diff --git a/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00058/depth.npy b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00058/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..ef0acb32fcebd5ca2b8110d43efbf81a0f3ae1e5
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00058/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b995acbfa9a0c21ff10ed83bc16c1bead76f2627d2a1f4603297570a9dee7a6d
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00058/instance.png b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00058/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..a33364934165624e4e832b03e90959acea2d3286
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00058/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4e07c3da326fd377bd7310cc7f532d0388599ab0b8c8d8556c79078875de31dd
+size 127685
diff --git a/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00058/rgb.png b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00058/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..b7dd880b7fba5ef085469772730cf7bbb8e73a70
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00058/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0629db515eab0956764cb41867717b670b7012767150d85711be7cb9abe13ce3
+size 1671204
diff --git a/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00059/debug.png b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00059/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..5ec03301aa2280b54d5b879e7b3c1667721e66d7
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00059/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b0708adb928d23af92d04a9ffecb6323d97ff11ce7934749256699e323bcb5bf
+size 1668726
diff --git a/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00059/depth.npy b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00059/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..ffa234b951e57cbe8c57e9daaa39e0db36375ed6
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00059/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ca1bc130927e5a12a31e3bd159853553cbd9a354ffaaf3558bf1319124f9cc0a
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00059/instance.png b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00059/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..39d766d4e7842f8deddf5f9961c74abac903d064
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00059/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bfb5dd35f2e46323355144aa03509edd205f684011fb69fd4da1369b38e0f39d
+size 127617
diff --git a/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00059/rgb.png b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00059/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..fc7706f4fa6868abb37491a40999e76db757f860
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00059/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:11ef7f034a41d9b0701835f68084d7607b204d7c25cad4d530fdc49a4a821764
+size 1668064
diff --git a/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00062/debug.png b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00062/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..82845c28cef4fe2530bfc7f55ee5a995fe97b229
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00062/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ddbffa778863312125b34d65ececc4f7b86e50dd07c830677484f889893290b3
+size 1656920
diff --git a/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00062/depth.npy b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00062/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..6fc2d073575f2c48ce46c3e9dba1a238fc489dd5
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00062/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a0895ffafd27d6c8b98263bbe386aa3dec67c4711db288f7f4bb680d304e636b
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00062/instance.png b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00062/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..493be6dc2bbf9891706707010e791f6bb9bac603
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00062/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:78d3fcd3a6fcb9acf3b3585c942421c5181e2b0af95216a14f8fd4cd597b4ebd
+size 128110
diff --git a/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00062/rgb.png b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00062/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..87f6e03704e9c0ef3159a465e68f5117d50b77c4
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00062/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8a5e70a814dbff882b0a18ec8133faa6e43fe1870654a5e6f23f184b376154fb
+size 1651506
diff --git a/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00067/debug.png b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00067/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..f50652a28668d7f297d75d656e0ab93bf7af8fd0
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00067/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0e3f207fca9becbdd849b9952b19dc5d8d50f33526a0a2b2b8429fdae9b6acf9
+size 1648311
diff --git a/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00067/depth.npy b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00067/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..3b0a70aaf8b2ae5c044b820a7b9c9a4cbd6ab430
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00067/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:776946fff24b5083b86ed2f56d13947f66bbd7b4f4274540f86ac41f37b732aa
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00067/instance.png b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00067/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..9ac12ea292f94feb7fc7ccc8eb3171daa14900ef
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00067/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:36a36e96c1dd5f95857f4f6ff7b31925415b2ee9c2e3620250bd4d500e217406
+size 134424
diff --git a/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00067/rgb.png b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00067/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..16dbf2ed04494d01df3c7315ee20e9c462577fe9
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00067/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:848ffb9bf241487c2706fed14e5a88c106f7042ea41837bf5436407815f8e43a
+size 1638875
diff --git a/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00073/debug.png b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00073/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..20130507a6cf37e4de5b856ae1be84add9b51411
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00073/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9ef62801a69fa67387379e7f7d5c306150e60e6dc3ee81c916cb07addbbdcfcf
+size 1645349
diff --git a/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00073/depth.npy b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00073/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..c5b971f38e6af11fcc97ecd38e66ac3d071878a6
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00073/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:40be6accdbee7bfd632e6b584ca526eae5973c1296aa97772c56502cf8a89549
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00073/instance.png b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00073/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..00d4b5575fc91b80ddbbe41890270b1978f1557a
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00073/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:83d2939bad5eb8007a52b66534af704b4587a4bc09e4bde2ca5a63f5769a3e56
+size 134561
diff --git a/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00073/rgb.png b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00073/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..b42769459c261dd3e303f89c4b06c182ee6af3c1
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00073/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:56fe324c3eb6261bee58624c21348156320f93f898937d2f78aa31123dff01db
+size 1633914
diff --git a/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00082/debug.png b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00082/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..36789b41d44299132d948e779e028e22cd376742
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00082/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e4c06048b7510d2cc463dabc632ce19e3d879c9ff84be2fb6a55d355bf092984
+size 1681125
diff --git a/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00082/depth.npy b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00082/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..b74ee079a3706fd651a77e651eaafa0b455b322f
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00082/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:00ad03ebd70dba82800bf8180f6a1b187cb6b73aded1670a5c9cde29aa64599c
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00082/instance.png b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00082/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..ec6c694faef0206a6e637cd5d953b30690474666
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00082/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:91bdfa078f24fb214e82aaf7d16a487d85fd4e152f7818882192280dfdce3d87
+size 123344
diff --git a/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00082/rgb.png b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00082/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..d04462d34e6ae5cb63f4aaf8cd1bf776ad145d91
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00082/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:55b592e93d337921248dbb73adad91a40053230dff6459d4c242bc88bb4e2adf
+size 1641751
diff --git a/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00085/debug.png b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00085/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..1322a6a02595ac37952f6832e070ec5f41d4cf71
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00085/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3f1e579b188869b6ee6b74ea7f2d2a1411b86cd00d39ea339ed8f4e43ffdc31a
+size 1690033
diff --git a/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00085/depth.npy b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00085/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..5983fe9bc9ba12912afb936a23501b10c41e9e87
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00085/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8e823f8570e435a1b23c60fd2e8f7c2c8759e1d7caedad49380f7407d7137feb
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00085/instance.png b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00085/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..f3373d71c3b3c6ea5793ed968bc5e1164b212eff
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00085/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b5338626ee906c7b96ebb78e450131dfd1e742cdf1a6cfe98dea59473535a522
+size 119320
diff --git a/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00085/rgb.png b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00085/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..de296f8325a0c96a6bf8740adc2c10c585a82f9a
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00085/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8ac83f0d5fdba3ca609e7177636cd57646edae3f5091f23a72b7f35459486db6
+size 1641597
diff --git a/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00087/debug.png b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00087/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..ed6cf0c64ac76f32f93ef462c40fe76d7dc75971
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00087/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7f29a44bb456bf3cb0802f9fe0a4945c5a9edad2b12a9f20c447580e9b9b6b48
+size 1684850
diff --git a/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00087/depth.npy b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00087/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..a353298f996f486937913393313312b6da2541a4
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00087/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c5a433637707376a55f32790a4660a466d8e55eab65459d81862131fff207c3b
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00087/instance.png b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00087/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..7c7be27cd1293099e32dcc9f8f56a725a1d79203
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00087/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e693cde63ce788d6904927d82778d9632d7925c3001b4c9e3c33e3717fd5ffb0
+size 110607
diff --git a/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00087/rgb.png b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00087/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..a2dad0ca91ebaae3bfceca0fa43bf3dfe978622e
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00087/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:13f5674c16b9f3754acbbd2774c4fe5a2b067ace6e8ba35496d2bbcdc7535b59
+size 1636576
diff --git a/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00089/debug.png b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00089/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..5a7f46773518051fedbcffc865ee3ae0db307527
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00089/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e29aa6eae4cf276e0f4ee4b8bf6ec7ad0f4a0e6e948eb336f4f5288f87b6ee16
+size 1697357
diff --git a/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00089/depth.npy b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00089/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..38c7cef3bfe213baa7835fc957c5c99518944800
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00089/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ceac2d75728c557191b8885af33de7bbbb704fdd0dc84799b9af2737a926199e
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00089/instance.png b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00089/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..fca5ba7e780753d38d833f956d07a4f3b93a3968
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00089/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6fdbe2c713855426d5bcacd06e4bb7a2f8acefdae7bf807da56bac1e272519dc
+size 110852
diff --git a/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00089/rgb.png b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00089/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..70b05eb0c2aa8e3c6e2c002496bfb7f8242ac553
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00089/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8024565f90a71d8943c7689850390a377e680a731a39d4ebbcb1df12770ad977
+size 1648248
diff --git a/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00090/debug.png b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00090/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..1a5609e776513a8e8be1d8e5bb9d82056730070a
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00090/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bcd78ff8d0d6848d51d98a39c2dbf0aa5298967fd2f316d0f5704b760c472610
+size 1693264
diff --git a/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00090/depth.npy b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00090/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..c0fb2ee1da3fd714c3f665e34bafc739abc9c5a4
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00090/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b458d73c420049361b2c78c99ec147527f412771045d0299e79927ff17102c03
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00090/instance.png b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00090/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..f97bbea5c9dffdb0226ab94b674c96ec6ac85d69
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00090/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cfa3430079f634568dc9d10432b81c7703002f33ab1084949c0a49e304c2f467
+size 111534
diff --git a/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00090/rgb.png b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00090/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..b7def2a88774359019d435d56b1f27a1e2770615
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00090/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2d9ef3643eacd0c851a7a3c1f8b87cb037424273d4b7fb751cf552e9f7f8caa6
+size 1647706
diff --git a/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00111/debug.png b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00111/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..0cfc9cbef8825d7e3b2c06e830e31e864eb4872e
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00111/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cb2ee7b2a5b7b1a715e6e27f86c8a22706d3d2e46d628e93039a3546b4940355
+size 1807745
diff --git a/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00111/depth.npy b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00111/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..2afd5f0578db126ee6438f73747b713f1b02326d
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00111/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0f69233036ecd8dfc549911a936806aa3b0141e76787f2fb7827a8428d312cc6
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00111/instance.png b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00111/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..0daae923b90bea789c90cd5bfeaacf394cae36fb
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00111/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7d57fc6bcea88d09897f7f4befd337fac26ca34000a14096e9d72c61635833b6
+size 145725
diff --git a/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00111/rgb.png b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00111/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..e53e2b9ef2493b3f57fae1689535d877e0384edc
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00111/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5d7efb99cc313820a1b12d609c11751b39da8f3f02d30e3126ce8e51d221de29
+size 1796926
diff --git a/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00112/debug.png b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00112/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..18c17d4e1bdb49ba333dc6e59dc6bec3c4baa469
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00112/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:42bf280145c4fbb57c2cdfd2765518fdffd8d70693a7a8d77e4dafcfa4b0208c
+size 1812704
diff --git a/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00112/depth.npy b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00112/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..6473f28fa24a8a1e457c299264a9df138e8073c7
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00112/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d571b2a55185dd2ae01571c7ff2044f5db03c7f29b985377c4cb98dae80bd708
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00112/instance.png b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00112/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..d44eceef167820cbad3e86a3af3f86365d9a94e5
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00112/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5b98adbc2748ad6b7d79e0525fcdf31f5db4d4bfb913e2b5fca3d66c0832408e
+size 148209
diff --git a/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00112/rgb.png b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00112/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..6c413d74de80305e075b6ae80e5d3543e5511332
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00112/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b627d588c5f6bb3ba1c2738ffb8ef6187dc6142b9025e6ba282c79e52974c77f
+size 1795115
diff --git a/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00116/debug.png b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00116/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..df0157e31a5a338bf57da3858ffce0d1eabc4c9d
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00116/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:07be3cf0b5cedc29509938c6e5f89c6545804499cdde3dee1d363fdf5fdf9a65
+size 1817311
diff --git a/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00116/depth.npy b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00116/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..66ea21746fa58860d97bdcd58ad39e1ceb61bffe
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00116/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fbfb01c64a7af8a8968ddb7f8289c4c6fa04ac4ee27041b74d8d02a1e3831854
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00116/instance.png b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00116/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..3ba1cb87aac11ae50531da2aa92f202de4f2d573
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00116/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e26a1c2242b934bb6cb2c40ec9963336eefbc5264c6c3243d2016bb3ed5547fb
+size 155364
diff --git a/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00116/rgb.png b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00116/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..a15a01e950b80d1703d2d8da85553f2887b17366
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00116/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f570ad1dfde4f66be75b9933443396b671238b6d67ba32e3e7545e0f0e51e9a9
+size 1830516
diff --git a/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00120/debug.png b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00120/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..f184330732eaf08d7b6893485a682d27590ad217
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00120/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d6a6d348db24f81b88dcf817aeed9d54b1a20a95208ec4bb5d305391ed049e5e
+size 1846960
diff --git a/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00120/depth.npy b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00120/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..8d8944f8962c4626baaf1b31242e5d835874b9ee
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00120/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b84503227486469cb12d6d72257b481a7866f6b3b63dbf7ba3f69bca30fd1ecb
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00120/instance.png b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00120/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..a46b0ab0c46ff52e8c7c6c27be0ca2ec7759978d
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00120/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ca3a5491fa05d6ec284e65b86c11fee92e02c87e0614cddd33713d15a269cf05
+size 159834
diff --git a/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00120/rgb.png b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00120/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..800cbd82d3619c5bdf3af192a7d99100f618c502
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00120/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f616903ad0b1bf2fd359716a663dbab6445830b149b02f3b214c26d76fb25267
+size 1867976
diff --git a/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00123/debug.png b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00123/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..63ffac58059520d7d8f5bbd45722cc4a0922c8d2
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00123/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d38d5fd2f82a0195e3cb67e0dd8f928b1ee52ebffe9c4303aec8f98f8d17e56a
+size 1845122
diff --git a/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00123/depth.npy b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00123/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..7be5434b18607653a39da59409d676373a6d71c2
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00123/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ff737ca50528200783f6e311fea47a564b626d928c3362965488400e1677ffeb
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00123/instance.png b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00123/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..b9881b0f20aed803a04e3cd2ce59d65637211230
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00123/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b660a8bac007a0fdcc8f0f1a01fc8f39f18fb87fd3b3a1c999d08939b4d07bda
+size 162395
diff --git a/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00123/rgb.png b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00123/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..1c4ff0d0e4051089cdb24e94de23b027dfe2082e
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00123/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5292f49e66ac2e820565a6dd8a2630e99e423bc57055559df90b36bb1a390b6e
+size 1878115
diff --git a/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00125/debug.png b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00125/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..ecad68a98c625df76c34f50a7e03876bb64142be
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00125/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8534d5c349c4dc855bd0d95f073dd8bdcf079f442b33850b7dd028c615b72304
+size 1844657
diff --git a/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00125/depth.npy b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00125/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..ad7179d8b818b88236b8c9f4f61859707e8cad20
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00125/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4a13f1719d66a016daa93fbd67084465ca2ac7053a09624401a1ed73ba222b39
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00125/instance.png b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00125/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..5e35982d7c959693efa657dd3e63da8d2ae92614
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00125/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:40e0a45dc4eebf35f67a4cc84eb00c8e886adc0a408fd3df88c7b77554d872c7
+size 161771
diff --git a/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00125/rgb.png b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00125/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..da190385af0dfe9698c4c6370e0533b75fa2cb4c
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00125/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:872273270548273c826031f2379074420bacb85efc9a82b26dd5d27d55d10bec
+size 1886413
diff --git a/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00130/debug.png b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00130/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..9e96c72ddb1d24ce40702c117b9af8d14248e808
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00130/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:63a89b4184aad87fe509a0a12b20a37515871970777af4cb73e9baaec09c3e6f
+size 1852280
diff --git a/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00130/depth.npy b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00130/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..76efa7e6c43fc65897a1d8fa4ac856299f2e6bf3
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00130/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:547e4f4ebec892e0f126fe713749542877ef71eaca80e506382b217517fbfcd8
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00130/instance.png b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00130/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..50717742a14abdb6dc3411acc6a356442796294b
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00130/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e5d9bc0b7f3a6dd9d34126f091a09c0524074fe46daa7f0e6209f236e222fdc8
+size 156270
diff --git a/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00130/rgb.png b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00130/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..f24fa020f8f7f885b0cadc7931cb10fc70361c1b
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00130/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:115f3f1cc45cf5c4319c6c4e61bf67d4aac2259b0eb3b1d4f4aca030b1e9ddda
+size 1901311
diff --git a/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00133/debug.png b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00133/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..b42b85a70d0972c9fda9ffd063818b74d281c1e1
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00133/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9dd38cbf962e481f0ef3b5cd271f3142fa45705f7441bc8a75177f02601cba73
+size 1848648
diff --git a/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00133/depth.npy b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00133/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..cdba2dd69b2c9dfd471181df67a1b6e0d7a5670e
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00133/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ecc37a7fbbe680141db960a7bf58cb25f6e5f2563efd5109ae66bc791f3efb29
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00133/instance.png b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00133/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..6d1f2e31ed3c8877a7bef53b050d20ec980c2ec0
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00133/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0720db13f8b1abe1ac0960845d248d12809d41444c4f3409779e0e5b0a6223b0
+size 156010
diff --git a/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00133/rgb.png b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00133/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..93b2c7cf3b04b77176c3180f1e2497f503cda8dc
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777100122/ORI/frames_playback/frame_00133/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:670d18b7470c7ccb1b34d17d4e850c3846a022329d8240e97887e5a22ce8a690
+size 1908365
diff --git a/data_v7/Town07_Opt/trajectory_1777100122/ORI/perturbation_visualization.png b/data_v7/Town07_Opt/trajectory_1777100122/ORI/perturbation_visualization.png
new file mode 100644
index 0000000000000000000000000000000000000000..dfaa46112796b87f2e44f7fb782e3df1a0b4aa26
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777100122/ORI/perturbation_visualization.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d75fc16e77b27b339794a2ec4beb5c4d8655bc98a33f8095bf6871066655e68c
+size 8627
diff --git a/data_v7/Town07_Opt/trajectory_1777100122/aug_001/perturbation_visualization.png b/data_v7/Town07_Opt/trajectory_1777100122/aug_001/perturbation_visualization.png
new file mode 100644
index 0000000000000000000000000000000000000000..72d7754f86e2e68a2ddc0a618d2a6515409fb6c5
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777100122/aug_001/perturbation_visualization.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d1a01b879fd00c840cbde4e1cb2815303dc5d2237325ba6cc5704ab64d32fd97
+size 197674
diff --git a/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00010/instance.png b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00010/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..eb2aaab92138b280851d50bb18771c5cae066e17
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00010/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:38567c48e3f0a03485d0ea94189ddf25894d046365cad5c2436d0d5cddd70f02
+size 149215
diff --git a/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00020/debug.png b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00020/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..fac01cd35364d3ec728fd8076a07fa7333a19f71
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00020/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d54aae13b16320b70bbc5413bfcb332ed89699ee65dd2998e12c3d5c90e3344b
+size 1857451
diff --git a/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00020/depth.npy b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00020/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..eeebd069345ca2fb4aeef2c0046bc75dcbe70550
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00020/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1aa4219ec0cc3832b2874495672cbc912d7b6825e7af3e8d1754d5aefae834d6
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00020/instance.png b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00020/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..0f3db012bcea48588ef99cae0c210b5639333e1b
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00020/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4fbb3354089ab6dd9f11d0bf23ca669dbfecfdbace357d2c43eeba36b8a7b794
+size 143383
diff --git a/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00020/rgb.png b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00020/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..fcf031468bdd3155ba9fe7810ee43013fc06ed50
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00020/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:70e9c0b2aa989f267400905b50add93489376829727b22d85af1134e6042ac6a
+size 1833442
diff --git a/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00023/debug.png b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00023/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..1f645249655b3adf6d04855f28c002aebeed962b
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00023/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:71e02c12df5c11577537d1e7744a0f562926993d6398412ff81abccc5d46bb79
+size 1843257
diff --git a/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00023/depth.npy b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00023/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..2cc60d4166a40d0b3c718970e1b7bda78b7dc0f4
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00023/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aa56ae7ab1654c6d3144cde7dfe713b874544b9da339bc8b0382cc897431b3c4
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00023/instance.png b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00023/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..e9781f641258e67c0904be1641b53c08d5dcba81
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00023/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3680b9636df5555268f7c6b7054e9c78f4143cacd3c3c2860956b16aa20b4ec3
+size 162937
diff --git a/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00023/rgb.png b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00023/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..e8033a2d36087504395c2b6309fef08da92a3092
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00023/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:acf171e008100214c75cfda543c2532268d889b80189c5ed36a3610a7cca6bf8
+size 1833136
diff --git a/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00026/debug.png b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00026/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..28b81ea8f74be7652cadf656adf4bb3266610887
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00026/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3a7ac1557010fed0503eb4b5df02aadcccc289660c9ad42ebc4b698914e7afdb
+size 1840635
diff --git a/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00026/depth.npy b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00026/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..26f27c16f2a52a549072f5913db9b9412a3a4ca2
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00026/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:414416c4bbf651071b224476dc0b3dfea8a0c6808bacc7bf56e15f4b1299932b
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00026/instance.png b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00026/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..924cea4be0a9de93393af7e5893aadf33d42e152
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00026/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8e568436661104d6947a310ab1d5390121a48ada6c9513d0663b92b06b27b2b5
+size 155484
diff --git a/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00026/rgb.png b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00026/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..22c16ea1b9a5d492b1a6cad6bce52e23ac620cfe
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00026/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:15b01822d34626cc2dfab13f4f33b1134d6cab558067de2cead9ddc183c1fc22
+size 1822027
diff --git a/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00027/debug.png b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00027/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..e6b9e09383b0a29e64e7f99e4dec4cecb5d7be02
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00027/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3652035c4e57a2a69dd0add9f891f1eda9cb96dadb28af00b306d10d215af7e9
+size 1837384
diff --git a/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00027/depth.npy b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00027/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..70f2ea058e96726a9a91ce19f5893057bebd2f3c
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00027/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7c1c19b024639c4d686c0e0bd3121b68a538bf71d6e3ee2c797758255ee69e23
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00027/instance.png b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00027/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..731cb1d8f3efcb45712671f8bf99198db9cd9f04
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00027/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:89d82b3c7d4a28b5b2373076871983d44e868ead9cf2b59f06d6edb41d3bde3e
+size 155497
diff --git a/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00027/rgb.png b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00027/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..43ae056d12a4fd454353914582f61171291af491
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00027/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:279d6f6788479df9efd0553a73e4bbbda839b3569087a63c22d907695b7c7802
+size 1818927
diff --git a/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00037/debug.png b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00037/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..8539f4d83d0b69c1ee661a076691a1767b2a6a6f
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00037/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:848c707f67413ad71e07846b671baf686654b02e22d62a5b6151e96f8f7c118d
+size 1849396
diff --git a/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00037/depth.npy b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00037/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..c630fa0ab8ca61b1a66e33ea8f947cde2abdfb19
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00037/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:094b4f79d0d41ebac6a0ca245bd8b1c3962063cfe8fb0ea9ac7a533b9101de07
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00037/instance.png b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00037/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..cefdc069d1ea9d2d6e171be48350ff6d76508848
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00037/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c0a4b2237e920ab30376760429aa43afd08ea4a008a5a3493c287e34c009fb40
+size 149158
diff --git a/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00037/rgb.png b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00037/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..49f8a2ae193d93903db9dfb68889261d189a1296
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00037/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d15c879b23705ef0db04e185214df36e8093bcd2b9faa0407f2d11cff7eff396
+size 1828087
diff --git a/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00039/debug.png b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00039/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..a544be80fc6587b8d342289e6669ff4b21cbedf2
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00039/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b54ef33f8e4b50cb531847e7c26f2a78f5e9ed7a359b151e877a523d1e383b3d
+size 1859768
diff --git a/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00039/depth.npy b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00039/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..3d636664f9a0791020401b0d12e43b384b65c6df
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00039/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:86e0fc1a813fe22bbd057818f6da4e0aa7a130ed5c189cd17d2630af51412854
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00039/instance.png b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00039/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..cc6c1fe2655b17c5aa4b933b5ee25a5042819159
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00039/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:25140da998e364ec00dbfb4beb08816ea0ff5e0bc2631bdfa73c81264fce5c84
+size 143869
diff --git a/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00039/rgb.png b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00039/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..56fb628de0b0a335802fe240ad62ece3f829d4d1
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00039/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f0a91dc7ab5de5890f958b395cec2742272396629f16b0826d4e256f7f29bbb5
+size 1830340
diff --git a/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00042/debug.png b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00042/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..e3625ae53406ca4e3eb302d0e37f7e2784a5f60b
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00042/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7106d2adfede72b430d9063d4b685e85580a6b61057fb275cf822129ff9831d8
+size 1868993
diff --git a/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00042/depth.npy b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00042/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..38f93e54d682210ae42248f60899cc7def6dad56
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00042/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7641963a37c3f24d24815c959a0962d72d6c8335deeff48c67f6adcb6039e914
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00042/instance.png b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00042/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..f2e8e6d8cf4f5afc7f1ade8b102014aecf591bf1
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00042/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ab5fcf328be9c6fbdb4b33f54ea3b5c0d16169d412466ac137c449f2f4185219
+size 134683
diff --git a/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00042/rgb.png b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00042/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..584bf079fbf017794649af8c7ed304db8b9f486d
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00042/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:91fd0c60bafbf4e75ce8f07a4f735603294ba2a2698a44af0406ccbad7257cf8
+size 1846617
diff --git a/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00045/debug.png b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00045/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..2a693140320b9543b00a20cd0714e098051b53d5
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00045/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f0146a61b01cb66245de78105345c0fc740cb263dcec63ab1c822c656a7019fd
+size 1867384
diff --git a/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00045/depth.npy b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00045/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..8362c1d3bf40bf830450b25b93557dbb95535e58
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00045/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c7d910be9a81f7f49fb1e9530e67520ad4d934daef1a5b8cda8f361c62a99fa9
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00045/instance.png b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00045/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..781b29259f9d01a3fd9df4553120127f3d648152
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00045/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ceb1d5330422acfaa5a0c66d62cb6a03be19cc45fcf74ffabc8a89637878b4a8
+size 133057
diff --git a/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00045/rgb.png b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00045/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..dd3a285737c0cc8e4c1b1ad373ceb78c353604ce
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00045/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0bd89436d917efc6adaf485e0cea6f258e49c6244e8fd298dcd1135cfe9ac395
+size 1841740
diff --git a/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00048/debug.png b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00048/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..5c19132044380bb4ebad0762303b542e03c060a8
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00048/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:388ad899b37edd0817a60028814241e5dac79eba8142b96a5b86329711491726
+size 1860947
diff --git a/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00048/depth.npy b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00048/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..52e393f6e30c46cdcf6d8971858df00a7c2d10ec
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00048/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4d3199f30cc82bb093e4e2e458d133e981e801158895abf149b2bd7ffa8bd008
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00048/instance.png b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00048/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..98665739479db591329506f3c8e0fefed08ded5e
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00048/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:46f7c81b84ee052032bf9e0f4891cd557c666ff16a969e52c5c6ad408cf640a4
+size 128890
diff --git a/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00048/rgb.png b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00048/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..080e81850dfbb84dd83317ee70bdff5a471d6ad3
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00048/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7d80bb11851c02cfa7689de8a6fc23f784d473bf8020e363985f4ae3810179bc
+size 1846833
diff --git a/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00049/debug.png b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00049/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..494e28b366d5499455017e09e44027129eae9e70
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00049/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:55673691cfb364be1d7285a5ed123f8229b40f16aaf99ffc7eb7e07109003983
+size 1884819
diff --git a/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00049/depth.npy b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00049/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..f58bf636851ddc35edd532b03b2a51829c199dd6
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00049/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:39ead2711bd82e1c470478a69077f03506c7718b46216f865406e6df592065c7
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00049/instance.png b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00049/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..02e2d49169e45f07fd94b3588e54ae32efb3ee03
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00049/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7dd0b00494f048284ea0eac2c44bddf47f87b982a11b0db181713554e08ea076
+size 125712
diff --git a/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00049/rgb.png b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00049/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..053ef0de4b036811312a13e779c7f2911ab72a5d
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00049/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:15138ab471f4b38a94258937768900c85dd874ff1fd90c7fab5cd85cd866d4ca
+size 1867283
diff --git a/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00052/debug.png b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00052/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..c00b28c6d43e572e9dda0cffba9b30c5e160e94c
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00052/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:acd7749b8565599f127a918fc66b76b8742245d17f8bf9e63c85db7d6ad5db55
+size 1894746
diff --git a/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00052/depth.npy b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00052/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..449b47cfb3b1eeb2cdfe6417d5500e4c12af93f0
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00052/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c96c50d99174008d54b786a59fc93e17377459c0e7e222793e84a96958928d7b
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00052/instance.png b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00052/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..a1992dc2109302054bf7f8a10713789848abc6eb
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00052/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:93ea5f33d232f3fdf073cf9fd49af8ee3bf0e43d215ae3334d310ef6e72f2e4e
+size 126511
diff --git a/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00052/rgb.png b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00052/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..d82d9e2d628d4cca70403e43bcee6b008272badc
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00052/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:38bb46061858783ea5b296f0b2fd0ddcf9449514fbacfe2535b69c20baf27c4b
+size 1870536
diff --git a/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00069/debug.png b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00069/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..efb97f2109eaaa4af36f94834c442b6a6b45954f
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00069/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b8d19d50d251d27e21f5a8dc78e20c888976e3c93994b8d45ccb0157866844f6
+size 1895524
diff --git a/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00069/depth.npy b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00069/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..1b76faffdd822282bc5aa225aac798b7a93cc87a
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00069/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7ffbcf23769185ecc7c11ce8dda149dab3628b8621f12cf2486b373d67505b73
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00069/instance.png b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00069/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..31a7c41072d602b791ba7188caba56681f5d4834
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00069/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0f9a2d1f9b6c5b346ff882ff299ac3ae4cabdb8c96a32c063caf986a25e07f3b
+size 124985
diff --git a/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00069/rgb.png b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00069/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..ad5fa5f6951602e536e987ea0a61ce6d98fb8a69
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00069/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9dfd31b229ea42d4a4de067b916b8b7a779b37f6b42032546f77d8ee2b1eae4e
+size 1887117
diff --git a/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00078/debug.png b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00078/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..2b6db15a830d4c67d33c9799e23c45f0b75aad22
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00078/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:424a69638db21f9b20526bd24c7bc19b8bd02cfd514de4eb47a146b123c141c5
+size 1886432
diff --git a/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00078/depth.npy b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00078/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..7c65a24a78097bd9af148a1e3c91a575c4d885cb
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00078/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:99c05e3ad2c000c0344c65bdd50291048223f14af613a40c7f06afd509e32119
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00078/instance.png b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00078/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..c5114e9e33340fdde6ec9b9bed95786376f445bf
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00078/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:039ed892288927241c78b4ea46c80fa1f800b60d4daba3bf0554b45f17bd2d69
+size 130535
diff --git a/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00078/rgb.png b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00078/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..3f65d4d33cca485b3cd497c80ab6d1d801ca94ab
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00078/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:85e74784c76436373ce4ec096de45bb850511032acba70303ddd81a8abbdac54
+size 1876322
diff --git a/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00094/debug.png b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00094/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..8226e565bb26648a739bc3c31d9f034f4c710e2e
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00094/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7d8fd63d8e9b3340021641bbadc056163aabdb95631c8ea79fa38371add80e7e
+size 1913084
diff --git a/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00094/depth.npy b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00094/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..fc9e7167bda64f4fe1e1368edcdccc883d794dce
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00094/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:84f7fc4aca41d4720cd9c857790aaea3f43fa7423e0df8de9075f7ea104ec9d7
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00094/instance.png b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00094/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..2c1aae276651e61ee92db0fb83366438cb78bf57
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00094/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e16df954efe9e64dd20e54310314eff24733e008c23d794d31472d46bc441ffa
+size 137793
diff --git a/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00094/rgb.png b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00094/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..ee4d5af5f2c9e3d01d06c025aab41b237290beee
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00094/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3c53da9d23565477a182398f6a4061215da1cfce9e1ccbf4e6872614996815e3
+size 1892816
diff --git a/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00101/debug.png b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00101/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..04cfb844568e5d15b73a47f1ae537e9df1d400f5
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00101/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5cc115893161760540c9ec631aa73b8a1048cf8f9848e1257df1f92cf4e3369e
+size 1922548
diff --git a/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00101/depth.npy b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00101/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..a39c2bebb06c70f6245e2d8d00c0fcd419f4e2b0
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00101/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3db3fb3cdb839b940863208cf2004de1570b5c452e0f7c0e86c451b404587e5f
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00101/instance.png b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00101/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..ec7632ab3a99620f4b5defddaeacc9823bcfda10
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00101/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9d0ba793aab2b7f119e7a50963c452ca9ceffa2c750275b6afe933947834a72d
+size 141532
diff --git a/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00101/rgb.png b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00101/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..6f9444a5b31b9f47892040f271589dc45e6eacc9
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00101/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0c57f56170a567a0b99f54d30eaa6fe27968b3a3a95c3746b05250e8b9e66210
+size 1902436
diff --git a/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00107/debug.png b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00107/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..c65a73256aa2ee9a93ffa5097001af1ac0be6ed4
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00107/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d6833e2128fcb3c18df0126add5dcaccd83dc063570560d863474331d33b904e
+size 1933278
diff --git a/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00107/depth.npy b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00107/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..a6c3f740db9cb521b5ea9d090d7ad11185a7bbb9
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00107/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:58ee4277f3a0eb0d9d77ea02054f076ce3c0124cab8f02c5ae5b6e4557ff4cde
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00107/instance.png b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00107/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..fc70b9bd553f7295ef56917ed20a774a72eaed3a
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00107/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ce80f054d87e094b3fbfb6e93f26f552009afe061507ee5b8191a5847b6715a8
+size 141562
diff --git a/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00107/rgb.png b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00107/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..221bb11bcae5ca299580b701c0d0e84c9b802eaf
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00107/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:77e9940d2c5a4d9bf02fa200bd582dddc16b2397464357379fe60b36e2b4bd1c
+size 1906476
diff --git a/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00117/debug.png b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00117/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..d49ca5d9ba08aa3882bd926251ef9aea3786ca41
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00117/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dd17665ef4efa55f1a542a8792d79f2571046e2f2215f11a1d33545aef749638
+size 1951950
diff --git a/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00117/depth.npy b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00117/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..e59eda67bfdfbee113cdc7c8eb511666ec4e9d1d
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00117/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:13479115c05e62c3a8ed1866b75f7e2c792ac55a17d226e4848810c84b884f18
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00117/instance.png b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00117/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..2d50f919594c6b8b33475309b474382211522f6f
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00117/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d9c5151b33b949abbbc86527c7d08fbb5f86a6f954e637e2e796eda293f5ced8
+size 151417
diff --git a/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00117/rgb.png b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00117/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..fda9a901c913e27794442e9e4621f85ae43a77b5
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00117/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a946307640d2544cdb2fc7a685f9627f98718c550c74772614fefabe72ee02c5
+size 1926138
diff --git a/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00121/debug.png b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00121/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..b32e08d393ea2f51a330b6964ddf963ea553db19
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00121/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:469a5fcfd624b6e3410a3b95548aa2483a5970c798fd4b0663ffa8ade9966de6
+size 1960278
diff --git a/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00121/depth.npy b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00121/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..9beb55f807a3d3b2e8b9a8a0c1404a2f3f7d16f1
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00121/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ab8545a2bab9f5b7c8ceae63f50be50ddbd59c9437e8fbe7303fe93d3884060f
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00121/instance.png b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00121/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..cd0438c6af303a2a3bf84c661e67e9b375345cc3
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00121/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1219a96fd2b296474b4d0ed2a581db88ba8c1ecaabdbe2c69f4dd4ff4603ff26
+size 150588
diff --git a/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00121/rgb.png b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00121/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..b0a29395fa767b84c80e648e88ba1983126b1d2c
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00121/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bd5a6358b385a38051318c80ac13d05e490a18544134a8e7063baaac0f7b499f
+size 1946516
diff --git a/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00135/debug.png b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00135/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..b7053a47403ea7e4fa857f35fb59e2b1dba67264
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00135/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:999692e6a7cf54166d4477c481e09abbe56090b76549734525e6730080e1c555
+size 1961397
diff --git a/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00135/depth.npy b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00135/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..b95cd5c0153c9c8be88c0e4686724a1db827f497
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00135/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:63d549fb26550a6675dcff0a331a5a6f59d34581fdd94e21e24075bb228cfa63
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00135/instance.png b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00135/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..da21d259b7dd95d04f91622702c4419151c3d233
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00135/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:40fd4f7ca181a5f01fb057d0e0e2610e726fb5b48ff674eb0d295016ed06c061
+size 153346
diff --git a/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00135/rgb.png b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00135/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..85c979d921406d50672d9bc2f0422abadf855bf2
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00135/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8c8492cac4b8692832aaaf29f41cfc425d19360e5aa94a8efacc11f174296732
+size 1968425
diff --git a/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00141/debug.png b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00141/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..9d15a24949684e76ad68df347135b12988422263
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00141/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4331b4d1499fb6804165a252637c94b75f40d8628da95053d1083088b40cde52
+size 1953097
diff --git a/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00141/depth.npy b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00141/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..22bf5756b70add93bcd8acde1895a6b9e23c9af9
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00141/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bc6a1091d31e92b293b8130a25114be6db42ecca135daeddc96f85104bcc7462
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00141/instance.png b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00141/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..32b4c53ac621c0ac7589936c2835e28c61cf00c7
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00141/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a2f7d8b5c621da6ba877bce78bd2ba6a854cd0e40447085f125a3023206adacc
+size 152343
diff --git a/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00141/rgb.png b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00141/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..3d851fed3a931b6fabd914fb0f833f5b10c7924c
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00141/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dc999806505b6ee299ff736391da643c647f91b4f1c12b43483b31573dca7eb2
+size 1986983
diff --git a/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00142/debug.png b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00142/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..0ba0697ce8395b8fc2d529fbb9a12daee1ae637e
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00142/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7a130abe306e590db6e00819674f5a3f79feb928740e96e590c9455d9c6bc322
+size 1961169
diff --git a/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00142/depth.npy b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00142/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..7b0876d68fc20971ccd5f2c05a5a1c9ff09422ce
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00142/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e5e7c9727868c0f0732d10ca9c3e1fa9f9fc9f09f73fed0e3885b2de89bbcd34
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00142/instance.png b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00142/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..adabeba384e37198f9321e51bca7a3c207a3f032
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00142/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:97b1c0f105a3e13bc471be043c2773e89413b067ac3769991e1b77cf79810689
+size 153503
diff --git a/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00142/rgb.png b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00142/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..bb0a3a5166b79deb89f45af8bf5dc854943c221b
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00142/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ea693c989a9bb24c1b7c3186655fc1af6a0106f3daf14e6b08711cbcdaf0ce3c
+size 1982277
diff --git a/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00152/debug.png b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00152/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..bea29da18c4e486656db50b6cf5490aa39e4b17a
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00152/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7e95487c4a6be9aa0edc72d395e5a0910b0f141eb23815d27b2ccc53bddfab04
+size 1919745
diff --git a/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00152/depth.npy b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00152/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..1a2e66fa143846238356c87f922fd956dacd1cf8
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00152/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:de3bfb44eabb66606cb68305ba46fb2edf7449a0cfc4083aed19efb35828f82b
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00152/instance.png b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00152/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..a92e7a87e7746e7ce844ca350c63d5f9349674c7
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00152/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:49201f2ce628c85c4630f41cd26100123cdffa570cd40a35fcb239bfb113903c
+size 136993
diff --git a/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00152/rgb.png b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00152/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..d74b09451f885cd9dd5d4b7de2295f3a31020d47
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00152/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fe4927ffe47d96da7a2370e1cb458cbc615bc2a5732ec817aa5be1ae93450f7e
+size 2003220
diff --git a/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00153/debug.png b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00153/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..be15407f4eaace49ba80ed03f331f3768a8eaeea
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00153/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1cd86104bd4ef76e8bb6cc03555ca58164fa7d865f503efb122461ab963eb680
+size 1941679
diff --git a/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00153/depth.npy b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00153/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..0ef2f279a47665a4f4269e48056fc051aa4fc904
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00153/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:50b7596c88598f5b20cc01adca45f479529e3ad8ad5be36e3375a11b412b5972
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00153/instance.png b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00153/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..accc0d47bdfbdfc250bab7a5bdc6e2a44f68000e
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00153/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cc61478253d4e28296059eea944b4d8b9a0ad8a969e1cd32d8338795c2dfd5be
+size 142077
diff --git a/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00153/rgb.png b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00153/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..3bb94b7451c8c127ab0f2e2052d5e81a63dd8cd9
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00153/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f9178325cbe5327dfde7cc9b762dc8e77def54efb02511857fc8ff07836fcc46
+size 2007632
diff --git a/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00159/debug.png b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00159/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..be7f1d5a1cb79c6f90252ff8b2312644f29daf4f
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00159/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4c7a46bec4e00063dc5e3dbe051ce4f0a23ee056db4e9b72767001b1678af7fd
+size 1928560
diff --git a/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00159/depth.npy b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00159/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..7b81e65e424ee77dd993e5ec41fbbea109bee8af
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00159/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:77a9dc933cafcb3f6c66fc008f5253e26bd1253e7e5fa47f395f0547d6bef91d
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00159/instance.png b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00159/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..25ea5b858e78112cbbd875390db3972b3a2130a1
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00159/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7362fe2da13a0a371a2997aff5b5a70b23a0f001dded0fe6b596c835036c9339
+size 140940
diff --git a/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00159/rgb.png b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00159/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..726071efdc57dcc775c085c0620901d92b09f3ea
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00159/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c9262d843bddeb4cb103af166be309ed7df200bfb817f36878afd53d5e9376aa
+size 1991282
diff --git a/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00161/debug.png b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00161/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..1e59e2c897ccf181426b19c393fb1ed8722926c7
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00161/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a1d0bda47209a567a58b3b26128d8f9aae9c93d7b53c6273f0ef784e2fa63c3d
+size 1940295
diff --git a/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00161/depth.npy b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00161/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..7fd1ed03e95001ceae265f3ba842c4f071be82b7
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00161/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cdb8c051aa4a74f7a75cbd5c4e6594acb67871a4b2a4e016e79e719bef616f47
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00161/instance.png b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00161/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..ebb88f0cd633bf07bf027d9d94a93a4784a732e5
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00161/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:024fb152b8fb8c8dc7856fef0ca1906303a1e540ce1abc9171e2f49226b3eb73
+size 142203
diff --git a/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00161/rgb.png b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00161/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..d85a6105911d3b45b86d0ea06f95745afb9c3653
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00161/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d449cb9536fd41142ef5fe7f061baca16d95882d386282e3e94f63fdb78239ff
+size 1995141
diff --git a/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00164/debug.png b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00164/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..25f015b3916ac778a9e2d2054f95e69f864cc3dc
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00164/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fa65758760fa85c1c250265091f40f589b83c9c69d67481121d892869561fe1c
+size 1918354
diff --git a/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00164/depth.npy b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00164/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..a425e59e571683b685c56fbb4eea98dd3142b77b
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00164/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:94ad6708abca10dec463cea7e9930f8474744c199da29c2a8d66f428f96f8c89
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00164/instance.png b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00164/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..bf732d4cb818df9a924b78352edebdcf938f9264
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00164/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8ff2a8c6b01ace2de593d6099dcfa92cb659c76dc8a970a11d2b446e8e671904
+size 148183
diff --git a/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00164/rgb.png b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00164/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..7c7df2a6196b6f817e82d30a5fbe207ff7566714
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00164/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8d48f581ebdbbfd92cdec2403b07580530c35795ce1aeb9b30d9b3977d367e4f
+size 1996281
diff --git a/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00166/debug.png b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00166/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..27ccbd667b4ba09982db7ed04972d0d726959e5c
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00166/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fe614701e9a52fcb4163d6725a5507771286dd7c080a9f60bbe80f34faf6241f
+size 1963469
diff --git a/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00166/depth.npy b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00166/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..a6e50af474365dbbef62de9618eea809dd9403af
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00166/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:13bb1e201855b39f1cb5decb36e30115e660324dbfb0483bb2b54b5db9c7c63d
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00166/instance.png b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00166/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..36ec4333c1b4e149f424d512d373ef339a3fedd1
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00166/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2195843c01a894dee29aecc99f6a0aeb4ee34be1a21269d8a4ccefb463038e1c
+size 146558
diff --git a/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00166/rgb.png b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00166/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..ec228fa5b2448d81da5d083851b265dd6fdb57a0
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00166/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c371ebcc7ee228226dd63076ea48401c6c88b1b6d27fbc4602827c0ef9612d70
+size 2017782
diff --git a/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00169/debug.png b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00169/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..38f00ceb136b17c7a497447b0c0f3d095311b537
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00169/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:46bae5dfc20e5916f1a70612959281ab1af4a672b8e59ab6c1d471d8aa98344f
+size 1970000
diff --git a/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00169/depth.npy b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00169/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..e5403c66a9f1b53e94bc075e63c3c5cc61e569c6
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00169/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:333e04c6806490e08f02c6fc6b4eedf82f9edcc74ae01325fb692ff9ed7c8af0
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00169/instance.png b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00169/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..b2ee449ca37f90e25dd5d0c7b51d5e6cb2b5f5ed
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00169/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ad3a984facbe326f148e2f12276810a81ec2c5611185114a35c67817064abdfc
+size 142544
diff --git a/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00169/rgb.png b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00169/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..a858d39feb9f7409223168993b8a041f3981c354
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00169/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b3b9193e2d827ba56f0811871106760f6d5bc9cca28de9d2375cbb0547e7e875
+size 2014885
diff --git a/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00186/debug.png b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00186/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..920d06af0147fbb15b82f07fe4a43709fab4cb91
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00186/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:efb29d66bd16cda581f740fc1eb28eefc9b96838e120d53f8b7ed593a955cac2
+size 1940292
diff --git a/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00186/depth.npy b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00186/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..94a5f0d6b243047ef3ecb3f574703490d9375fb6
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00186/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ac13e53ab91648e9f9c65636ac94fa011059b81e4a2a1efc2fa9921c68986748
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00186/instance.png b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00186/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..b67773bfc07e884016c6385c2e0e326de90f69a2
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00186/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:40338888a89ca43caacaa8c0017823d75c585e665254fb5d3e2f52de1ad5cab5
+size 157912
diff --git a/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00186/rgb.png b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00186/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..8fc88c62ef80e2b72c5fb25ee888012e92f044a7
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00186/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2c9aac6aed2628287ee43e5f70c9e1c229a9f4207f9ec72c04fff7a56a1ab947
+size 1946115
diff --git a/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00197/debug.png b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00197/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..c419f4ba47f05f3579f747f4bb0e3ed042776845
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00197/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c63555605dd580dbf52ee146279562c0d24421a490614a2489ff84d0db4385ed
+size 1911892
diff --git a/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00197/depth.npy b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00197/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..a1fc3ef0b76c29118d9e5bcec481e9538d4b7fb6
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00197/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1e2c4cdd4250c6a387dbdd70d47db94f2b18a4e58274ec9857db197574240279
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00197/instance.png b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00197/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..e539a84a6cfd5483e82af81d64be0a4007f52379
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00197/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f5bf0cabe2ad65a0cbfd941e30601759d31f3be29ebc424e67afb0a46817e306
+size 163079
diff --git a/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00197/rgb.png b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00197/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..dc83709f0f512f505d619f95a51a838ad7d6b08e
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00197/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1ef90c027ec7c2b462e2f7c5b9c2f49c2ed503486bcb7ebc7a2a2e1881b99528
+size 1905053
diff --git a/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00198/debug.png b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00198/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..10100d51974b608c282be698c947a20556a5fb68
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00198/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5ed825df9a9427cdd6f6ec336742d12180edf88622f1bc8082e6aef9ef31a23a
+size 1927663
diff --git a/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00198/depth.npy b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00198/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..cccc0ec6828efd91b44965e758b3e296b0dc33fd
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00198/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c00b49a701e6c8358fb5f3ea8347666dd5a9a0434eef7ed629574b3aaa7b86de
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00198/instance.png b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00198/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..cfda08b5f31a55c7b0aa6530289d53e12ea22a2f
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00198/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:54eae48a92be1e04590534e2d62a3c8025810cabf8f2178e9c114529df278815
+size 162936
diff --git a/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00198/rgb.png b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00198/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..e04cdc4b32bca372a8f3517fadcb0f5ef1220946
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00198/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2123a85d84c84e58f4f10f1025d514f1c77c8c1831ebc412bdac655fd403aa66
+size 1894724
diff --git a/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00203/debug.png b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00203/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..c10343e1736b9b05682788e0571c6ebf67cf30a3
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00203/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:97f0fc057e574b89720c5ba229bf8360868f33de916753ae44b0009e4e87f61b
+size 1874827
diff --git a/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00203/depth.npy b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00203/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..24510ea2fce6a3936ff3ef604bedd81b97956695
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00203/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1b1613be490b94083c3ce6c158d0dd19eddbc3988cf9482a871be3a2131db4be
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00203/instance.png b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00203/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..b1050fdf388078e7e1bb6c30888eb335784e067b
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00203/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f7d60637027dc68408671e62920135a0516347c6d5ec6af26d94359b41225ac8
+size 163658
diff --git a/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00203/rgb.png b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00203/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..03ac645f0a98d6f035d3d6505fb9a0be98153e9f
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00203/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cbc173a7dd4ef0267ba5762c7b660f74115d91c3a33d6bc0d02783975c8506ff
+size 1830431
diff --git a/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00213/debug.png b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00213/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..35f618f83c56eb2e33ff2b3e508178354d40b815
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00213/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b5ae7b11844933bc02e6948e0887a28ede6cfa1ba3114e84f72a73e1045bef74
+size 1831851
diff --git a/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00213/depth.npy b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00213/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..70e28d36254d6ee1f547722b0edcbfc9c610cd5e
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00213/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:051c9b514c41cd5e9ce35b5b4e2d31926ad3bc1b66b0b6c45e0d6e129f48379c
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00213/instance.png b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00213/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..5383966fb7f30886289d5f1861163f2bdd3085f5
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00213/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b554dd44585e8c895702377908c152c6e489ced5577a60c1d9b3bfbe6086562f
+size 157577
diff --git a/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00213/rgb.png b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00213/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..b2d32cfdce050b19f2a28e029c55cd0d11e48de4
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00213/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b5bc4f1423cd194c5a8c7aa6159e7cb01f618a89c342eae9b2600de5d2c5a607
+size 1820127
diff --git a/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00231/debug.png b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00231/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..238e12068b85330432a90cdd8c1ff65092c2cf3b
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00231/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ece6283d875be5a1b1d7af5dc4f58d9246899cd6c0885dc1ba9ea6f6b20bb8e5
+size 1903341
diff --git a/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00231/depth.npy b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00231/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..d1340f3a6429b4cab0124b561036672002fa1d68
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00231/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0a1cf0f8683bee8419556f84c4f817c398ab9e75ef32337b20e35ed2b350aa02
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00231/instance.png b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00231/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..78fdda03f06a6a573e6c76146738563ef86928fc
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00231/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9c67a06f95abb36982604e7251eff706be6e5ed3bbc0479ffa67b9145737f6c7
+size 152577
diff --git a/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00231/rgb.png b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00231/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..8c30772e0d6b840792cc8f4c113987c1229897f5
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00231/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9478d5a0019c0ed76ddb929303fe2c06e2449f6a5762b1b34aa42b68fd6b29e8
+size 1934664
diff --git a/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00232/debug.png b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00232/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..2368c5daa606cd5122b001e1dd41a0fcbd3da6f1
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00232/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:810b6d3731c8f8c4dbd7acaf5ee45c4ae2bf5cd612ac71a2f2c1f6de9f21562b
+size 1912238
diff --git a/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00232/depth.npy b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00232/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..5deb5a342fd24061e61010e07f85920720bfcd4e
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00232/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:256d685f3122947afcfebe0fd616280dace46b4394424e6009719e74c51cec6e
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00232/instance.png b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00232/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..bc4e07dde4dd045228e00421b9aef012057657e2
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00232/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:590028f10ab7713a2eda3dc4d187d97d7590751a9157b5b58bd6403ed42c79bd
+size 151307
diff --git a/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00232/rgb.png b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00232/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..b9f1cbd63f9d0cd16210cc3cbf3476dabc213989
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777177388/aug_001/frames_playback/frame_00232/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6e2e14e1f4d772e7b7394ea84b24318578b2f6f5e66dc83d89e516ccfdc28c2e
+size 1939471