diff --git a/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00007/debug.png b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00007/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..05811850bce44b282b2d9c24d080a8b38a2f7608
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00007/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2b640c76118f98081ce53d011ca044c3da36aafaa1d333dcb1a43148eb9caf6f
+size 1691080
diff --git a/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00007/depth.npy b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00007/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..cdae314f7934aee476dc929be2c5e250dd81dfdd
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00007/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a82afad7392e39d7fed4524de4039b7a994d833017d980dcdee576478e37bec6
+size 3686528
diff --git a/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00007/instance.png b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00007/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..983728c0ab80b6f9fd5022c3eeb13427f6864434
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00007/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c90659bea5daa81e72b9eff05798cf0bfeb3fc233962a87222a65da4197a129f
+size 52910
diff --git a/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00007/rgb.png b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00007/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..6d7d1037440a78ab5cfa0f312fddb6d4eeb849d0
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00007/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7e28c110e4d666038e4ee6275dee6a08003f0696574dce008e64bf4a9963ccb0
+size 1599404
diff --git a/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00028/debug.png b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00028/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..c0448449d706c50ceaed110bc5bb02a914fcd0da
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00028/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:62b2dcb8f5e8d19c906b9ac357f240fc7a47f17bea8b7c0581e71e8f4b009cd0
+size 1681597
diff --git a/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00028/depth.npy b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00028/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..ae4281a85b27693fb3b3164f793f5fb9fca7afc4
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00028/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:72ba77e780916ac2d1bdc8caadc07690d8275a8d37d8951aa651dfcf3888bf9a
+size 3686528
diff --git a/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00028/instance.png b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00028/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..1abf59b32fed68fd59a30ba376e39a4570d15faf
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00028/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6297eacd7f3818600d62bd75ebf7c508d011bb304d6e73217bc558cdbac3acf3
+size 58273
diff --git a/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00028/rgb.png b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00028/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..1bd62d951000a3389e16bd21ce5a460c76ce50fd
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00028/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7091e819946b55061f196d0742987f8f6023bf66dee20b00b9ea29182bb70ad8
+size 1598660
diff --git a/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00044/debug.png b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00044/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..dd8b28fa987ab2a698a393fb36e88b2f0fdeae42
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00044/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f69841eee725ec14902609817c91aeef75847946d3c0b2093167793ab891b8d1
+size 1714748
diff --git a/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00044/depth.npy b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00044/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..4d6276417c71e8feaf9fb6c391816bd49a083e88
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00044/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:70d7383d9efd38444040174619abbce766a9e99ac6582d25b21d52dc79d333e1
+size 3686528
diff --git a/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00044/instance.png b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00044/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..f605f622a587f648487304dddfbcd35b373582d4
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00044/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:79fe85a4d8b44a14b21b775b7147e1b452905e992c2c007b8b061825f48dd723
+size 63092
diff --git a/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00044/rgb.png b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00044/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..dd36c5fc63b47e39e6a6005d626885049065bc34
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00044/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:20d41d9622f16630da1743a63b1d7872aa7a7516d6228ddd81c99d734957d2ee
+size 1677961
diff --git a/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00060/instance.png b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00060/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..5b76b674ada97946214cf2443e2ada7108743024
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00060/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7e2d0b156a66b940df380e031ecc03fc81c7a6840776fd44b517847a66b90345
+size 76104
diff --git a/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00076/debug.png b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00076/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..7a26edb7e3721e8d1064e7afb7f2a21810738e2f
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00076/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2e33f7511d1c868c61b94394b94a24d26b9bcd7295a05ae6c9f8b2bdcc14ce36
+size 1631409
diff --git a/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00076/depth.npy b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00076/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..54afa706902e6082fccc978e87cf6c765b782a9a
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00076/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:38bb35332275a3dda94d3cabb69de450768bad8f589cea4dc08b07c1577afe28
+size 3686528
diff --git a/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00076/instance.png b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00076/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..708ba330bb797b5bad2e31c72ab965155c9db1b6
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00076/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d72fb03d6a00691bacc3f1c243a803a58f7b1b86e4b03132ae38799a9ae5d29d
+size 77313
diff --git a/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00076/rgb.png b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00076/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..dbdb79098e758f2812edaa85e7a8167bbe81697c
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00076/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d4c7ec9cad15d0509c815d73590456f8d63a1ee26dc104a96a1f1bfda297c7d0
+size 1607567
diff --git a/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00092/debug.png b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00092/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..305354270e18c3ffb407addc7428e13aa5f3d886
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00092/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6fd8d6d42ee40ee71173ff15dc189c921bf6d66e8dc17acd9e0768ebe06814f5
+size 1645328
diff --git a/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00092/depth.npy b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00092/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..746a683df4f7a9a653a218ca5f8a65e5e43af336
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00092/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:30a632ffe595eef9183a13bf8c4036a65d525fd433301a8978bda716c1ded2b9
+size 3686528
diff --git a/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00092/instance.png b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00092/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..c07937702298ce231984e54b814dc25fda03d40e
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00092/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:135fc5a6491d49a3d8b8a5dc5ff61621bbb4ee334fc8a24d5dd0b920bfbe11bb
+size 78303
diff --git a/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00092/rgb.png b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00092/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..21116c2912fc25f99c17a50dae429490ada2cbc5
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00092/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6c4b4a6ac4839f28b8b0a7e3ed7743aabc16de45359b1abc77ca36b30bf10474
+size 1633292
diff --git a/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00113/debug.png b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00113/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..705a6dea1bf99e9d7c2b64c9be7e11d875d35719
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00113/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fb45c1aa892c546cc2e0b6c4ecad8ee555ae856971e5d12ef0852d79aaf4903b
+size 1703875
diff --git a/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00113/depth.npy b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00113/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..680469af4a2769f125c72485725769c51aafb967
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00113/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:afaebcc8c4bf8798eb57197345433f40fcf3025fb5ffa7056187e53e2e8751f5
+size 3686528
diff --git a/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00113/instance.png b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00113/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..c6d6c62560332ac07042b91a4d358a04bd392ce1
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00113/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7451747ec6818fa2c4683ccb18150a5a926eb7720ff6c40da52f591da17b496e
+size 68663
diff --git a/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00113/rgb.png b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00113/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..ff9c2f2b04bcba3766e0d394e15a225873ce6b0d
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00113/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bf810f8a6d75ca7e00435a4d7bfd8804ea37a87516b65d385baccca32a7ab606
+size 1692614
diff --git a/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00128/debug.png b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00128/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..536b739f429337e4bd8771b9845a5faf7e64efc1
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00128/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f9932e8fab69633034615feb353bc1a133937442264dcdf25c4f8ef702f608ab
+size 1665215
diff --git a/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00128/rgb.png b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00128/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..f7bd999d37dd09547d202e1817ab19fce5da16a5
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777298042/ORI/frames_playback/frame_00128/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b81223e6b892fd14d620cfa9a0b707db201a064b645fdac8e87d18ee15ae3e08
+size 1651922
diff --git a/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00001/debug.png b/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00001/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..93875328a17da49bd2d5b7e0ddbdb0c782b7f190
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00001/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:94948982116ca407caad656ff0966b1fbc416455c0f0d32668d1357eb688be57
+size 1678045
diff --git a/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00001/depth.npy b/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00001/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..e8b70b18f4a3aa9369b205c0daad92dc1198afe9
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00001/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5e2530cadcf5a496bcfe6e6db5b2bb8a81bf1019b692c960d3fe89649990f2f4
+size 3686528
diff --git a/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00001/instance.png b/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00001/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..22ebc35cdd35a5a1604a4a91d44788b7b1cb915f
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00001/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ce746a204c2df2cd4d0592fde7eb8c773f3327b1e4786de67a63441f5db79523
+size 52466
diff --git a/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00001/rgb.png b/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00001/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..04855297877c95891093430455e1366257435711
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00001/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3322ab9d129695ffa3dd53223891fcde5ec6e0b667a7c35ba2abb1d03afd958a
+size 1567969
diff --git a/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00005/debug.png b/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00005/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..0314f59f92621d5f298893e89e8bed1018490735
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00005/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:96272733bfbc748ee3ee380e59b1f4d5244b24a8d01b1db509f4ace16f59cd0c
+size 1666381
diff --git a/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00005/depth.npy b/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00005/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..5e1b091fd7e5fc405bc05b9e9634c6b3254d96b8
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00005/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:83d7a266051337fe070bd74b390a4bf506d73f84b96b8a36cfc35f3ca22105a7
+size 3686528
diff --git a/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00005/instance.png b/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00005/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..2bfcc15c32a2f13178a41587dbc8cac0449ca547
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00005/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:11536c89a74bdc756e37a5a80698cfb53cbe9c5d2c79834a36626850fa57c787
+size 47819
diff --git a/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00005/rgb.png b/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00005/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..79320b8a4c9eed760d45459fe2b09403df8b9e13
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00005/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7b2e7d9a994894293e54edaa81807bc96b0864db9fdf6aa8ab73f811fe5fb29a
+size 1563964
diff --git a/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00030/debug.png b/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00030/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..9add3623a03d12e02810b14a7ee61a46ce9de5f3
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00030/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6307ce5cbc36e6b3e32ce2b99f44acb69b202c95319f692c083ae3e22d0fb272
+size 1740898
diff --git a/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00030/rgb.png b/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00030/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..2ff9f2a0874730f695f1fff852c66d3cfd2618c4
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00030/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fc302b90a8b15c599e5630f4cf799a9f328c8cf27c914a2d94290f1de59513c1
+size 1627609
diff --git a/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00032/depth.npy b/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00032/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..43271057c5a12e21bf1e35324cd745b896c62284
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00032/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2ed0ca271cee50919cbb016f7793c9340cda6d036049a5f35622cf092624044f
+size 3686528
diff --git a/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00032/instance.png b/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00032/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..27dc9ce63677f795c9ced3c7de9e5b0ff31b0b75
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00032/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3850ce4f04c4dc483e1c662046abef66f8a8df48420d3f32f0f3e2a264dca4b3
+size 56384
diff --git a/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00051/debug.png b/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00051/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..1e16db2abfe0ecd1d7114fe7ae88c1b946877fe5
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00051/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0ec7b3cc1a6d203364cf0eb39f464e1f2d1a69e07a7a1e7265b3227fce61b9c3
+size 1727978
diff --git a/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00051/depth.npy b/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00051/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..e105b47f1983fec398b0eeee53ea9138e8ef9eac
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00051/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7181c6252772c4e934a2191f21f0e3ced31bf1c280ef9f5b291d32e86efa4095
+size 3686528
diff --git a/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00051/instance.png b/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00051/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..1dc4c0e0c9170441df7e843f5c269f9b22b3f21e
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00051/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:62d37f06f84097f1b5a001b76d53fdd10ecb17fde1d3da775e9953035ed4bd3c
+size 63782
diff --git a/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00051/rgb.png b/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00051/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..3809b61881937f9eb7950ab7fb041b2f54cf337b
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00051/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:22b9f2522aaaf6c2a7c47e14d4fcc1a5c2071aac661f0bd8709a220d533dfe68
+size 1666396
diff --git a/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00056/debug.png b/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00056/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..e946c42fc08a8b4359630097dfdc1fddb9a72bd4
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00056/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d396844637411003972b9f8c0f164289a47ee38910983d7ebd6c2a4d218c5627
+size 1714997
diff --git a/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00056/depth.npy b/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00056/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..f257c74d4ef7aa805f4af0d25c483368205b1d2e
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00056/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:67b0bdbdcb907c8b6f5478730a976025141d4815967779f43b97fecba3318bd2
+size 3686528
diff --git a/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00056/instance.png b/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00056/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..85bc3952f0408a54ae80f24cc90e7317b1b06469
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00056/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e1d26112c5bf47b0ce7566887aa7b2b3de7d8b2360c86dfe2159cc9ede3aea27
+size 70453
diff --git a/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00056/rgb.png b/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00056/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..e179aa419cf86dd1341ecdd78d6b4a1a103fcd4a
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00056/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f48cf7db56bc7c45af2b1276c87ea5b82258506a222834cd6d5db14ea4d0d202
+size 1642693
diff --git a/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00091/debug.png b/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00091/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..bf822ba0fbee91041f877a45b78cfe40095b4df7
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00091/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7d1e2381e05fe5476f0f62a1468dbfbd236aebdaedef81d1cdcb695d71afdc86
+size 1665135
diff --git a/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00091/depth.npy b/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00091/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..d7d23e5c75dea5d0ea896694a117b4b08b1a7bc3
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00091/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:617ee979afbec3e6d1e591595220553a82afd65420947bfc2cbee295914ab26d
+size 3686528
diff --git a/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00091/instance.png b/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00091/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..60570b1b5c1a322a07a02e1eeb5778b10ca9f7b1
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00091/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d969d865461635476e63b5c8a69808efeb9bdb1dc0e41970e56782584ab5251e
+size 79681
diff --git a/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00091/rgb.png b/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00091/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..f793152f21ebc5c36fb70d1577b4301d453207d5
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00091/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f15532d225f39f12cd5234fc54ace35aaf5a1961de2330a43737549cde1cccdf
+size 1625048
diff --git a/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00093/debug.png b/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00093/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..db53bad08a0d1e801d2a6bbd02df51a7630f6b33
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00093/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fb4de4d804b2e5f1cbb646064c2db720600bf4a232abe8b3eca5c4e5b42c4d2a
+size 1669182
diff --git a/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00093/depth.npy b/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00093/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..131ea00b9e7b578047f208a6c5c18e9791886224
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00093/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:381453ae04f4fd5770133e9b0cf040a05bb230a237d9064dfd2b710ff1dba8e5
+size 3686528
diff --git a/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00093/instance.png b/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00093/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..ec51ea5a003ceb06be18bd900e0b164b8662e75e
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00093/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a5879440e7a2436490b8de99fa54b36da773a165254e638cf70d0ea13bc23141
+size 77028
diff --git a/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00093/rgb.png b/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00093/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..a6b0c22ffac0d5b37c1d6ecad57c5fff5d56530a
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00093/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:58488839ac88d70221fa17c933e42b43bce2a683dd5bc7d2234af3e75765ecaa
+size 1620288
diff --git a/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00097/debug.png b/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00097/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..299a630dceb399cfe0ffcf93ff2c3d8a5de83d4b
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00097/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ea4340bc7c1ac24fd094ff65ee7932876cc24b5c15e1824ed043f4667fa34cdb
+size 1722708
diff --git a/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00097/depth.npy b/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00097/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..50b1cd05ceb36b7f6ee6c9d99a82c35cc395a4c1
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00097/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c1c3cfbf3242b5a0cfedd68f790d77d0761a06aebc6de0ef0afee9350ed1723c
+size 3686528
diff --git a/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00097/instance.png b/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00097/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..29f9717076ac1dbba8ea0c66c9419fe4e24e1c33
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00097/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f42fa55524175308697c064fd631f4fc0c87159579ac59f852ecbd57a2bd9fad
+size 66320
diff --git a/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00097/rgb.png b/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00097/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..73efda1cdd29762a00e2cde8985d23590d35d50e
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00097/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bbce367c7160dde2f17dd4959da72235943d12baf73acbef03158cad0b6df027
+size 1658089
diff --git a/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00098/debug.png b/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00098/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..dbeea24bf9ef82eb0206ddf8af2be9e71ed53d87
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00098/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ef3fec0e8b8c4e808ff993e128c40f7f726aa5c22995fdcf6101995da636514c
+size 1714053
diff --git a/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00098/depth.npy b/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00098/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..0ec4292b6176b3ae4864c6bd35f00a2298cf82ae
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00098/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:04133c7eaac44921f9b6fe7b45d5fe769b3b0885b52cf39c27e07535d2c3d27a
+size 3686528
diff --git a/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00098/instance.png b/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00098/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..6c9a24107eb922ca0fefdc89a869942740207204
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00098/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0e2cc42ba6bf27a0cea8aa1eb74d69b1819951962dba10080928a80089052659
+size 70025
diff --git a/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00098/rgb.png b/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00098/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..924eed67ed55f53e5e41f48b75c6d3d9d312769c
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00098/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:64e4d7de78b8e2c9e7d6459b4f83f813b834250159b9326a9bcc08aa26715786
+size 1642998
diff --git a/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00115/debug.png b/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00115/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..5bd1765e3c7ffe08b3493ebd47d4f4d35016bec2
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00115/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1adccc7559dce7bdba3a3dbd47955dac3dfcb7373edd8a2a9d03065f7f6efea1
+size 1738187
diff --git a/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00115/depth.npy b/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00115/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..6e038a68065059190296b39664bfd2e63e14c894
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00115/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5a032ea70c848fe0ff8bca1736b323b539dcb60bd7574c5b65ee262645d26648
+size 3686528
diff --git a/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00115/instance.png b/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00115/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..e713e63d305b7110a8d69bd056955822dc609a39
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00115/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e8834b82a794b9f1ec69ac7a95f29e925f3a6c41ec4b3fc7103ac38df4469a03
+size 67859
diff --git a/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00115/rgb.png b/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00115/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..0f5017d267941791bd0c707d1d0683c9b66e65ad
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00115/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:33a96902489317f799b2c0bca2220aaa84bd5c3cdbf764460f090a9dda4870f7
+size 1701312
diff --git a/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00122/debug.png b/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00122/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..137ba317536cd188acc94b898c62bfb6049a42cf
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00122/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6cecf2d44d6217a6cdc0f843d2eb30f7c9848299e6f3748d9b48304bc2ac44bb
+size 1710792
diff --git a/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00122/depth.npy b/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00122/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..9bfdccc54e0f0799ec6966f58ff6ab47766f0872
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00122/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e7e257f31b0296787759d8dfff91da8e21ca3c0505c5690f992de816962f05db
+size 3686528
diff --git a/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00122/instance.png b/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00122/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..42a4db84063eac7f1058bd7a4578b76babcb9b6f
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00122/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d98563fe6a0bf1054c12dcde8ebb57705312f063af0b83d258045b6285bde7c3
+size 65968
diff --git a/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00122/rgb.png b/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00122/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..56eabd8f9aee038eccccc53b0861e1cce568c0c1
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00122/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d8093fb11a2a69466554d416d4c94581760ede59a1badfd1c986046faecd64f9
+size 1678185
diff --git a/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00129/debug.png b/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00129/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..6d463daf2e4ad95b3e75deeb9468e8bf7c20e104
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00129/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:13f4a4cfd36876d8fb5774f36a93964cf2451da1c754f40f03646c8b469b7722
+size 1686681
diff --git a/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00129/depth.npy b/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00129/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..c40bb60a7e83a175773cbe88601a50459e1dd276
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00129/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:06cf71c1174ad31ac9c7fef2505da9146fb19c2948cd0dee06bb33100d25dab9
+size 3686528
diff --git a/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00129/instance.png b/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00129/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..bfb1a919a79af20db57a827f0d69f584187b1995
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00129/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bfa6828782432b1323d5861349b08d313e4dcf2ac1440729aabbbac93501ab8b
+size 81285
diff --git a/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00129/rgb.png b/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00129/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..65d009555da2b4fb3f99842026e99fbb32af79e1
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777298042/aug_001/frames_playback/frame_00129/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f628785c6ff9fc320a2324511b7205686bfc6802a5fb3e1a5dd1a67cf96c7a21
+size 1644470