diff --git a/.gitattributes b/.gitattributes
index a1da6349cf0554150a6fbd10558d1999070ba47b..2896718e4c086a80c917e7026263ef2186adfa51 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -380,3 +380,4 @@ data_v7/Town05/trajectory_1777146570/ORI/trajectory.json filter=lfs diff=lfs mer
 data_v7/Town05/trajectory_1777146570/aug_001/trajectory.json filter=lfs diff=lfs merge=lfs -text
 data_v7/Town03_Opt/trajectory_1777271216/ORI/trajectory.json filter=lfs diff=lfs merge=lfs -text
 data_v7/Town03_Opt/trajectory_1777271216/aug_001/trajectory.json filter=lfs diff=lfs merge=lfs -text
+data_v7/Town03_Opt/trajectory_1777126553/ORI/trajectory.json filter=lfs diff=lfs merge=lfs -text
diff --git a/data_v7/Town03_Opt/trajectory_1777126553/ORI/perturbation_visualization.png b/data_v7/Town03_Opt/trajectory_1777126553/ORI/perturbation_visualization.png
new file mode 100644
index 0000000000000000000000000000000000000000..dfaa46112796b87f2e44f7fb782e3df1a0b4aa26
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777126553/ORI/perturbation_visualization.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d75fc16e77b27b339794a2ec4beb5c4d8655bc98a33f8095bf6871066655e68c
+size 8627
diff --git a/data_v7/Town03_Opt/trajectory_1777126553/ORI/trajectory.json b/data_v7/Town03_Opt/trajectory_1777126553/ORI/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..042baa2f39659ad3f6ef6eeb90e2c4b4f667b1a2
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777126553/ORI/trajectory.json
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8ed6a1dc55d70f54f306ba133b150c773f3d5e2a1473115f6c73da3f0ea7e93f
+size 21575719
diff --git a/data_v7/Town03_Opt/trajectory_1777126553/aug_001/perturbation_visualization.png b/data_v7/Town03_Opt/trajectory_1777126553/aug_001/perturbation_visualization.png
new file mode 100644
index 0000000000000000000000000000000000000000..d487bf09ce8003173617a4aa5fe8ca27cd27947d
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777126553/aug_001/perturbation_visualization.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b409824d52bb3243a1d34fb2c92d9fc4d354580017c495a2cdc79adcacf7519d
+size 228830
diff --git a/data_v7/Town03_Opt/trajectory_1777271216/aug_001/frames_playback/frame_00020/debug.png b/data_v7/Town03_Opt/trajectory_1777271216/aug_001/frames_playback/frame_00020/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..97f63fc9b9e471103cdc73bc87b1bda919fabbe5
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777271216/aug_001/frames_playback/frame_00020/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1f48309071ec534e898525e4e3e2e9c5a3bebe680c8488e5540c75f71d86f4a7
+size 1556692
diff --git a/data_v7/Town03_Opt/trajectory_1777271216/aug_001/frames_playback/frame_00020/depth.npy b/data_v7/Town03_Opt/trajectory_1777271216/aug_001/frames_playback/frame_00020/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..c540146a3af587d3971752bfd3835e5db478163c
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777271216/aug_001/frames_playback/frame_00020/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:02af5210c36a797f5d67a9c3a9f785b83131d759a523048794be52ae1ac331fb
+size 3686528
diff --git a/data_v7/Town03_Opt/trajectory_1777271216/aug_001/frames_playback/frame_00020/instance.png b/data_v7/Town03_Opt/trajectory_1777271216/aug_001/frames_playback/frame_00020/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..b52049b37d2aa0426fb662f403c5b88c259b22c3
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777271216/aug_001/frames_playback/frame_00020/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3f6be5c0340743f032bdf2b4a74fbc772d5a560026f0a408ffbc3d428fe6ca80
+size 51756
diff --git a/data_v7/Town03_Opt/trajectory_1777271216/aug_001/frames_playback/frame_00020/rgb.png b/data_v7/Town03_Opt/trajectory_1777271216/aug_001/frames_playback/frame_00020/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..9c38e4f69211b10c238bb34139a3d55c6fef6774
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777271216/aug_001/frames_playback/frame_00020/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0c0dbfd0a9cdff3f5b62d61e7b03c2ea3f9a06400d4b27164f6fd2f064a886e8
+size 1507649
diff --git a/data_v7/Town03_Opt/trajectory_1777271216/aug_001/frames_playback/frame_00023/depth.npy b/data_v7/Town03_Opt/trajectory_1777271216/aug_001/frames_playback/frame_00023/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..0ae874fcb5c19bb6463743014029e02031554b01
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777271216/aug_001/frames_playback/frame_00023/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ca6c2c5c3da5b3b0bd35271c8c1a9f5307a119c25699258176b812aac812eaa3
+size 3686528
diff --git a/data_v7/Town03_Opt/trajectory_1777271216/aug_001/frames_playback/frame_00023/instance.png b/data_v7/Town03_Opt/trajectory_1777271216/aug_001/frames_playback/frame_00023/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..c89a82606635d344c41913898ef3658db0ec97c9
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777271216/aug_001/frames_playback/frame_00023/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:df695f2b007a78ab396974bf0d77503a5e33c3ed193c9b55bfe7a336042e22f0
+size 42182
diff --git a/data_v7/Town03_Opt/trajectory_1777271216/aug_001/frames_playback/frame_00023/rgb.png b/data_v7/Town03_Opt/trajectory_1777271216/aug_001/frames_playback/frame_00023/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..659eb5a7be0a3a5e9e82759f381308a88c413424
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777271216/aug_001/frames_playback/frame_00023/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:623b38e07abaed270d8f3d4832bb530d48905b0342b065eeca267b97501daf40
+size 1474248
diff --git a/data_v7/Town03_Opt/trajectory_1777271216/aug_001/frames_playback/frame_00026/debug.png b/data_v7/Town03_Opt/trajectory_1777271216/aug_001/frames_playback/frame_00026/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..599680fb016a4e12ff65427304734700fbb41fdf
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777271216/aug_001/frames_playback/frame_00026/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d118379fddd812d7edef88d3d20b6f6f73586e1f1b6d80d4ca84017b729491ba
+size 1529949
diff --git a/data_v7/Town03_Opt/trajectory_1777271216/aug_001/frames_playback/frame_00026/depth.npy b/data_v7/Town03_Opt/trajectory_1777271216/aug_001/frames_playback/frame_00026/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..a73cce5aedc8a003e0a0047df54f971570339a7b
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777271216/aug_001/frames_playback/frame_00026/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9ede005588d4d62fc973b5cb54d00cb0d8addcb1adf8ccaaa716470f45808aa2
+size 3686528
diff --git a/data_v7/Town03_Opt/trajectory_1777271216/aug_001/frames_playback/frame_00026/instance.png b/data_v7/Town03_Opt/trajectory_1777271216/aug_001/frames_playback/frame_00026/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..0bae71b406de8de04502af940c3dda4d8b782f1f
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777271216/aug_001/frames_playback/frame_00026/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4d3f65797c58f37b0cdcf9fca9efbe09fc7a3f0f7769b8fd0261d43650db4338
+size 42130
diff --git a/data_v7/Town03_Opt/trajectory_1777271216/aug_001/frames_playback/frame_00026/rgb.png b/data_v7/Town03_Opt/trajectory_1777271216/aug_001/frames_playback/frame_00026/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..3076cf10c0086b324d4e23b6229579a1fc68beb5
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777271216/aug_001/frames_playback/frame_00026/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:79ed9f7a91c8dbdbb04ab0686976f9c15de2a6acb476bf9732fb3d2ee75c4d65
+size 1479041
diff --git a/data_v7/Town03_Opt/trajectory_1777271216/aug_001/frames_playback/frame_00045/debug.png b/data_v7/Town03_Opt/trajectory_1777271216/aug_001/frames_playback/frame_00045/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..43eb3c988c97790e49252bad53d4c019b91a75f5
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777271216/aug_001/frames_playback/frame_00045/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:424e9fe44127d86036c5c8cfe7f11a336646e5b5672c22217a37777909171d5a
+size 1581714
diff --git a/data_v7/Town03_Opt/trajectory_1777271216/aug_001/frames_playback/frame_00045/depth.npy b/data_v7/Town03_Opt/trajectory_1777271216/aug_001/frames_playback/frame_00045/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..cce36f8b9bcd07673f344dc2065800f739736ef5
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777271216/aug_001/frames_playback/frame_00045/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:193f155090708fae8a07bd41f5d8c0c02cfe0f51a6dc978a88a86b17904eb735
+size 3686528
diff --git a/data_v7/Town03_Opt/trajectory_1777271216/aug_001/frames_playback/frame_00045/instance.png b/data_v7/Town03_Opt/trajectory_1777271216/aug_001/frames_playback/frame_00045/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..e7e29259113d95221ae08e6b0bcd1a2da14147d4
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777271216/aug_001/frames_playback/frame_00045/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:883f84061e53dfb9b4033e1b873d9157c71494918b25a7564428b9f7510a8f31
+size 45008
diff --git a/data_v7/Town03_Opt/trajectory_1777271216/aug_001/frames_playback/frame_00045/rgb.png b/data_v7/Town03_Opt/trajectory_1777271216/aug_001/frames_playback/frame_00045/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..adeb5858835090c9bff837402e4b469a26c29d4f
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777271216/aug_001/frames_playback/frame_00045/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:03ca901a2d26af3c418c8dc7fc6b7ef211c4b89ab0d39a7ce56526dc4f39813b
+size 1489736
diff --git a/data_v7/Town03_Opt/trajectory_1777271216/aug_001/frames_playback/frame_00048/debug.png b/data_v7/Town03_Opt/trajectory_1777271216/aug_001/frames_playback/frame_00048/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..f9041bafdeb17052e9d652f13274ac7a5e66a43d
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777271216/aug_001/frames_playback/frame_00048/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e41e773e1b27537d8ab0bf75d2cec1c9ce2b9080f7ed9e2341ee415045ea8fe9
+size 1592516
diff --git a/data_v7/Town03_Opt/trajectory_1777271216/aug_001/frames_playback/frame_00048/depth.npy b/data_v7/Town03_Opt/trajectory_1777271216/aug_001/frames_playback/frame_00048/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..d1ca4728cc78b217425c1ffa785847672bad77ed
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777271216/aug_001/frames_playback/frame_00048/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2eea3db0bfcefcb6cca9a5a2b5281b3cb69c7c8a720b5f9da86032c29c560846
+size 3686528
diff --git a/data_v7/Town03_Opt/trajectory_1777271216/aug_001/frames_playback/frame_00048/instance.png b/data_v7/Town03_Opt/trajectory_1777271216/aug_001/frames_playback/frame_00048/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..9cb91c510c00765d32e7e52cf0913213e95fa9b8
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777271216/aug_001/frames_playback/frame_00048/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7d29d71d2688c11cee572552e3f604f4f727bdea666fa549464832f75f35998e
+size 48804
diff --git a/data_v7/Town03_Opt/trajectory_1777271216/aug_001/frames_playback/frame_00048/rgb.png b/data_v7/Town03_Opt/trajectory_1777271216/aug_001/frames_playback/frame_00048/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..430f0df8b547bb793e7600848fc5558740ab0cfb
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777271216/aug_001/frames_playback/frame_00048/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:63a3a43795828908785a3f7015ea5c439f97c5b29e92e4312b21372638b172f1
+size 1502352
diff --git a/data_v7/Town03_Opt/trajectory_1777271216/aug_001/frames_playback/frame_00052/debug.png b/data_v7/Town03_Opt/trajectory_1777271216/aug_001/frames_playback/frame_00052/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..adab44e899d94fc8e062275519c7ce1a7021a8f1
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777271216/aug_001/frames_playback/frame_00052/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a25150cfcb407cd31af17752bc4f3be37394f806f10dd1fa2ffa5b8ef33b3362
+size 1574644
diff --git a/data_v7/Town03_Opt/trajectory_1777271216/aug_001/frames_playback/frame_00052/depth.npy b/data_v7/Town03_Opt/trajectory_1777271216/aug_001/frames_playback/frame_00052/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..94f07e1bab956eb95b0f2ce6b1adf623a56edc8c
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777271216/aug_001/frames_playback/frame_00052/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c3318b88bfb4d6e26002a362e880735639c25f82fc205e3dec69ea308119b6fd
+size 3686528
diff --git a/data_v7/Town03_Opt/trajectory_1777271216/aug_001/frames_playback/frame_00052/instance.png b/data_v7/Town03_Opt/trajectory_1777271216/aug_001/frames_playback/frame_00052/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..81b1437fd6feb94550e53d8bd68f9028c67f96bb
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777271216/aug_001/frames_playback/frame_00052/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b4d6d5e281588a82da7b38b6fd84201b801645c28f631eb547f7a94f32a34905
+size 46704
diff --git a/data_v7/Town03_Opt/trajectory_1777271216/aug_001/frames_playback/frame_00052/rgb.png b/data_v7/Town03_Opt/trajectory_1777271216/aug_001/frames_playback/frame_00052/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..838542cc97868d97b10917449c7eed77e27372cd
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777271216/aug_001/frames_playback/frame_00052/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a16ccccb498f603a31d2c6fb60653eb5a9e278906190a739ee36f50d1a988321
+size 1502666
diff --git a/data_v7/Town03_Opt/trajectory_1777271216/aug_001/frames_playback/frame_00094/debug.png b/data_v7/Town03_Opt/trajectory_1777271216/aug_001/frames_playback/frame_00094/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..f97d6b4a143dd94305c7d94e641e5167cfc59750
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777271216/aug_001/frames_playback/frame_00094/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:85e9f7850eee8b8d74ff29ed46bda121e57cae6c013e49e520f98c63f67714ac
+size 1602627
diff --git a/data_v7/Town03_Opt/trajectory_1777271216/aug_001/frames_playback/frame_00094/depth.npy b/data_v7/Town03_Opt/trajectory_1777271216/aug_001/frames_playback/frame_00094/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..39339711de27c0b9e46160dc2ffba8e91605fccc
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777271216/aug_001/frames_playback/frame_00094/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:16e75bb51adfeba70d72642a434c9282e73e36f9dfbdc39734814da92f33a021
+size 3686528
diff --git a/data_v7/Town03_Opt/trajectory_1777271216/aug_001/frames_playback/frame_00094/instance.png b/data_v7/Town03_Opt/trajectory_1777271216/aug_001/frames_playback/frame_00094/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..7f0077733f8d3cb237868bbcdcafdb8b3988cbe6
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777271216/aug_001/frames_playback/frame_00094/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cd42016879eb90751f4b38a788d781a36c94f20c718564ceba512aa59e272090
+size 59787
diff --git a/data_v7/Town03_Opt/trajectory_1777271216/aug_001/frames_playback/frame_00094/rgb.png b/data_v7/Town03_Opt/trajectory_1777271216/aug_001/frames_playback/frame_00094/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..fe4c98ebe76e602d02443f0de24d39ae949a801a
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777271216/aug_001/frames_playback/frame_00094/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e638f3c27bd98c37f21c0a65ef97eb87b302e003c58109e06aa9280fdc74c368
+size 1536143
diff --git a/data_v7/Town03_Opt/trajectory_1777271216/aug_001/frames_playback/frame_00107/debug.png b/data_v7/Town03_Opt/trajectory_1777271216/aug_001/frames_playback/frame_00107/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..a17fc3aba1f7fcca67f47400b381d1752f3ec252
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777271216/aug_001/frames_playback/frame_00107/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:08a2219564db3f0388d10aefb5cc76c7522bd66323d933617c42888362b68a02
+size 1662908
diff --git a/data_v7/Town03_Opt/trajectory_1777271216/aug_001/frames_playback/frame_00107/depth.npy b/data_v7/Town03_Opt/trajectory_1777271216/aug_001/frames_playback/frame_00107/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..09e423a6a41d225c94974bfb5299d639ba16fe4f
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777271216/aug_001/frames_playback/frame_00107/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2c5fb13f084961e925f81d16eb571019c6fcc7f2773d61a4e29b33685be2cd4a
+size 3686528
diff --git a/data_v7/Town03_Opt/trajectory_1777271216/aug_001/frames_playback/frame_00107/instance.png b/data_v7/Town03_Opt/trajectory_1777271216/aug_001/frames_playback/frame_00107/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..dfa2815d8a7cf33ffee8117020e85fc0d5a1c2e8
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777271216/aug_001/frames_playback/frame_00107/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3d5c0467b185efcdee6d9d38a7a2461713eeb04bb4215ef076cd55baf618f8b6
+size 75745
diff --git a/data_v7/Town03_Opt/trajectory_1777271216/aug_001/frames_playback/frame_00107/rgb.png b/data_v7/Town03_Opt/trajectory_1777271216/aug_001/frames_playback/frame_00107/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..07ed4a5de19020d2c3acd00f8415b05d13e1d300
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777271216/aug_001/frames_playback/frame_00107/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a97ded4c18902e23984db37e1794b16bc8032ded7dee4ee95e51ced2e730f319
+size 1579107
diff --git a/data_v7/Town03_Opt/trajectory_1777271216/aug_001/frames_playback/frame_00117/debug.png b/data_v7/Town03_Opt/trajectory_1777271216/aug_001/frames_playback/frame_00117/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..108a3907531ffe7968ae94eaa9dbb9f210e94e6a
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777271216/aug_001/frames_playback/frame_00117/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:40e69717ec110d04f6efecd7faa9cd6752b28fbee5ff8c923c69d1576f019dd2
+size 1671676
diff --git a/data_v7/Town03_Opt/trajectory_1777271216/aug_001/frames_playback/frame_00117/depth.npy b/data_v7/Town03_Opt/trajectory_1777271216/aug_001/frames_playback/frame_00117/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..a1ecd5b4d246f4f367a62c56d0a2c77bd74f1c4c
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777271216/aug_001/frames_playback/frame_00117/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:62569e8ba68fd6baaea1d8d14ed6f38e13e76a7a5797b5b6060a02cb304d2db7
+size 3686528
diff --git a/data_v7/Town03_Opt/trajectory_1777271216/aug_001/frames_playback/frame_00117/instance.png b/data_v7/Town03_Opt/trajectory_1777271216/aug_001/frames_playback/frame_00117/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..2df22997599b8a636905e91a1a5a6befc4fab228
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777271216/aug_001/frames_playback/frame_00117/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:17d27b306b1bcaafb4217ccfa6139fced0d5bba054fa372aa12daf863a71a667
+size 73975
diff --git a/data_v7/Town03_Opt/trajectory_1777271216/aug_001/frames_playback/frame_00117/rgb.png b/data_v7/Town03_Opt/trajectory_1777271216/aug_001/frames_playback/frame_00117/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..77617184d6bfc8a68c0284172fc8ca311b9a3b18
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777271216/aug_001/frames_playback/frame_00117/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:773d7132ca45be146bca0db8da793dc7d1dd83463afb89f24e5dd4e36914bf87
+size 1614724
diff --git a/data_v7/Town03_Opt/trajectory_1777271216/aug_001/frames_playback/frame_00142/debug.png b/data_v7/Town03_Opt/trajectory_1777271216/aug_001/frames_playback/frame_00142/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..d038e3d7b6f07ca47d2ba121704aac57cefccc39
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777271216/aug_001/frames_playback/frame_00142/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ebcbe4f88eeab2fd7271dfa6ecb00f0e8efed9f716e572cdb899179a08a5d494
+size 1746405
diff --git a/data_v7/Town03_Opt/trajectory_1777271216/aug_001/frames_playback/frame_00142/depth.npy b/data_v7/Town03_Opt/trajectory_1777271216/aug_001/frames_playback/frame_00142/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..94d455d58859b6d7bb7c5c4abbd551b77542e7ae
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777271216/aug_001/frames_playback/frame_00142/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6408d6f940002eb5857aa2e3ff01b8bbb0f7dae148cd04a84bec8de9dde9157f
+size 3686528
diff --git a/data_v7/Town03_Opt/trajectory_1777271216/aug_001/frames_playback/frame_00142/instance.png b/data_v7/Town03_Opt/trajectory_1777271216/aug_001/frames_playback/frame_00142/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..394cea53cbe8a9e1d82c3fa8d980795fd5ff3c82
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777271216/aug_001/frames_playback/frame_00142/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b7849fee198c5ed83bc9262dfb91730794fdcf7cf3e7bd9d2b8b9ad3b37d4be3
+size 74000
diff --git a/data_v7/Town03_Opt/trajectory_1777271216/aug_001/frames_playback/frame_00142/rgb.png b/data_v7/Town03_Opt/trajectory_1777271216/aug_001/frames_playback/frame_00142/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..6bbfde2f86ed0a6b33820d23757504dd637518eb
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777271216/aug_001/frames_playback/frame_00142/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:96ee2f460d03d62077b26eba53949faed18c2d865147bc8b13300ae202ce1b59
+size 1690189
diff --git a/data_v7/Town03_Opt/trajectory_1777271216/aug_001/frames_playback/frame_00153/debug.png b/data_v7/Town03_Opt/trajectory_1777271216/aug_001/frames_playback/frame_00153/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..911a3000f76cf0dcc667d3744dbe1e762fb025e8
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777271216/aug_001/frames_playback/frame_00153/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e156c001ec57ee233d5ab8240c69f6856e2222202195f1b3ae7cc06ce7e22c45
+size 1783965
diff --git a/data_v7/Town03_Opt/trajectory_1777271216/aug_001/frames_playback/frame_00153/depth.npy b/data_v7/Town03_Opt/trajectory_1777271216/aug_001/frames_playback/frame_00153/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..d89daece376eea8c4a3474939d939d2cfe9a6948
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777271216/aug_001/frames_playback/frame_00153/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9508df2650b62d940649f66eeb809f89396623af421e8e558b7d5f8e989dac2a
+size 3686528
diff --git a/data_v7/Town03_Opt/trajectory_1777271216/aug_001/frames_playback/frame_00153/instance.png b/data_v7/Town03_Opt/trajectory_1777271216/aug_001/frames_playback/frame_00153/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..bd094fad928af332c1da4ffbf1c95b79481d731d
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777271216/aug_001/frames_playback/frame_00153/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6ce3843e83ff6a5d7929f211d78799ba4dddaf0836b510c349a476998b5979b7
+size 67253
diff --git a/data_v7/Town03_Opt/trajectory_1777271216/aug_001/frames_playback/frame_00153/rgb.png b/data_v7/Town03_Opt/trajectory_1777271216/aug_001/frames_playback/frame_00153/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..5ea4a7c7e2932f986196c3e39627039bbfdf8784
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777271216/aug_001/frames_playback/frame_00153/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fa9654dc7e14284fe8b42550ed487bf406cb36916c360ddcb64965e5a9f1216c
+size 1732930
diff --git a/data_v7/Town03_Opt/trajectory_1777271216/aug_001/frames_playback/frame_00166/debug.png b/data_v7/Town03_Opt/trajectory_1777271216/aug_001/frames_playback/frame_00166/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..5d30af75a4dfad0ca899a83fbcc60bf2368592a1
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777271216/aug_001/frames_playback/frame_00166/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ad145d12c06199a6f527f8d79d809487015154e9cb5f47d615795818e9dea51c
+size 1785395
diff --git a/data_v7/Town03_Opt/trajectory_1777271216/aug_001/frames_playback/frame_00166/depth.npy b/data_v7/Town03_Opt/trajectory_1777271216/aug_001/frames_playback/frame_00166/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..e1d2fff81182b1220f8331d1cef98a93eddf183c
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777271216/aug_001/frames_playback/frame_00166/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:57ff86915409b0507dd88edb2236a7db92eecd675e98e3b7145db749c2842bff
+size 3686528
diff --git a/data_v7/Town03_Opt/trajectory_1777271216/aug_001/frames_playback/frame_00166/instance.png b/data_v7/Town03_Opt/trajectory_1777271216/aug_001/frames_playback/frame_00166/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..25ac9e8ea311b3010b30ae13572b0df604122e81
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777271216/aug_001/frames_playback/frame_00166/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:14084f25cf853653e2197f95feff689a1206382d96d73390736d528639c78cd8
+size 68029
diff --git a/data_v7/Town03_Opt/trajectory_1777271216/aug_001/frames_playback/frame_00166/rgb.png b/data_v7/Town03_Opt/trajectory_1777271216/aug_001/frames_playback/frame_00166/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..fec56bed9a7fe224626011a965b1563ae09bab60
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777271216/aug_001/frames_playback/frame_00166/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d21ba2b35060c14bae4b421750cdacd0a6b199c2a740bdf87badcaa3d0bd886f
+size 1740291