diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00000/debug.png b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00000/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..73d21a55e2f01ed4d0f1c96f060716bad26add74
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00000/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:09af1e471363d4b268b2da042a6d2232a721760fa504e8b363028f3b72cc0549
+size 1822288
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00000/depth.npy b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00000/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..0f9f06e0e050b85bf423a75bc0ea78f05be1ab2d
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00000/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e98ee8cf220ffd99f67dc2eedd02b9200da96596af9bddf98ae6378c07b749f8
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00000/instance.png b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00000/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..7f0d391486fe65dbdd4d7eed5d5411498a3a04da
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00000/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bc151f20f450777eb99f19ec34bb294dc0f4d8b152969df11fe5bf9afa46f508
+size 162067
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00000/rgb.png b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00000/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..f11f9ca69b26a4e6a862f62b54dc03ccc22d12cd
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00000/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3c177db70d1bd8abfb53ce98ada94e99133a427ff39f27714b1be3f9fbc8dddd
+size 1869827
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00007/debug.png b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00007/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..53d8076b765952b8c12ff39ead7b77967c8c420d
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00007/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e9fe420e7cb700c89f4211d71f2357ffe43c0691d8553efecaae239f253f6520
+size 1777492
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00007/depth.npy b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00007/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..0ee9a2e1c1ffad65a019d4d4e64790a9aa26de83
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00007/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:070ec28e64bd509f9be8d0cd02d7be5f705edcd350d63a0f708457f5114f30b0
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00007/instance.png b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00007/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..8b3509db154719f79b2bd78085d0b3c2e7d90016
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00007/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1f04993a4fe72534554f2dc93335f16b9c4aded25018888e1900bcb54c2b6fa1
+size 150098
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00007/rgb.png b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00007/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..221ce61a4b5d2a4d91152417bf1f6f42f0d45c09
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00007/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:006ec6e97898b718ca2dde6b983e0b44b7bd216a404fe5f61edfa74b97b0e704
+size 1813593
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00010/debug.png b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00010/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..f726d3ebec75e30bbebce8246fae28859b2e3024
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00010/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7807b4d32e1b7a169175185b92d53f23d9f25a5a5a8bb3479ecccff669796775
+size 1757965
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00010/depth.npy b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00010/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..2e70023bf2e4f1c306bf1719c5d71b72f3af1537
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00010/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:453f509e2d1dab31c978f022aea93563c85a84b27fad835c1b9b4da1318064ca
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00010/instance.png b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00010/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..8a5947f01fc112661aa574d258c6fe5a374bc035
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00010/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4de08fa3758ff3c9fc6d80004198a31db4e8e3e94d5b176508275e099c875c68
+size 144961
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00010/rgb.png b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00010/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..e3e5f5cf36306c7ddaeab8a15b754c2aa9ae1369
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00010/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6fc211da25b6e345c8ed9f90e94f03d9a5c7930fe2d3f2af41a9b5fe1684aae0
+size 1801125
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00012/debug.png b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00012/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..04f8c23864f1da89a5eabc39c9eec1e190ce9691
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00012/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:040df4f58b23f0d851b29be4b7c41b27a8967faacb0080b07b4767a661a0adca
+size 1759208
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00012/depth.npy b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00012/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..7158053cb432e5c43935ad7b9203de1c7eadc745
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00012/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:10af1985b6aae09c5acdb90aa564ac65d6fab3cf5a6d8dd4e0496e97c8fba946
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00012/instance.png b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00012/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..a9f7a8c987fc490d24179f243490dd6467033e64
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00012/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f851fd8dc866d90c60b2bf1dff0c5fc1a974396f4d7a7be1998d30c6340c4e1f
+size 141634
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00012/rgb.png b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00012/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..162a619f1c6329b2c17cb95436c921514683d970
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00012/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f6771f39d567462300c4c4fbf1c979b6a9e0fc6e655014b163a878951b93227b
+size 1791231
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00015/debug.png b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00015/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..ae6c29abb06e6b5de8db5dbbb0ace591c891e4ca
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00015/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ec5687d6d12fdb79524de8ce8c14483fedd5349b41e8b10837fadc7825736e15
+size 1739345
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00015/depth.npy b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00015/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..cb660f8e1a16e8cc2c1d6299aeede2351bb15665
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00015/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3728fe86f28929049c999549083eb73ad48c5243b6de545fb25b519b358824d3
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00015/instance.png b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00015/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..4df31adf915ff0125d741b011c6077b26c57a431
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00015/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:495c84f592bfaa74274f8684477ca06893b94d5b571259b323fd0a31a1337b5f
+size 129852
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00015/rgb.png b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00015/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..6b79e38d3ca10d80f613ee007ae71b8005a61646
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00015/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:601b75e3b847c2f83aeaa3dea6c527d1ea3aebefcbc82ac203d6e7916a5453f4
+size 1778832
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00016/debug.png b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00016/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..cff53cd61db5b784f811575118b32a97a090d2b6
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00016/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:34e239a86e1c8ca5da933e8776b39467de55601c03e68e15f9aeb02ae9676359
+size 1723601
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00016/depth.npy b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00016/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..f8a093053b58aeaa7913d15e0ef17dc52fceb0ac
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00016/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5ae73004db543e2862a365debbdbf6e51cd68c580210a0fcf32f61eaf9bb9c91
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00016/instance.png b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00016/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..bdda56f3bcd1556c008ea50871c4700c13c0a5a8
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00016/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fdb2cfbe237b0cf458555b6f005372d5d7d5dccbd0f7ef4a813273d9f9b6ee24
+size 128554
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00016/rgb.png b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00016/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..adecf46741ea65d4b6dba7a525c621796613c4d8
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00016/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:efc8c4123ee17ea789f53cbf02331fef38cf4e1bc7fbff19ede56d09762d8334
+size 1755546
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00020/debug.png b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00020/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..39b73ebdf5c424f18696da41b7ffac1364652319
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00020/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fde3d24bb08fcc792119e5aa856abc579574f6b7923459ae24d18f075390783f
+size 1723529
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00020/depth.npy b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00020/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..4d70b05aae3144eecf5b3401be18aae43ed1d1b2
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00020/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:59aa69c4c87cb2c1943368e627ac97d1cd0ad0a049bc8397e08b6b9aa1d41785
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00020/instance.png b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00020/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..de6d99eec637e05a86d8fc275ba8e0e831a01815
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00020/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c17599a20a9ff18a3f65f5bf032ad667df4133c2316e2ec66abd3c93887e511b
+size 128436
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00020/rgb.png b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00020/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..5f335b07cfcc87da5ebd23c1b070f19674a8e7fd
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00020/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1addd3bf0b9040980fbc092cb81f9231a96266d032a55d1d7430ff858c235505
+size 1766639
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00023/debug.png b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00023/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..c7dad583d6a6b058450dfdb624bdb1dfca4e8289
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00023/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e65f116e2a9dffc2d0205fe13c25818dedef10e90e04ce71b8f8fbc7cd768203
+size 1739057
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00023/depth.npy b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00023/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..801fef79815b15281f483f6c0ee9fc2d4180d451
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00023/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a228f037636d8a0922830126651eb570adc20f2386b8c3b361c03f30409d6548
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00023/instance.png b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00023/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..e231cf95e2b5a6d85f3c2daec767f7b549e36ecf
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00023/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fd8bfa642ce116d2ad1a76c946f6d23aa47e70689355053d6066ac0b1e05cf2c
+size 135061
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00023/rgb.png b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00023/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..7c91f658fd595c16573d318d81d99f1ff58f9086
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00023/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f1f4f4854622d456efab8f7376ba38b5d7c19ba184e0ddf1e7514e1b8f587a2d
+size 1785229
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00026/debug.png b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00026/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..888419e5b029d15e9b3221189fa44ff3b9fa2030
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00026/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:63d834e95e88a7764a11c750155e16094739e7a46aadd716b26b5a3133bac5c8
+size 1765068
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00026/depth.npy b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00026/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..25e0d2c631bf41bc7e51b98871bc1a9d19efe2f6
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00026/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6f43eebc57e1134061518022982398b2c672c52fa26759042ded18848e8992ed
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00026/instance.png b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00026/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..8af3a59ef1e3dd5ecb43a34990ab4fc8c384e146
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00026/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:97b86ed958218898878430fc0c1f17f6cb30e63f55a8123390ddaf6b80050d35
+size 148398
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00026/rgb.png b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00026/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..54845abb68d12353eb0d9bf897d00d13ddf571f7
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00026/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0ebfc2261df1015dc99e1d7c9c541ba32072a17de421c98eab28c749b7483d2e
+size 1814573
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00027/debug.png b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00027/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..73ae61d4e3666fb7b4962f5db9168b06c4cd7e02
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00027/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8613f81b9e007ac61158dfc7583c2fa7785a3935929ebe4d94a83107190f842f
+size 1774212
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00027/depth.npy b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00027/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..065bcc141603bf773cb277479c92a4b9802f1309
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00027/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d0b6abc6de76c1cde5cec5eb676adb3fc69dec8ff0a96b595ebb11fcf1be30b6
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00027/instance.png b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00027/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..5e16985824e34a2b80365c427068a34aa6e4c567
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00027/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a84ca504a8db762d94d1990333ac744faaefa9411876584e91294f9a4beb1e04
+size 153737
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00027/rgb.png b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00027/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..ff5d279f398aa15daf72fd48e43c834bb2af8557
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00027/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0e954972c52e62097b62ddb2de1492418ed12aefa4b32782f1f3e62ddd790a94
+size 1827949
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00028/debug.png b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00028/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..26e35fd7f0aa4a03e0f7f01b0f12d0a558bb559c
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00028/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:021135b8b37e72e35ca0a058a0f4ee0cf1d050a64494047c8644b6982eb06711
+size 1782356
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00028/depth.npy b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00028/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..d51db7cb1dff81a8d3ac1494b64b310839d0f453
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00028/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d19878f9d568f5388b902ef1bd9ee6ad875a5082187a47030b8766dd19ef0010
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00028/instance.png b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00028/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..b9c31ac462351003991d8fa19e35fa0988547712
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00028/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:90d03c50437ac0c97f96b60a7d333d62da969ccaae2fcf8f2f840c97a3bbc8d1
+size 158469
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00028/rgb.png b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00028/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..9c8b0ecb5cf4c5e5151cfa612782b39d959b2749
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00028/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b15eddfb24a6fbf285c26afe40e624aef6d583e41349b9c1fb6fc14cb0293b62
+size 1843306
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00037/debug.png b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00037/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..319a6cd448b19e3d64c7d929f0a5fcb9495aeb86
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00037/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5e5be1e380e143e6615e0034496675319274ab1c1b17a15f30b1d7928a675b8a
+size 1740513
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00037/depth.npy b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00037/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..1e10b08a7ce4e9b0b2c5aa340b26bf7cbbb1d316
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00037/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0b89910771f642d8ac510719d065c3980868ffc5fe03baf17f4711388a607a3d
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00037/instance.png b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00037/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..a0fd2773697eb36ded0a7c7be35951012d5b5fcc
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00037/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9a61a1cc1d6aa71ac497fb36e5649b923939028d922f08c6e81236d373e0a6a9
+size 153183
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00037/rgb.png b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00037/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..aed7bcf22dc94669314a71cd96f75a05b2a649ab
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00037/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eb1cc987f7beb6ae452ee8a2d28a378c8a38ca0706e6a7a8b44447541e4fea2a
+size 1814708
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00039/debug.png b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00039/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..23eac8024f4a1e2a9b45ae187a3f26bec4d90745
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00039/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5dea00dfb40611e6041532724b9919dc3fad9ddbb02aa784938d99e3cf7c0839
+size 1740035
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00039/depth.npy b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00039/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..5f952794fbf7b35b3f4059f1f2fc9d0d651b8a68
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00039/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:516f7a69d08d194d14e8536123a5619133b2a7849c9e968cc5399d89ce769390
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00039/instance.png b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00039/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..2bc6e4223966bad460892cfa82efc518f787ad0e
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00039/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d57eae107b2a39743f209cf68a478c0d7708e1a5d207a9a0b61c77959d1ae236
+size 152967
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00039/rgb.png b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00039/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..86b8728745dd7149d92a8eca874023409aa02184
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00039/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:de4fd2ccbb8c7f98747008554353f2cae64d3aef364b48b95762af7dabf7b08d
+size 1805568
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00042/debug.png b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00042/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..45b713a42fe461774e44d2420da38387e5ba830c
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00042/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d711444f9c6802f8d8338a9d3e9d2691fe384baa11d6da74b031b640efb3beed
+size 1727689
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00042/depth.npy b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00042/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..aa7c88c915d2c0a5a43b5a59f9b27d32f23a95cc
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00042/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3df6167cd2b1242a00e8e3a1fe3d673d74738723f3cc377c6a64af028d157f56
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00042/instance.png b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00042/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..4022c1ff02f59e85bc50348a05d372515a349276
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00042/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c9e122f29231ebaa7f2d093cd0c049ad309a419982c05e95e97dbb7fe57010e7
+size 150503
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00042/rgb.png b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00042/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..f3819e5e522eadd5d8c2ed27c7f4fff5d32e6369
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00042/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dd68ad59412cce5091ebf10a94a5724063f469d1e26b21f71f6e62f5f8d4ffd7
+size 1790912
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00044/debug.png b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00044/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..459fc91d9b445e6b4e4e0682381fc33b606cc6fb
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00044/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e96806135de39b9e6fa231257fc29b9c8384e277ea00e6d58ae292c0722c5a2b
+size 1731136
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00044/depth.npy b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00044/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..ede4fece08e5cc7bfc66f70167a8342bdb4df771
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00044/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2ab97b902b012400c726fcd7e21d5330a60bb1347c149da47784a19ee6a22b3e
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00044/instance.png b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00044/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..399d29b55e41e883e456697d72cd93f80f07ae86
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00044/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:89ddfedc6f8415c32cd31ecafe26f31d12925386d29abee4f47f85693f4456ff
+size 148739
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00044/rgb.png b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00044/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..005865daf2b7463fcea170f61135bcffb4682175
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00044/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:27c839f82e350b04cb79379e4d123cdd68fe3d4460d5948b0ec231421af135cb
+size 1779236
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00045/debug.png b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00045/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..c1178ba88ddbdf760d8a4c85972182b37ecac4ef
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00045/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8c6cf3745ca998dc31e1fdfd9c458fbe5ea13423746d664b2e4d50365c8ecc9d
+size 1722743
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00045/depth.npy b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00045/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..6ff30209ccf002d94ad2bbc4e3e7890271cd413d
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00045/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:34677509d9f89cd5b391c5c2943953a30dccb796aff83ac9ba21e1ff108c686e
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00045/instance.png b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00045/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..250df7409220785f8504a4b67939cf5d54acff7e
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00045/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:148d01f7233e884f1e57ba423471008de9e2d783d86101893ec2233f39bdae3f
+size 148013
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00045/rgb.png b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00045/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..2f27a66b064bea6840d1cf7b6de175fae860df07
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00045/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1ded8cf07d5d2ff93565ce0e3920f8e3f496a7373b9daa4ca32815ccefe15ca7
+size 1771380
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00048/debug.png b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00048/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..178b2e30cd4a27cca29a9782c6d4c0180f03474e
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00048/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:93ca1cd985868f991738249e26aa2f30f6d9a17406e98bb1e2ad9f457fd6a9e5
+size 1713071
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00048/depth.npy b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00048/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..1e2730e40f936da0d7b2615fb6119d66bf517e74
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00048/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e982a2fcf3e0adbbefef3740f72f4f2ac8642c5c8203a343efcaca00b795b4db
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00048/instance.png b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00048/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..dd631539cecc2f3e9b99bba02bc46e785d6aeca1
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00048/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:70679d82f545c1eb6070dd935e13bc8deff27731d692ffe605fe205efe032649
+size 147743
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00048/rgb.png b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00048/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..228855d661d5c42e69fdcf1526ff8838830ac772
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00048/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5f29d402d8fe2ddcb27a2867d312e8adc9d954f6dbb5b1ddf8778847ece591df
+size 1760103
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00049/debug.png b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00049/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..f905a8fc7f19ab5069ce56da4fe474f5bc702054
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00049/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:34f36e70219752c2a4ecf56f391dee00d86e1a156081fa67f295de8745a9f858
+size 1707332
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00049/depth.npy b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00049/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..5ef43e64e18b9a08ea846547ec32b0b55007c3b5
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00049/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fa4ef46c6a4e20720d84409e8c342f931d2798a27bbf99e2a05f30fa28bfecf2
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00049/instance.png b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00049/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..a9bc3326a1bcd2c5eac4024ee81ce63a23713335
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00049/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8327acdf051b83bf9a6f77443dd3ca8747ecde160479a65aeab6154d460dfcc4
+size 147459
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00049/rgb.png b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00049/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..25e7cd3e02cef50756ccf4a3679687bc7026102f
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00049/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:614fb49702c2ff254dbf28c916bb1572a7d0130bf2223fcc635ce4c8799bd871
+size 1752692
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00052/debug.png b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00052/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..088498b0baaf22b91e9668f8778871bc8730ce34
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00052/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f18e3c26cea90a10cbb5ea87c39b6123074c7fe1213aa20a4abdc786b43c1134
+size 1702945
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00052/depth.npy b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00052/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..1a629443ce27773e303983ef4d462d4e1c8bc69d
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00052/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a1b1c36162c2780caf50e3c97296a9e7c1a3c45a45f9e62acb521782b531abab
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00052/instance.png b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00052/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..1aabf20b83be39609fc9b18ea2ff8fe96d36b6fe
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00052/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:116e257334928649a5ab86da5f942274d461d5a9e7b6a197159046a0e2d3cf78
+size 136171
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00052/rgb.png b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00052/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..7c0b36a27d635bbad2e9b3fd30728faf6bace4aa
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00052/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e36ff6a5f5d2d0820127dae0ce193f527db5461b60eca5cd7207f8c1712309d7
+size 1739185
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00055/debug.png b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00055/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..7cf203e99957ce4d67aa3f6fa98eee22da40157b
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00055/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1b49ed99e917427df74e5e65b68887d84484fe54ce2b02df8cb5cdd248feef05
+size 1696575
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00055/depth.npy b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00055/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..54e8913eae8020f1a80960779bf99fe009735082
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00055/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1bfe363ab9fd20add35bcce1768c1ae4218942199a1ae69d0aba8b86665c1dbb
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00055/instance.png b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00055/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..6fb6c9276377d6ff8a84fc291e5bd5320ab44df9
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00055/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5de05f348eb6689a0713e152b5914ad31ceac5abab74f1333689c328f3d7ac8f
+size 127730
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00055/rgb.png b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00055/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..78e6a8658ff722f298a08e2208839cb1ea3ba5b2
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00055/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:54d35518708b51edfc4afeda7bb81afc301caa4c8e9492a8fcb25184c9944544
+size 1729100
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00060/debug.png b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00060/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..701478081a82903a3a1a7ce2746fa9d18195d348
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00060/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5de6cc6519dc0d127fc262389d204314d4faee53063f8310877da800bbb0ead1
+size 1680765
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00060/depth.npy b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00060/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..86ac069a41b864fc7f7975a41d77cfa67fce3c41
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00060/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:78c37a04dbea7c6b61ca76105fe17d02cd559ba1a76e7c258e4ee9084e5edb27
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00060/instance.png b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00060/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..0fb069fc91d96b84f4d6ff9901f26aa73df8faf9
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00060/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e24d835e6b5174041db8eb12f103aaa9896ae064426893d49ea2177d14625b1d
+size 126695
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00060/rgb.png b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00060/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..88aab1e466c13ab59326fe7bbf2c22ec815c7393
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00060/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:15a440ca19febc20a849ced46cae2154d9f5822a72b3c9a65626d99d7dece2de
+size 1692241
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00069/debug.png b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00069/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..1fe05053e474c81765758b086cae3e189a40c6da
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00069/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7c7b4f5f9b44d452030b16cc453b48f3e00cf811bd88e38cb3f93ed6f0e58e2b
+size 1654843
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00069/depth.npy b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00069/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..64d8afb42e1e9fdbd83bab4192037999756173a2
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00069/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:113d73ad09789b1006313063c0c117de3ce7fab8b4d64aff117a00614d09e532
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00069/instance.png b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00069/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..0fc24566bea9e8b562a26ae634f37380ded4db2b
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00069/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c35694368e8b4b743c81b7a3290c10c25cc176c43bfa9b8c25ba7c6645e925bb
+size 133831
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00069/rgb.png b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00069/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..79280736b58b7dd4ec3bc6f7cc8060f53fd50ad9
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00069/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:994e3da40c5df4ee610992651a22965830bdd647fe8de61cc4b7e4963e40af9f
+size 1630767
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00074/debug.png b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00074/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..5e87c10b198e63613296de587a35f92c1d8116a6
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00074/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1ef3a21ace2c2f63e160518c63335a1ff2c68c2a73598622091396e64aa27de7
+size 1647703
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00074/depth.npy b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00074/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..45d097d5c44d3acafbd3af16a9700bf29eb99978
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00074/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1ff614e75cf5048d9fd05a056dc758d40bbaa564b2b35b2c2439aa20fdf8fdec
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00074/instance.png b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00074/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..1725b9b37273aed0fc5c65ccb7de76dff776e44b
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00074/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b6fa27118769854bc63f8fe2b3361549b80ff7a2ab384a33588cb425cadc04b8
+size 136639
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00074/rgb.png b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00074/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..b9ef65fe07a5d462731c4f2781f3056658998057
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00074/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:86296d8ed995efdcecd4c27fbd823392667b207b9f7033fb3da6804a59497766
+size 1639556
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00075/debug.png b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00075/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..722492f4382a0e4c00c474f0384b49aad0b6af1b
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00075/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a6aa5d266afe301cf1bbbcc10af5f0a150febea00d652560bce7e6710272024d
+size 1637721
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00075/depth.npy b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00075/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..2b7083b4f049b7d7f7700083ea1fe9e9ecf4e8bc
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00075/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e1edc610f9f8b6ebfa77367dbce14f4fa9d2530e245c42547e396fe46a778ca5
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00075/instance.png b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00075/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..b931bc10f75b814b44f2a6ea2eb11f5f91c72527
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00075/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:088082ce644d67a90f350f7348b3b1f752500b58b3057722b770f65315bb3fb4
+size 136113
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00075/rgb.png b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00075/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..228f27b767d30468520073e6724ad6ca1c447fe5
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00075/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:683778a3cf73645d7964f8a428c70c925f11d9a4078346bebdf3affbe6d5bc4d
+size 1630880
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00076/debug.png b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00076/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..8fd281209b675fdc0d5aad1d2466b622b386c07d
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00076/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:26faf0d676761bb7289d2b2a0d245ee17f5b03934fb7783d1794212393cd5c1b
+size 1643805
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00076/depth.npy b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00076/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..76a71cb08f4b82b3435ef6d32d2533ab119e48f6
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00076/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:091985d9bf2c5a118c63b192310b27f0a73c31e76b2fff1720c6807ed3e39b48
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00076/instance.png b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00076/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..a4ababa87b87b615166c1b55f9a689305d7da2b8
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00076/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1e47a0b5c199735c047b964c9ec6c1605567f34f7b73fcf8da80b8bfacb4ee9b
+size 136107
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00076/rgb.png b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00076/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..f41b05939074f98ffe1f36d7d876c319f79290fc
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00076/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bea044ff0e747d72f16d774f26c1df4e4ae3d678acb5746216c9f20e0521d051
+size 1639242
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00078/debug.png b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00078/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..d58e08ce6cdfecf1650cf4b4dc1e7b04ea8ea3a9
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00078/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ec8d8ad01ce6f462301b133135bd9bcf1774d7af82f68ac27d04c19e9e070e5e
+size 1643357
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00078/depth.npy b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00078/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..eb62d41d0d4a2a1996a8dfc571b45143f172a461
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00078/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c9d7d340086ca6b7031a8db2ff4307594f91626f3c759cd7a1dbee4f0cb5cd4d
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00078/instance.png b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00078/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..aaf22c2c9c0b6d7ddf0880fdee7235a3bb2a0247
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00078/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5928eb55889131e0158c97733fd28488fb74e5c7a416e12c3178af0a9b807561
+size 130075
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00078/rgb.png b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00078/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..b970aa49f6cac506fd6a58fafba7e869f2e69281
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00078/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d4cacab6545811305777105e22ec184d64aeef1cc62257e7a1d498318f8536b5
+size 1632509
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00086/debug.png b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00086/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..b0c0d99db1dd1623dc1deecb548ccb7646033a0f
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00086/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a356284654ee3afa68766457ca41259beee3ddd1d73aca6b245d2f668894b5bd
+size 1689027
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00086/depth.npy b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00086/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..648b72dab9ae87ba5e10a35ec39194649062c878
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00086/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e5483edda79c084ea5d4cf9b425e6a446bc6be8b8fa12062105823313f8abffb
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00086/instance.png b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00086/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..70dd9bea90a23a79923505d96c223c9cece683db
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00086/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fb2c18ef9fb262dbe20a5610de2dd5a0cb68968f5424f9a2af1ec7717f2cebe6
+size 124444
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00086/rgb.png b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00086/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..4b4544aea48bb6e6e3bc15344d4bc86c0cc1a4b7
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00086/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b9359d2fbf085e8d3a88b987e8da182fa55689f2bede31f9b120bc62aead30f9
+size 1650668
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00088/debug.png b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00088/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..f8a94a2589b6da1a587996c7bd1e1f836b5d55b8
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00088/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2e8372e60843caaef05e7a32d92677b77de0e3ab7014923ad0d55abf15149ed2
+size 1697530
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00088/depth.npy b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00088/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..ca21525091393bc3cf31d39b404445ff6d7aa3c4
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00088/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ca4a4f0f672c45f577673c9f5f3cd102a0c3e23e597a14fdef615f254b09f9d7
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00088/instance.png b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00088/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..7681bd7146aa3db6855595ac868cee279a973fb4
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00088/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3d7e44b0c8ea631b7eaa8d81726122441a087223b6468dd0dcb1bcf82bfe0c0e
+size 122032
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00088/rgb.png b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00088/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..b083fedfb7a1aea360a6e725646830dd7e63b0e5
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00088/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:80535c8a4b6c787c0de3c3ec68cfef878b30e4a8997bcc0029e4b14780650631
+size 1655291
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00092/debug.png b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00092/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..253bf9880d2fc65b17686170c34be28f5c9d2714
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00092/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1016ab65e9e0d4373f9201aebdd740cf645c84f8725af5b9b7644df2329146fe
+size 1688181
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00092/depth.npy b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00092/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..68fb514a8e4cadf4e00f028a7f5525201373be86
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00092/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4f07a03368a9573c486a687b98f009ec3b86d44fabe657eb9fdbb7873fb0b0f9
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00092/instance.png b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00092/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..b74cfc43ac7b7d63bef387ab151274b453354522
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00092/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e801489faaa8960d297f4ffe475eb6024178462dfcc2170409d4a3f90d7d2645
+size 110229
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00092/rgb.png b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00092/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..a86aaac60b0df1da8ddde915c6eb8035112c662f
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00092/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:376cb1cdc033b97db6ceea8c446f4ebdee1732b4d0f42887884f1ddbd743d18c
+size 1647168
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00094/debug.png b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00094/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..e3c9586046e27a62caed291b9c3f0082d9e920b1
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00094/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:56edada5f82ad9adb8bc436ed2ffd14a83f1ae669baf00924012f560653bbe09
+size 1683602
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00094/depth.npy b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00094/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..3229242b3acae019dd6147cab22dd3c471343ed0
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00094/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4dad5dd37dbc67c901bad4435048107579e30268ef626b2c68f9ec274ae7f336
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00094/instance.png b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00094/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..304ba505f3dda1f16e5974028464f63d73710d6d
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00094/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:71206a91202cf97fed77af76e89e38ee06af21fe83d32d0620be0176eb6ba214
+size 111766
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00094/rgb.png b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00094/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..6e36a2ac4fa6046a8e9e377b11b636663a01db59
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00094/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:723dd578d050ec4de33a71ab6dd45417808623e74e4930e2e83d78ff3e01f6f8
+size 1642476
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00095/debug.png b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00095/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..ae1af64de50bc7689968d605a4be5f8c86a8e617
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00095/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2ab606551645286ff70e06165420d5c8684c80ed00fefddfb9da65e5af4838eb
+size 1679965
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00095/depth.npy b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00095/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..20f2283c51e52d6a57831833d5db703c66dc183a
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00095/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f557a5dd5c1306a28a54364545b09dfe28b69bfa383fcb091f4b53adca3231c3
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00095/instance.png b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00095/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..55d0139f4fbbcce2f4d731ca31d5505f0a4114b1
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00095/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:824151f7f7adf29b4b2f89d4923bf14476c27fe42485900c8cec6db3a993e4d5
+size 114567
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00095/rgb.png b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00095/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..4ef5e6f3bb285745fb0054bd0a67d1137368afa9
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00095/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e3a77005db3a3b7611a8c3d84365c9d2602bba2074eaa579b1dc1c25cbe6d4b8
+size 1646852
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00096/debug.png b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00096/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..239b256ae96b8daeb809e80bd740a57784054557
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00096/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9db6ef262b5bb55df65a5d9d340b7d64327a8953e43629afedd98bf3be4c0abf
+size 1677836
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00096/depth.npy b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00096/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..68dd08ea20389d71a3b1812bbb1a201c8d096e65
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00096/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5833b47cb874569b295775915129c4db1493342c3eb4197d34529e8423799706
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00096/instance.png b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00096/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..fe9888d7bb50a286e968132fe7ef0e213ac28304
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00096/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e7b9e38b27b61d391de45994d75626321172b8eacb14a2a161cfa571a00ffb62
+size 115773
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00096/rgb.png b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00096/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..2c37903071e2ad75b51d10363e5717b7ba786bd1
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00096/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a09c7d68769b2c57fb6478af09b0f547c10fe83de12b8826b26e7d89029f114a
+size 1653080
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00099/debug.png b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00099/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..7167ae1f759b5fa4593eee40f59b9344b63ec194
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00099/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5eeeda9f155ae8abf101c01cf2f419bd97a42598c9fc7a046b6f032508c86a79
+size 1702437
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00099/depth.npy b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00099/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..1cc03778de4d562b2c8c820116f87a30f8397d73
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00099/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8450fb550e9b0f70877e91dca5b47252fd5278e5f39beaa1030c08ff9aec2f7e
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00099/instance.png b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00099/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..69321ed327a426df937b86022a2333a7651d7366
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00099/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4e7b113b4d81f310bcb032fd7eee856add68376a82d2f60018a6594d5d46fada
+size 120300
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00099/rgb.png b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00099/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..820c57537ca059baefa838f6b55d8d45352b1de4
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00099/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:beb0dc23c76827d08cc43c52ae992315eb70f9300c958ee5e0cbdae5b4e97601
+size 1685138
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00101/debug.png b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00101/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..462910e3c38c15ae2a0ae7e3f0f63a050f970159
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00101/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:65a8ead16b0c82031fd2e82ce3fb8940c74e3535c65ee8d9c9fd2884f25e5ff6
+size 1707945
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00101/depth.npy b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00101/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..93e0dba44d724b82030014b4a3c9cb06263c9b25
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00101/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:087d674e835bfff07fe94748e520714c0d5ea657a593cc7ea73adef55eb93c42
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00101/instance.png b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00101/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..111fee99ee333d583b89619be731120c5f0791a2
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00101/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:19f5c4432f95f965b74969be472541ccd678b047ee4c36b11f65221a1e42889f
+size 121015
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00101/rgb.png b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00101/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..cb444f4242df1c31e3df11dd9352b13e38f0dd8f
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00101/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:22a396466f9b479a6e3c0168b2b744d3ecf97de8b38fc8c3768a0585a67f6811
+size 1685383
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00105/debug.png b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00105/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..af0bfedc3d5449fa10acc82b298b927a01a28b5d
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00105/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f96e8a45aa155f4008b7b51ceae3765b6fba0fbe5b9996d31976d65c2700f464
+size 1742444
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00105/depth.npy b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00105/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..b34d11bf147d22be56518e6a1226c4b226a347f5
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00105/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a626c7d4288e1b9a4747208bef9fdce81ccc5cbc43676c70bac9b5f2881b42bd
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00105/instance.png b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00105/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..f05c91bf06b1d3d114ac1bc9182f5d44b64b58d9
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00105/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c9a6068da6a30c3f71a57a422d884eca3b175929414cfdfdd399ba6a32487c40
+size 125700
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00105/rgb.png b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00105/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..f4aa2d2f4c3e92d84c6e69a4dc17e3ebf94bb6f2
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00105/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c44874cdedc18ad67939de51d1a8ce81d08e83dcc6fe23acde6c6238f466ebf9
+size 1716378
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00107/debug.png b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00107/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..c23a0ce5135f62fd2ffbd2e4b31161f90628b632
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00107/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:780ab9291f9bed28aa803f7382e86a8649464fbc930ad1da5b864febcecce6ed
+size 1753150
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00107/depth.npy b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00107/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..ac0170cb9dd830414df33aa1b243516a45bbd6bb
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00107/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5fef0d4dccd8fde394fd326f44870e3f54f8cc3860a2c4732a48b3a528038a71
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00107/instance.png b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00107/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..7a064fcefbac7d724b90521a5937774d84c33801
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00107/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fc6ea22c4956250f66b2f21f10611268bc602093fef363926b9c95d1bda8e624
+size 132405
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00107/rgb.png b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00107/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..6a7ede6d70b39c7390eeb7066cf5e113e1518c31
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00107/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:75da14d8bb9a96065f74a3098ba4c6c27ce22478ae05308712d962535da9d692
+size 1734443
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00113/debug.png b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00113/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..af4bf5f0cc416253b6206e73f20efe493f263a43
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00113/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:79a9fed768950f2f5c17a4d4e9b8d05e83ae85f9ce878218a178c2443e1091b3
+size 1799611
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00113/depth.npy b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00113/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..f73036da42b1ecd6ce78e34b6e4797dd50b3a7ff
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00113/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aca90d5f899b6584dc49bf001c177280c04018739b6ae6b89b77573fb75143b0
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00113/instance.png b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00113/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..7a89f171709f261afba025b3c45db81518910a36
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00113/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:de021366862e597dc87b69265a266cf86ef0adffa246a20691b2ffba099090ac
+size 146271
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00113/rgb.png b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00113/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..13fc732faa19ecc1e212bb9598055035491194c2
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00113/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ef83221fd38916ad3e86ff4b61dec0f1e39e57413d77c10ff12fcf9d17332b38
+size 1784706
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00117/debug.png b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00117/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..58c0211d9dd87aeb7ecd4a70b4f37192bc5b7961
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00117/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:885a520f5dc94ed190f352e6e16595864520fdee78f79e99057b15212239f822
+size 1832508
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00117/depth.npy b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00117/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..38ef89e96b288d4fd73ce4ef044425cabb4273f6
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00117/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a82202a7342668e865b423aa0eef4c00641dcf24de8a232ab428cb260056997a
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00117/instance.png b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00117/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..588e95d5d3c2b61bc7fdfb2c0ab4eef2b0616865
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00117/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:65610572568832c1871008c6099a18bbd46b69184a0748890a69350b465ffaa8
+size 152847
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00117/rgb.png b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00117/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..907b9e29dbbecf29fe56f64e466adc82a888986e
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00117/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5af88b295c9d7e3175c2a215e0d6466d2ec021fc061bdb4ffe59db6a987bf342
+size 1828427
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00121/debug.png b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00121/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..859ad84f7f083f4481808aabb15f594b6eacd680
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00121/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d4eeb467b06097cbc652fc5c16e7af4d3608bdd70e5dc49c275bf03dc48002ad
+size 1847263
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00121/depth.npy b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00121/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..0c704493021df161e637eb806852e8804e369ead
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00121/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:be531d1a72e90d9e3df9889c227894703d565fdab38dd65cf8509be8d8fd587e
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00121/instance.png b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00121/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..a6da30e80132288972289a9633d4364af514614b
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00121/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4c78de757fff3821e53158d942e9620524578f9d09698df808c510a6ec13f342
+size 160692
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00121/rgb.png b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00121/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..72ba3f1eb5a6ceb1bd137e77ae379ce89c1fd1f6
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00121/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0e9b25ea74581a37b20d02c20b1c0f0565c728da11de7bd8bf0a51b1e01e1509
+size 1859595
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00126/debug.png b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00126/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..d8b3ab80c0576f0a7b5740e0105efe58a32a7143
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00126/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:225d39b5a725f8ea8e62c5f6e318b4c90a78cb3d55cc578bbf60dc4da7f001e3
+size 1854505
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00126/depth.npy b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00126/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..b9c4460edfc385c39f50d0a16b3bab6e4ee05cd6
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00126/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:733ddc748adfbf5fc79dfede97fae57bf965051ef831e3f79398e3e3e9948bd9
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00126/instance.png b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00126/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..0231490a62c7d4e3903f9177a5694faf53b9241f
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00126/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8fc0a0560b82e75b3e4310ac064db58a4b66fc28dd45a9f39f30203424217b5d
+size 162856
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00126/rgb.png b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00126/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..c8247d9c3686ce677fe8912b8841765693e0cd33
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00126/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6c6dd4a86917406bee4b60d90fc3d50ac4ecd10f3d56228a63174c14006a8d9a
+size 1892443
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00127/depth.npy b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00127/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..ca5a7fd41ba27c594b3640b22a6d54e4a8383de5
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00127/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:57ebd437a55ea43e4d69596f8f6b68f923922a216090c00669c6bafdd5c4c07b
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00127/instance.png b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00127/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..1d1b08c6fb7abcff6389868753953a1bfa1c6e8e
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00127/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b64f855d79b333c68ec2e83cdd8cadc5b4e19e07f6b9c522c6cc5b35ea8d0a3a
+size 164232
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00127/rgb.png b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00127/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..1f3984bff86bd848754dcdc03b013f19f4a2ee6a
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00127/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fd9f714e7562a8252990837d9ca194399432398eaa6ff8ce6b3e926adb205c3a
+size 1899525
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00128/debug.png b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00128/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..8889df1e5595a7cbce5affdfa83db06f08bd7060
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00128/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c5f8740b3b3ef9680ac19fe85af3c8131a8f00c0591792977bbc795d5bc475b6
+size 1854820
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00128/depth.npy b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00128/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..100a6e6d025ece6bbe95cfeec0f3e16749764206
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00128/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:733ad309c1745b33904adf3a87bb8eb6a990df96ed2bfaac5b19eb7eea6c6d83
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00128/instance.png b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00128/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..f66152c9e303ca2be033c28703237c7284ce65e9
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00128/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:461322f65666eb935f23bc28044a130e2d08645892dda0db874548ede62058a5
+size 163847
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00128/rgb.png b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00128/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..68e90123728a599283a97a3bcdb0c26ea2346d55
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00128/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5d23c6de482bc1b83a86d1594a65b7df7c2793eba60adb4765d458359a76deee
+size 1900462
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00132/debug.png b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00132/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..027a44e630bdd3aab64270fbe02e2b5315e92211
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00132/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:62d26ab9bb765382a1bf741923fee2f3e7ca555c259b13d66e793500d0895cf9
+size 1852082
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00132/depth.npy b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00132/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..5cb9e7932fcf0870984efe38df78f95b6560e116
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00132/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9020bb5835c372d36f197395f380dc4ef1e114fb482fd155cb76d402947348b2
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00132/instance.png b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00132/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..896057f65212eec9f817b9ddd38e7d9ef0ad474c
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00132/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9076343214b7005f7800edcb453ebf5e6c9b0e1687e3aac50f043b5ce9e7382c
+size 158529
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00132/rgb.png b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00132/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..91c7c4b0c206e04a0816e902cb2406bbb672ea7a
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00132/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dd3da66c98503bf3f12fd3e94b87bedd788bc19ea7444be133f0bc9ac5ffabbf
+size 1897507
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00135/debug.png b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00135/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..0ad0306e3ab56744b70cc06a39908edf84f6d2be
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00135/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f29687ac470df803d53eb575633c89d27e2d282067b8e0bb8ee04bbdcdfcd864
+size 1849427
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00135/depth.npy b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00135/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..f7ab8aee4142258b9c418ea3de56680da3f43e64
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00135/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f931b66a363ba32369c7e8698fa371d8bcfa348ee8d217163c3c466f485ebe64
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00135/instance.png b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00135/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..7d377d8a39b107dd4569b06bd59e6edbeecf38db
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00135/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:31705a1cc2c0faa995326f6be13368c730e50f29b793517b8083ea308db78b30
+size 160387
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00135/rgb.png b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00135/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..0922ac1cdc01e92ffc15f5c88661c759ec1007a6
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00135/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cb6d656fd6b60dd583106466b89b1bf22b9ea08f09e110b39d4284fb93adffe3
+size 1901742
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00136/debug.png b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00136/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..9a6ffa243c0d3e6e5e5d10bc9bf55f95363af25f
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00136/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4c01e8334fb634747d66df9082cefedee783c1df1980d26ada6a935d2ad378d2
+size 1860477
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00136/depth.npy b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00136/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..63e4b7ca37431dceaa265970b27177dc672f26c0
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00136/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:094c0397c5c686b999d003793cf1c8e933309c2782d3f760970a8006f311cfdb
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00136/instance.png b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00136/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..81ce3ecd4edb4288e2834151dae040ed3b25ab65
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00136/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bc1c762017c088ed2bb75e81b9a03ddac644c36f5ad2eeea8111b5789f2ef0bc
+size 160821
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00136/rgb.png b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00136/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..9b0bbcdc8650a32039b665043a14dfff4379dae5
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00136/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8f14f026057bc28e4ce2f7f93eee6ce2952e5208d73117562988e0a910d35496
+size 1903091
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00141/debug.png b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00141/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..2a59947703a0978f09a716f73d71483919f7c189
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00141/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f2fbe00d9cba1f265fcd0ffac611a02151e91faa14793c444701835a46c2ca09
+size 1859852
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00141/depth.npy b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00141/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..7f46cfa594c0d46693b10d1c677df041002a0d05
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00141/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1f205473a9b0d04317fb7405ebbc38a61bc35b4f5de9d455c6d4a30d4afe6f41
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00141/instance.png b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00141/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..f7f4e825a491b4cbe504a073f821d94d46729f30
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00141/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0070c2cfdede6dc99ce1e7cb5e3b8995945504f7397861513334de934d6d1732
+size 156482
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00141/rgb.png b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00141/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..65a1a84a6a90a2c994122d162ab6abfbe36dd370
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00141/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:942af9d493eb28426335273f4360c0695863bab0bc04caf64d2965f674c7f307
+size 1924715
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00142/debug.png b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00142/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..7baada122147f3e3a2bfa07ad6014fc6900c4f3f
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00142/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1fafe262dad008b63441c1aa5808fa5971fdc5bc953513425a7583d60fab0e57
+size 1857615
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00142/depth.npy b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00142/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..61088e4f362e606ebe2eca10f474a62456440262
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00142/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:509ba11d920e7ec8f8d3416d4bf4dfdcc0705bbc107f51d353b8194385137a6c
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00142/instance.png b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00142/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..efebb1a583d22da074ff01cf4a4b17c2736e67ed
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00142/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f067551999566d493955809a55709155f5f013631d6fceffbd5270b92686e80f
+size 155506
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00142/rgb.png b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00142/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..128614498af2e041e74faf9bb30e5de2f5e2f764
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00142/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dfda78853783faa0e582f58a4ec65cc189da38f86c70dd3428830d4a7e55bfc5
+size 1926391
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00149/debug.png b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00149/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..2c1f78a40c17be09e3603b2a287a6e1e25d0b79c
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00149/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0dbc5aa3d7cc1ee4aeb1f6e9cd0007e99a4214c628de9f8bfd89b64b20d1690f
+size 1859680
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00149/depth.npy b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00149/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..36b29132886127fd4a91afdd6d39e05d6285940d
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00149/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1fb4e7d73ff1a1b9e8e14e155abd8136887b86d6cba2124f4115bb20c72db3ca
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00149/instance.png b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00149/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..fd583742a2f2c6528eb9d6dc0b467f151bd52359
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00149/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:747ea63676051e50a85ee19af9f0c41352eda191b40fb5c0ac37da6f65fa24c9
+size 149274
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00149/rgb.png b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00149/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..f49363082f84a3cd4abe62b9eb5f68a313418954
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00149/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c778c5fd9918f9d77e744c9e311e7882bc9d130e28cb03a6d323907d4ffe37ae
+size 1921223
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00152/debug.png b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00152/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..eb8ac4b99c36f8e6dce6f43ffdcd82d5e2a324f7
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00152/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:67642a4066f3245f45c26b5516993b61700b5252ca464d9cb89750c0e7d25809
+size 1873094
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00152/depth.npy b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00152/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..25f2c0fc400b22fda35a249225b06fa46e8eeed8
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00152/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:07fe32004c488f1472a3ff735762cbbef6e163431fa4d678b2eb29a5e1322526
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00152/instance.png b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00152/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..6c599f934d14abf7f5065b21c710403b2487975f
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00152/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d0971c5944152c57ca176d648193ce1ce4f42d6cc99a1acc5da2ec050420efa7
+size 149621
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00152/rgb.png b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00152/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..856b45cb5bf92b46e23cfb13ac8f9c0005fa9809
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00152/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:43e34b1b4836819cba3b86181561b9fbbe7ad75fa4582b7c5953b11bf47385f9
+size 1934975
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00153/debug.png b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00153/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..912062b6130dccf769be52451584cba0194a8ef8
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00153/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2dd0a8470bfe8f72e8386e08db169c5e54a6e8c2b9abaea1da98e2ce99bbd426
+size 1861917
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00153/depth.npy b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00153/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..239a28dba59cd484e91a0a28ec28a4df39ea74ee
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00153/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:db3989cfe287a9c9dcc06b359e5d966774e028c7c76432e6835eea564d886d9d
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00153/instance.png b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00153/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..4a74565f3ab5a2da3a2a158ae34b576aef2c0c6f
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00153/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e4b58577312156ba1997f87c41437afce582d7d9d9287193a7230d4a86628a25
+size 148669
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00153/rgb.png b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00153/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..985c311995b8211d934a681d29b6f0e721847adc
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00153/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1ba574a04737a4432d349dbb43d920ada0a7992606d796b26e9a4f6b3c43cc6e
+size 1929326
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00155/debug.png b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00155/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..6df66d84a2e4ca9230b9df1476c09fea86a45d21
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00155/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d1fa30ee2c9d143727ff92435ae8ecd73a0b412f4318e62a6a73b8d8b9b0d7ff
+size 1870206
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00155/depth.npy b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00155/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..099366bf1c967ce3fdb0956f4bc4f6dac393acd0
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00155/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cc03a5bcccbbaa8fd9cc46917f9742eeb47c8eb1d7800ac1e8c741d54d542104
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00155/instance.png b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00155/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..c59045924d0958f391fe052dbec08c2c0e6b5546
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00155/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:627aa8ff39d4f8f90d9ba7e7b3042db638de3d91d9f83374f9923473c7b1d2eb
+size 148346
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00155/rgb.png b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00155/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..f0784da2c9336d119a412daeab39436138eb1233
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00155/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ab1f9cbefc847488bb1a4567df819ee194706a59ede9f5b77634972d5a454aed
+size 1930498
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00159/debug.png b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00159/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..6a3ea754f15ce8eb731af7f67682435608f47575
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00159/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:798e82ebf327bd61d9ebc4b2a6da92a44ec6d505ebe72c756b771de52b1b1871
+size 1876896
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00159/depth.npy b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00159/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..1ba04091001b9e522193eb6606c90f54a204b0fe
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00159/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3dd8bdf8608dbec0aad4817d6d4f34c53e2ef32e3ba0e135280bfc2d28c1f440
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00159/instance.png b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00159/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..611dd4403a7576c41f0943689ef9bb3c83e0983b
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00159/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:51747910a8307bb56a92fbdd67658cbbf11834d53af4a955e1accc976b58f376
+size 137203
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00159/rgb.png b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00159/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..609f5a843627f4f328f4c116801c7e8d4238b27b
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00159/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:80995e95ce82ec8308153f34472e916ec5e76f66948e6b3627cb12ecb640547d
+size 1926529
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00160/debug.png b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00160/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..97a7fa5b9dd38637e3f060cb66da45599fde3530
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00160/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c8f006606531fec1a1a5e3a79be833891742ff3dae4590b61c9a12d9a0e0378d
+size 1876196
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00160/depth.npy b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00160/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..79cf260356e1a5bedc1135c21d9428a99918c38b
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00160/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8edf4eef97198eb094fc373dd1da4802d40a5a57a4fab9e1a1f742a0e52135cb
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00160/instance.png b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00160/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..6b3e16143114267354107eeb578ce5f8b6fb86e6
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00160/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:02eeaec957799f8ae11769cd8eeeef4ee564e591080aa81e12ace0e2c6fb0316
+size 137729
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00160/rgb.png b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00160/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..79637a66955aa48e3f461d8fc8694b31a96d0526
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00160/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9787a3cc615226ff1040ba2b2f1052a6f23b817b384340f8413fe78319ef66b4
+size 1928562
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00161/debug.png b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00161/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..c333b18e4a024617475a385555da9269afefa02e
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00161/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0dfbd1932fa37b3b37f63fa72e97748a3f7e3a4642ea01d4fb9ef3ecd9598a57
+size 1874278
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00161/depth.npy b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00161/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..56b389cb744aab390010413553c9d5dbf574290a
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00161/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:56967d04c4fdbf8b86422c1566b57a57270a467919f8765a6a410a7dc59f1321
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00161/instance.png b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00161/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..4d9370f0d10f5eeca5747875f6a1be4487fea300
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00161/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c88adaf9ca180ae1146f31e91b92460ad0122cb10898def5750ca1564ba01210
+size 139120
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00161/rgb.png b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00161/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..92e4babae99a381212176934c51cabf27ec15397
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00161/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2fe4fe39bb94f65671b8a8f11b3ffbdfd06a990d45d004acd51aed8a05cd1519
+size 1927645
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00164/debug.png b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00164/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..4319c1ef85a9ab1bc2d3195b5459e9fe515a7ad2
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00164/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ebab06e4e94e1f46103e6abd3462872b46a8e905044de446cf412d061ea5dc2f
+size 1875197
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00164/depth.npy b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00164/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..417cfad241f0991a6c9a64c5ab6a152555c23a8d
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00164/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1cd20b896aa7acaaf671ae702dae637102f6726130cc65c23e74df2b282755fa
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00164/instance.png b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00164/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..e9b7b48d586ee082ab85c3bbc7255c762f8ee7ca
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00164/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cca4093538aae8837ce0d01bc0615c9b8a39f572eaaa91b0a957c3b9ae47109d
+size 141260
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00164/rgb.png b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00164/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..53ed23cc9aba11851fa6de10eabe3a912dfc76bc
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00164/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e02240b56504b051dcdaef4e8fe14763484f6563fdcc514cdaab579212a0191f
+size 1937957
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00166/debug.png b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00166/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..f11468aa4b3c67e8f110cd9d525affd0b284304f
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00166/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a788e44d5d74a488d66f941ff7455ce2f1254a932e2c9bc6ecc4ac17edb7dc76
+size 1887308
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00166/depth.npy b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00166/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..58d25bcca672acb5f3ae6ad52b93167026d78351
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00166/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aaefcc0b78431a566adc0ff7cb78acf0797c60ccc6b6dd1f856d46ad13cb0e76
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00166/instance.png b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00166/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..b664475fe99c02408c6d3bde324f8534488d5c2c
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00166/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b76fc21eb8d481b27ae8ad6b78d508a34805a30f35f45b8c9e78f07f1d8e13a1
+size 141461
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00166/rgb.png b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00166/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..52d9faf8637b61d38dd6bbbb6d09f1544a0cc50b
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00166/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:76d5e3a5265de1032842c0d9c5a59228b53e0f7b3a590eb6f29099241be5746e
+size 1949333
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00167/debug.png b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00167/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..6f1614a77a296190a738f573b8681ab2c1da935d
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00167/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c2ef91afa11fa68629aea120b3d96e41c293524bdafa38882af3a1d4d053e5bf
+size 1890763
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00167/depth.npy b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00167/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..f3664f585b50b3b25819ac2382530af0fc5dfa22
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00167/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9ebb184b72082f382915e3bb56caa0743673f8376a2bca04438c3936f76e465e
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00167/instance.png b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00167/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..6c0d0c34a852721dff5e5b305b9203f6e51ea140
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00167/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:94ecf6ce299554bbb96f95bd9c48d6f323e4fc26e5f3df51bb22d0c1bf03d52e
+size 141330
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00167/rgb.png b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00167/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..e1107ba639d38277ac6ce04f8eb12453d160abd0
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00167/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f07c65162a9136660122b149aa086657225a0e529aee4befad4ed567941a4199
+size 1948817
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00169/debug.png b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00169/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..b1561a94e46a1dbfa0bf042195efefc2affabed6
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00169/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fd2aba48ac45283e566e24fe2005e90078d0016211ac1017303aef9ca2b04184
+size 1887314
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00169/depth.npy b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00169/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..c1b464d957f066836d81521378eb54c0d151eca8
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00169/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5d56d002b6ab6ee00157e1b602b29e1c6d9f3f297b543e6c7049275100689219
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00169/instance.png b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00169/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..9b6e544f9aba3c48292444e4dd82758ceab8facb
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00169/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d1b009cad955a22f6dad578eaefc4e4c16cbd47b09fb62c2ad9a8fbc10a66df0
+size 134760
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00169/rgb.png b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00169/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..b9f5fd171766a5212788ca206cad9d47cf155a76
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00169/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1bb747b58e0e5d26869638c39adacf2eebc9b5abb9b3289cf065137166fa8ce1
+size 1940447
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00171/debug.png b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00171/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..6e76d838e34042d8b8b61d356e575f4b1240a2d0
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00171/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:75d9ff1e0c4347c3ee570633d96b8da8b1da2c7db0d21cf192f418f472ea936a
+size 1879843
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00171/depth.npy b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00171/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..ab0d0cfabd279d05a9602cd7088b476e13e6f512
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00171/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a6663ec9a1993ed0c780336f62c13441e6c6a6b0a65bb0064eb2302f37650c13
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00171/instance.png b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00171/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..7d078e6280cf2f058073779a42654a037f07fa4f
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00171/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0fa9d6cf0f81ef5d9f44c5149a14a788e070359b7da852e99919b63cab40563b
+size 141562
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00171/rgb.png b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00171/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..6254a99c99d3a563df968ab502a4653217cdc606
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/ORI/frames_playback/frame_00171/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:133df2ceea31b97477899de8af6a4fadf1d1e51e9f4a7204b2026d8fed405f70
+size 1947773
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/aug_001/frames_playback/frame_00034/debug.png b/data_v7/Town07_Opt/trajectory_1777087929/aug_001/frames_playback/frame_00034/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..f14e12fff8bcef0d9b44afbabb7cb90a4f789c34
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/aug_001/frames_playback/frame_00034/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dcf78139e56670985ba16b080bb2f761d0f97644e129d0280f04cf0a5ce2988f
+size 1793588
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/aug_001/frames_playback/frame_00034/depth.npy b/data_v7/Town07_Opt/trajectory_1777087929/aug_001/frames_playback/frame_00034/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..2fb87ed0ab595637baad15f4d847d8c9a7d1d67c
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/aug_001/frames_playback/frame_00034/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7261db24042b6a32208f3a508efdc2b5d5c5941dbcea947ea3679f2404e4b35f
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/aug_001/frames_playback/frame_00034/instance.png b/data_v7/Town07_Opt/trajectory_1777087929/aug_001/frames_playback/frame_00034/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..bf01d9fca14e180ca2a2aff32eae74f584506ce7
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/aug_001/frames_playback/frame_00034/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:34e5cb5d2fd6b6e58d4e96bf041d0d6550db2dd7d46d708f5890f4877697b669
+size 151419
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/aug_001/frames_playback/frame_00034/rgb.png b/data_v7/Town07_Opt/trajectory_1777087929/aug_001/frames_playback/frame_00034/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..4234c9d284a350872840e0a5bf37216f337c89c6
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/aug_001/frames_playback/frame_00034/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:842492b37bbcf5abdfaab4ad5be0198ab26de69a38f4f0a00e2a658693dc3747
+size 1825367
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/aug_001/frames_playback/frame_00062/debug.png b/data_v7/Town07_Opt/trajectory_1777087929/aug_001/frames_playback/frame_00062/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..99668b3e00f9f09bcc2e3fdecc828afcca6b31de
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/aug_001/frames_playback/frame_00062/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0ff6a79d5701a0561f2b0c07ab637748533702506de822e719d898c917ef316d
+size 1709758
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/aug_001/frames_playback/frame_00062/depth.npy b/data_v7/Town07_Opt/trajectory_1777087929/aug_001/frames_playback/frame_00062/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..ebb1e81ee8567d4132e16ee4d8e51e3db6b7239a
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/aug_001/frames_playback/frame_00062/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:467ceaa714fe221081581e91056577af9ebaf01fd983d5ee2db521632c7ebcba
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/aug_001/frames_playback/frame_00062/instance.png b/data_v7/Town07_Opt/trajectory_1777087929/aug_001/frames_playback/frame_00062/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..c35f157001d34c4db4de835557b5436778da3749
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/aug_001/frames_playback/frame_00062/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2df33174adda1b980f2c10e782697c9876c997b29be32fc914afa10dd5fbc9ae
+size 125464
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/aug_001/frames_playback/frame_00062/rgb.png b/data_v7/Town07_Opt/trajectory_1777087929/aug_001/frames_playback/frame_00062/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..e393852e3d274828dcc6af30a13310b06ee7f08e
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/aug_001/frames_playback/frame_00062/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e51da17c47a01d5fa735585b2470658a3e5986be57cb4c54d7681924b54943ce
+size 1695943
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/aug_001/frames_playback/frame_00111/debug.png b/data_v7/Town07_Opt/trajectory_1777087929/aug_001/frames_playback/frame_00111/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..ee2971398cf3bcf422bd2175d634e2429cd44515
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/aug_001/frames_playback/frame_00111/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6fd9272762f8b14a239033c486e80323c5bf232fb92a3988404be3ea5ee995e8
+size 1809178
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/aug_001/frames_playback/frame_00130/debug.png b/data_v7/Town07_Opt/trajectory_1777087929/aug_001/frames_playback/frame_00130/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..bc37bf550a07a767db6babf7d56b49d63934e59a
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/aug_001/frames_playback/frame_00130/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:014a48cd60e3317e0688d042290671b3fe1547cd08c23eedf1bcfa61404aff22
+size 1889785
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/aug_001/frames_playback/frame_00130/depth.npy b/data_v7/Town07_Opt/trajectory_1777087929/aug_001/frames_playback/frame_00130/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..c1d19691bd34e4eea422535a38c908f21f8a5588
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/aug_001/frames_playback/frame_00130/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:816f2c15ea2eea1f91399ea6beea884ecf5cafb8527cf25536554cd074a30091
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/aug_001/frames_playback/frame_00130/instance.png b/data_v7/Town07_Opt/trajectory_1777087929/aug_001/frames_playback/frame_00130/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..4c5dc8d6e62d4ff3910a5e7126adce0b109056e6
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/aug_001/frames_playback/frame_00130/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:51a2652c5ae71b9a0804d1ed65975af3185ba99f8d3cbf62b7d91b1418b2937f
+size 161814
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/aug_001/frames_playback/frame_00130/rgb.png b/data_v7/Town07_Opt/trajectory_1777087929/aug_001/frames_playback/frame_00130/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..468e554592580e1c08e355e991c53e5b98132fc6
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/aug_001/frames_playback/frame_00130/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7d5883c472badabbc5e789d4ebc55272b3c349647130d226289ff7c46d9f87bb
+size 1905942
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/aug_001/frames_playback/frame_00133/debug.png b/data_v7/Town07_Opt/trajectory_1777087929/aug_001/frames_playback/frame_00133/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..61a23937a0c6c082dfd5683aa4710e9710983dff
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/aug_001/frames_playback/frame_00133/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0f86f16c485702feccf11e3721ccd1217312a79d644ba5622ec4e3391e92634e
+size 1887266
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/aug_001/frames_playback/frame_00133/depth.npy b/data_v7/Town07_Opt/trajectory_1777087929/aug_001/frames_playback/frame_00133/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..30b13a486b53dd73b9ea02c9854611507ec0ea00
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/aug_001/frames_playback/frame_00133/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b23d7a97663cb80ddf9f714d835f09c8a164acaa483ac1f3856db950b66dacde
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/aug_001/frames_playback/frame_00133/instance.png b/data_v7/Town07_Opt/trajectory_1777087929/aug_001/frames_playback/frame_00133/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..88b978658d3a170720bf7595d1628b964959eb34
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/aug_001/frames_playback/frame_00133/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:44b481c65d1c7c48e840388d3898a03c25f39282cb2c0846b2c05717785bf8c6
+size 161144
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/aug_001/frames_playback/frame_00133/rgb.png b/data_v7/Town07_Opt/trajectory_1777087929/aug_001/frames_playback/frame_00133/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..6f1d8e76d601762918652fe9c4811319d0eb8ee8
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/aug_001/frames_playback/frame_00133/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:817450db8916d4cec40054874adffab9b553c483ccf8c390ef9e89f0facbcea0
+size 1906661
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/aug_001/frames_playback/frame_00156/debug.png b/data_v7/Town07_Opt/trajectory_1777087929/aug_001/frames_playback/frame_00156/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..2dcd1731430419cd3c0118fe4d7a709f8dc3778b
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/aug_001/frames_playback/frame_00156/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1fb6810c5259c3ef146eca3f5374f6d068123540015c1afa5fcb4131fe1074b1
+size 1891446
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/aug_001/frames_playback/frame_00156/depth.npy b/data_v7/Town07_Opt/trajectory_1777087929/aug_001/frames_playback/frame_00156/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..05abdef17a3a7d97f5f2ab8b5503818ed59f7d4d
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/aug_001/frames_playback/frame_00156/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9514959c93f2a6517628233608b541e286a7443c06306e857036e5104f08a76b
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/aug_001/frames_playback/frame_00156/instance.png b/data_v7/Town07_Opt/trajectory_1777087929/aug_001/frames_playback/frame_00156/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..54669501254ce744f5cae361781549719e269d6a
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/aug_001/frames_playback/frame_00156/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2d851dbc02ab7a6b2f27b999bf77a8cc8a244309568b5ee7025626dbfd04f7b4
+size 141301
diff --git a/data_v7/Town07_Opt/trajectory_1777087929/aug_001/frames_playback/frame_00156/rgb.png b/data_v7/Town07_Opt/trajectory_1777087929/aug_001/frames_playback/frame_00156/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..005e765148c99df35f602d34380320b8fb8682f9
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777087929/aug_001/frames_playback/frame_00156/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:248e33e74dbdfb41e4dfc2e83e326f41b3b72dc80e88ca7446c815b4302ba8de
+size 1908595