diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00002/debug.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00002/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..7b3b8505643e1ca711e21b683b7fa2cd21bd23f1
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00002/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:77ce50ada46b863df5feec76afdff2cb28dade7892686380a50dafb7c9af4658
+size 1542823
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00002/depth.npy b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00002/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..ab9ff1c64f1b91c20c8532fc0886ef57e78ff440
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00002/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c08888799316dabc437703f49239ae848844ccdec2cc0e5630d20d87964d7b85
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00002/instance.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00002/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..dc4c21cea7101dba61e7515f7118d286868657fe
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00002/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e21f95c51a451b826df5bbef81f5dca2698a2268c967f9effcc9dd7f839310f4
+size 38440
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00002/rgb.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00002/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..334a96ac400da1c9cf381c1e4fc7ac1e304c4c69
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00002/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1ae267d039b605d30581a842dc84456b41f09fbbf4de820c07c41a1e42fa2799
+size 1500356
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00003/debug.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00003/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..cb20a2fc3720e6a0f7f124dab98bc824a884ccf6
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00003/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0ea7a29ab88ae3e77755bdb258868abb06298e7751265f0bd68e47e1c2ce45a2
+size 1536813
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00003/depth.npy b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00003/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..ecc7ba39eac0c02abdc191bac44358751537f7bf
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00003/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:198ddf9ab59a461047a0e81d230639a575281036e7be010a3db5bd00d628f2c6
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00003/instance.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00003/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..d284b697b4348513cd4b8de355b49d0a0e4eaf6e
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00003/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e928ff6518482c35e2aac932c17cf916409e00fac0589ec08839903889c3c159
+size 39304
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00003/rgb.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00003/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..b559287c3661021dd20451e722dfd0c558349e4e
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00003/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2d02dc7dadee89208a049f2cbce2325a9c84a882ccdab649903863603a244c79
+size 1494986
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00013/debug.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00013/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..39ee9b8b0388a67ba8d6655f981bf879a2baafad
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00013/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5a2fd740c7482e94254e8357a7745c253ded6911e559c38f6520174c68f0191a
+size 1586641
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00013/depth.npy b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00013/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..5721997501cb1bcdbf457a01d567cfb26e5bfdef
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00013/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:00e017834675204deb3d391a2ff3a896b93c9e1a736dbb188752b0db20e917b6
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00013/instance.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00013/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..5e7a1efc56ec3a1c68f49f3225b7f5a0f473a084
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00013/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b357a0e96908710fdeb612ed1ffd613968a244a2e3d42430020bff68587d6674
+size 46144
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00013/rgb.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00013/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..cc0150df204b9803b20f7fefc52b77ffe9e28d1e
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00013/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6022bf56951934ac0d6c0992926ebe144122fe7a825616be194a6a7eff5f784f
+size 1536688
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00014/debug.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00014/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..5a992635a65efefe8300498281d5b47e3e3a8a0d
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00014/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5f71feb5bce280439d4e7131948531f8298f5459a5b9ffa4596bd5c5b56d2d5a
+size 1607472
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00014/depth.npy b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00014/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..2c7fec4adc0200385f22f14694ee7323dbacf702
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00014/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a17beb32f604e51c51ca8beaa1ec299af8028cfd9d8c918d52e1763ae1bc0aff
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00014/rgb.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00014/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..54d1e18857308a27f8188c0ddb6ba4e37cb14491
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00014/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d8a7405ed5d6aa3a7743a3fdb88cc8c05b04d3bed718a4683f506b57b663d329
+size 1536437
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00018/debug.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00018/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..b2a9bc2d2b2d59fbb8c4446f43de90b2fc2f1d5b
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00018/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:29bc39bd7ae294b600b3ad85c2c8bcdb6098e86b76f6fd3249ade5ec7f2b5fac
+size 1623892
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00018/depth.npy b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00018/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..673c78506700c18683421489c771e53600daf65d
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00018/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d5d36804ba5e097bb23044c3090740a0865c72e9f07cce7389de350a8239008c
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00018/instance.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00018/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..0a0250aebd740e38b60eb9f83e76852c9a016145
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00018/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:219c23e06b0a3492f37f927008170265de1637aaf2d9241bf3b99b069adf99ec
+size 48207
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00018/rgb.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00018/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..d0fc889b890ab1c6709cc2650742ad3f874a324e
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00018/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3f60a0051b88d26509e5165b888bf2f334191aea3336fba6b1869e97685dfa1a
+size 1558954
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00019/debug.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00019/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..69992421aea6ac2f6bcaaa9c535b1af3cd2cac1e
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00019/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:818b6ee11fa2c964479872cc0d33e6ef3927e936c580ddf34be40a1068055ca1
+size 1621386
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00019/depth.npy b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00019/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..fc6014d17c5fddca7e9572e432faa4752c8c7ddd
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00019/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:39f7ad9acf5207485d8715eb1255c2e68a0395ce79bd7075c465a14370726637
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00019/instance.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00019/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..3be793a77cb8aeac663445d9a633993f6ce4090b
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00019/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:33928f5c4fad9db8773b63f275d63becbf9a3f6f530274c6f83f869815e4af07
+size 48606
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00019/rgb.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00019/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..67b0b07a5169858a213380c91ab630e0c62669a8
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00019/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bf051a89925b5f77884b77f6d6f4c6b7b0bb4bd3d3176135545aaba7e2016ebf
+size 1550058
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00025/debug.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00025/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..88951b21d066f96e8f2681b6cdab8f87dc834166
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00025/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c91925133c5c442b9b6195724e6cad699aaaab3c19f2246ceb869b6cddb74372
+size 1643761
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00025/depth.npy b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00025/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..0b9dd01116a6070363467c839dd2947a976ed6e2
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00025/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:55dfedde331a5bdb1dd9135fc1c70b75ee0673d8daa494f5c19ac187bd20ee6c
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00025/instance.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00025/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..e5fc0a69675f523d9292449137c7217f92add882
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00025/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4d884347baa1a7280371028fe53e24c6fad0855012ce5e67d02ccf2246237444
+size 51797
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00025/rgb.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00025/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..9d17c152dd41d4cf331705a14203128ad0b3f5b0
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00025/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c2531440a4f7fb3bd151c581d208f7dbaf0ec65a5bfa022ec8739809577b9f01
+size 1568757
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00029/debug.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00029/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..5e459c93ef3dd674434b482a8ffecc1fb8ab8f7a
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00029/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5daf1f7a9f7fbddbc5dfb032479b409f02aad063cfce6a510662d0a1b67d9a18
+size 1647845
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00029/depth.npy b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00029/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..c7f8431b4c24069d98d63b22078587127159faf2
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00029/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c16567aac351eb904552b06c0a30e3aed2cca4dab5e52ce05b116d897e7e7359
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00029/instance.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00029/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..024e79664478135ab14a5e8a0c1d5e6ee951f3a8
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00029/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f1e57bbbb35b86c4f7dd5132f1be9fd7a955c6456bdece9ff612d9038c16b7ec
+size 52759
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00029/rgb.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00029/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..72f3e4e9f2f7c7acf1e949d2c4676c7de13978cb
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00029/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a1284569f05577b4beac1c20324aa0298c56fc2ec71f9199290412f9558241a2
+size 1566221
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00031/debug.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00031/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..f498e96ae27630d7e02c3a440f46c14111cd0c3a
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00031/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ee3cdccc20ed89f11e0f56cc7dbd99dd35d2d6099848454398e90d64a768e4ca
+size 1637810
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00031/depth.npy b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00031/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..35f18477f3a0c93111a7a57a0312f0f59e3815f8
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00031/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:819f52701eace288d480c6bc9d555e30c76c65baaa3e29d2920a29ca281f5177
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00031/instance.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00031/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..f0e6e4d776cafb7fe7772a7e64030778cb76033a
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00031/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f66491ea472dd245acf6bb65c152d0c4b86a4cb44110280541d983fee5624531
+size 53548
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00031/rgb.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00031/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..1cf953dff9cdd03b29819e4338cadcb61bb070ad
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00031/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:19223411a36def27416e9235938abac5c9a3a645ab78c6beaf1d584c753b663c
+size 1559632
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00033/debug.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00033/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..21055a72f5a8742f111a48b59b042da5e8416f13
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00033/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bb966ddb887db3cc09e041dbad3c1af2d79f66c5bc80a5b6a5881de36c709330
+size 1643877
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00033/depth.npy b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00033/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..e42557f8250ea1f9de0e65542b668c3648a2e806
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00033/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8ede3a6aa99ea93545cbdd784a28cd22b34d9b93224b1899ea356ec7bc9ad56e
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00033/instance.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00033/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..7621f990842c2612a31cee89259f4c6b1649f4fa
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00033/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f1894779c865ce9c36df9a12319ee146b70f7c294ace7e3e25d32d077c1e0588
+size 54028
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00033/rgb.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00033/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..5d5b879357333d1a7eb07c48b26a071d4b3439a5
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00033/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ac69a1f1320d6f8bf0f5b14fab95b40431b346f05712a953844c1fbc0952a157
+size 1561166
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00036/debug.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00036/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..fde8880425c3a882cd678d71af61d080e0831a12
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00036/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b2bdd67ff67ac73c483080fbb7c245fae2fbf85c87518ccc3c62ebe7153a833c
+size 1643219
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00036/depth.npy b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00036/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..fb355ed4477addbb12e2b373cad1050d4fe9588b
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00036/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ac5168700a19a37cefe118d174ab3999a7eb1885e2c62705c0bb810c813ef5b1
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00036/instance.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00036/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..3b8630094a2cc6aec64640793982a256d7032a06
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00036/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2d4a6721194b529d118e683e2db410ff19609ce1f70a8fb013449b69bac7730c
+size 57591
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00036/rgb.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00036/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..8de0e3e4ba3796673c03e86ece4b7a89054a14e5
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00036/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:178305d3c5ab3439a868954123af41f2872665e9e4d45802049d6cbe3d5f97e5
+size 1559843
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00038/debug.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00038/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..27671398e4f55ee7fbafda4b40496e43cee2866d
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00038/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3abe5ed671c6434b1b952a70406c52616af6954601a64678641f826e71fd34ed
+size 1658210
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00038/depth.npy b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00038/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..3da56246b78c359493a8250cb18c6ef8d01a75d1
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00038/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a3ae5fe585aa6d82fe155fa3674b45a0242a9dcf8345652bc62f2bbd8a336347
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00038/instance.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00038/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..6c402f123d747c70cf29229fcce57c033b2b56ab
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00038/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e18a80af5c5af5222e5e59972aba7ab3166fc6fa177a51ada50072651917cf01
+size 58127
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00038/rgb.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00038/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..ea113628ac278aa05309c34bef0cf15d11df3678
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00038/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:31d0a5ef8cd6f040389160cc9c963769d1b0563b2a956d86207e73dffc204bb3
+size 1564635
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00043/debug.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00043/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..04bbda0ab97320ee0613e6e246a3927f0e62cd42
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00043/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:598b17f6968a3920a154a53bd6c1fb103457325718f1f9fb2c6057068bcf211c
+size 1658987
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00043/depth.npy b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00043/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..8066ebb909d4295754c5f6a8ce68c83350040cef
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00043/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cac2a260197f388a358c686bd7cacd8fc6def4ff07704561d08677e346680c12
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00043/instance.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00043/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..b976e8e9eec483bf56dd256dc72fbb3dd4ccc56f
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00043/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1ce07661cd80619d2ce81de42cf9ec0842d8ca9cf51b0188e3a32219c1367629
+size 59393
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00043/rgb.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00043/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..926fb37d2092584968d33e77e2b6b72570de9133
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00043/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0d5c973f4ba3120cebecf75331e671a1f5412d2425579d8fc2c5786105a159e2
+size 1545566
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00050/debug.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00050/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..7b8c0a404dff32f6d1c03a771123d44d6d08e346
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00050/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:70730de38563a0d4d726d3f18941cebc7bf0fde50b648a40f85d4083a4bc075f
+size 1652598
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00050/depth.npy b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00050/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..d00097ea2cf3dd9ddc2ad26af300030d4685fe45
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00050/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bf813d89c3d71a93b1a2f5910ba693a5b9a92a4ce95d7f9c5e437b601b6de927
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00050/instance.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00050/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..413c85c92cfd392f653f306d5b008266d072a8ae
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00050/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2f556da7afa3216d0160e53e6e525680bd37a23bd9227225739efd08810a8b13
+size 59592
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00050/rgb.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00050/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..ed21ff20393867352328edcf1c7948520058b3fb
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00050/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bd5940adcbcf90414a90a43c6155ef7bf9139f11d0ce350758ed94927aeb4792
+size 1511344
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00057/debug.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00057/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..d648ed365a5d6e3e55ed161db43692413962ba59
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00057/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0a9a36aeeb03babade1e41994360be2e01202d0404529b75f19065a645cd354d
+size 1634819
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00057/depth.npy b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00057/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..567ee2c30448ac1fe6ba8c5fd3ea47622612f9a3
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00057/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bad1baa4d4f3bfa59b251a06872d428e5b07e76bc99abb61ed4cb940c55f559f
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00057/instance.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00057/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..dde1b7e02f03e539e8eb890fadb637b32bd4811b
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00057/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7758e93d0702241d997f30b95d9d0cc1c0fd03983c2605984acc8cb72daa4e60
+size 59912
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00057/rgb.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00057/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..b919b1e68f94b351fb3070f2ec24f4d48052f9e0
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00057/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d91271d480cbb6bebd8d4d840fc6b716beea5cc31e3c3ab8c36978f91293d184
+size 1491116
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00064/debug.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00064/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..a33f678955cdcc237321dabcdf563c7cff4a1919
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00064/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5a0e6122e38e9eb2c591e99cce718e570783cbb3ac2ecee130b4a95cca09f644
+size 1612194
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00064/depth.npy b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00064/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..5082438a0bf5cf817cc2e65ef315539050da0937
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00064/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:55d4cb2f1afbde68c7290ebeac2e3bdb072714faf34b880af1e926638bf4547b
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00064/instance.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00064/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..7064afca81538852e2dd83014617c508f1ecedce
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00064/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a4145be0e9a58c585f78359da82482d7fd697dcea8bd8211bdb9543215cc0188
+size 58107
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00064/rgb.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00064/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..618f399850509fa989cae1782df63e3098d420fb
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00064/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:189d42bf9186a1b0ea7965d6c8d95a2215d4de9578ffdebf54444286ebf5bec6
+size 1465275
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00066/debug.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00066/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..bce8a710d51d24ff1797bc6247a036ed4123f4b9
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00066/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:853fb1957cdc7f6b0d3b6c82a8ae45d1e3a3e9b57345536f02b6f8b09f936a94
+size 1615079
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00066/depth.npy b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00066/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..91730ca8be6cf98d5d37f03dd99912418b70c477
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00066/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9020671a76adf1c6d535e8348cb640dda24dd1173edb572de9d15f6d2039aa9c
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00066/instance.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00066/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..70ac476ff5e604f906d39c8cf6eb78724c22bbaf
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00066/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b1b08d8eadc38842e2958e999298fa4887beb1a0e5d5db3cd09873675b25abe1
+size 58212
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00066/rgb.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00066/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..b93f685037002120fc28adbbac22f79c17f03760
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00066/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:62baf5bf96832ae529a23eb7eb384e5a05958d85fbd138bc355975cee0665702
+size 1483483
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00079/debug.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00079/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..2545cef0fe6b16ce0c5ba81ef1fc3271565fe9e7
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00079/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f7b9a3517ba8502b9f9d1f788d3e2af7434e1475f161315596ef556152c9a4e0
+size 1571342
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00079/depth.npy b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00079/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..1f8605160d5fd28865ba957849ecfcc77e894aee
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00079/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f27744b5e1bf0ef08d445a415d86629d12c54aca69739ed965ca51f46ea0b88f
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00079/instance.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00079/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..3c5033d557ab871e7d69b4621fce0907919dc277
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00079/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:58d46b2f9532b13bd782eec51b410bd199a81135ba7c292c094507c32f27b636
+size 51005
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00079/rgb.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00079/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..01f33ea63beed37691622bb1680ac407cd0658f1
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00079/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:15531ae69cc8920bcd585f76846cb56bf722fe144ad7f36d5976d90cf5466471
+size 1442322
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00083/debug.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00083/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..e7f00a947db5dc818a631f5bc4bac2f0d4c1aea4
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00083/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:505325d02d9e53b77e80196da197c222570f565b658f0f4195aa2842a8ed9844
+size 1572696
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00083/depth.npy b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00083/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..20631a9f67a8559e6e1d9662dafe9f23ed241c60
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00083/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:303525e8ac5b2e2c8052dd406ad79b97c5e99c4db3cf3ac18238c74a5bb1d616
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00083/instance.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00083/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..f2bca7ad651b1b6140e226b8eff2ec1f9aee5e2a
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00083/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:673b835e3eddc4e3826c067816d3ce3f2c17238368cf88466a6de888d71f0aeb
+size 48825
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00083/rgb.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00083/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..90468aba81e1f703c8188bad5456e9d1a4321092
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00083/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:53e94c7cd4e60b97c4bd9c612530b46a4ea47f8f853e1c65bee0f8d112a656a4
+size 1444186
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00084/debug.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00084/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..6f7572aaeac7670bccbbce62560bf86aafe70343
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00084/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8ce39069d79e22517aad84257072f931db2fb0c99ec73b86c7815e083bea25b2
+size 1563375
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00084/depth.npy b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00084/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..85ada7cd246eec0a50d89dc8c8ffefe8c749d42f
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00084/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fdb37d6ef948e05b77b6a7bf5bcd2874708aab6ebc8c36f81f6ba439d05c74dc
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00084/instance.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00084/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..8f80daa6e1ed18a87e5ee12c8a7afb6079c2ac95
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00084/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2f5e55c7a66005fa83aa8e95868cbf51d7f9af861841b4e76e5765980488ae2b
+size 48549
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00084/rgb.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00084/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..49f6e51b7b154ba2640acebb62d0fafa9a3c5fb8
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00084/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e8cf692b049032e28b5d8baf64ce089b0a6f4c4a83e48c2db510b8c7b75c4776
+size 1454380
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00102/debug.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00102/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..c2eac76b713f0af2cb7d62057c5782dacc749855
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00102/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cfd3ac31727f93b6c480099f8c68a3ba189bdef76cc942a57663955f981d6ac0
+size 1609903
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00102/depth.npy b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00102/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..4c1cc82aa9c47e2d36c0792d575d918db04c507b
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00102/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e3e680d2eed6503ebebc72fdb94ff8b7f50fbe99e6d27b69ad9836d393238107
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00102/instance.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00102/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..62acf642f6f662e65490042169e6cb1587561ab9
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00102/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a2b38ec09613055e14fcf36ef521a6dde43a5b6ffbb051005b4f051de86bef06
+size 43975
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00102/rgb.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00102/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..ece0d82ec8168b252da1fac1d93c11b22687493e
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00102/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c45f4d5f9f9ef1636a271c757c4be4ef1bf244d52bcb82e1b5ce9f74913fb1f4
+size 1449112
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00104/debug.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00104/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..aa0f40c5eb55f4b16d21cd4523f5cbdaa0877b0b
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00104/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8246b64367975abf6744fe6a7a5c133c7687c2ab23064b2ec5fa4bb4196fee28
+size 1623222
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00104/depth.npy b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00104/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..e168636c443ea424abb21da7c53a8601deb858cd
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00104/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f4436ccb3d5ce17e330adaa293af0a8bd793efa51f673b9e4b8ef7714c3b3410
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00104/instance.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00104/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..d1d111934d235bc654f04d9897b6cd24fdb8dac6
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00104/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a5bfbcd5ed452832bf1ceeeea4f0e9878a8efe119b7c3437d2c443b2e17a70dc
+size 45299
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00104/rgb.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00104/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..798502dfabc95c44117d60f047d3820631c9def7
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00104/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:277fd3e0e51d53aec4395bc32fa45f5d7ceceb9a172f9e002235e20ac7fafc30
+size 1465996
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00106/debug.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00106/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..81c44e13422f8c4da5b41fbbc013d95fa73fd06c
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00106/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f3337d8172f22c6c618611409db2415ffb78739f8324e065553ef66252cf6582
+size 1633748
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00106/depth.npy b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00106/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..bb83e87403d22ede4b7c9e984ccf63b35020c7ef
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00106/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:479dfeaf6952357de40827e686da8651b900a44c182df407144c70b8926bbf7b
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00106/instance.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00106/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..0fa142d7716ec5d59c2cea206bfe82d429a91bd9
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00106/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e2375cad7e9dea87b05f2a89a6c5e3f21c49f886e5468e039478c43f5d09a06a
+size 46537
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00106/rgb.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00106/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..fa70fd5441d0c6f2701baf37f9f8a00a2603553e
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00106/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:94e2f7b7b54548fb17af50811eaf7a70b12926677b758cf6a3c2cc12c7dc3e78
+size 1480548
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00108/debug.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00108/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..d5daaa840df02e12eb37a399e162bdeec359cdcb
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00108/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1dc6586caa677186f48223ff1f3643d2dfa001117c48deef69404958a92dc0a4
+size 1622102
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00108/depth.npy b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00108/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..148bb3b206c8e80ad8984e3a35adcc3a17819ab4
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00108/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6cd5313081062ca0506f328783d06eb97affa1e292bf04d7d48ead36c351c9e6
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00108/instance.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00108/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..7fcc21d7b997aaabe480de0d59ce1ad1f3e99f65
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00108/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aef427925e15c076b8923c0ff23eb6ace4fe318edac43025f54b14d76d9ff3a5
+size 46928
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00108/rgb.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00108/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..e23558b2b5fb0daf94c712e16402262b45287ebd
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00108/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:80466a24d574fb1256b5d5fe9d42fe82277428bb7ae2e2c131e3270cc4a346f3
+size 1465331
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00109/debug.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00109/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..ac03a7713aea4403d0a131c33b51c9dad4b68d59
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00109/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7620e3076781415e5be1cbb98a8c4671f1d50ccf43bfcf9162d1c67d9494b998
+size 1622057
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00109/depth.npy b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00109/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..360240eedbae43fe8c59c779b873a129f03d1740
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00109/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d3975c7536d251f6ec272ba0f3bde244b972a9337a95818ef84fbc4de102f63b
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00109/instance.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00109/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..12cebe7f1cee987777441304bdd3284fa26cc1be
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00109/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dc7af4e450d91f3db1d70b4ae2f58c988a3a3405ccdb8ff632e7a65c748818c3
+size 46824
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00109/rgb.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00109/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..b6b84c4180840aa182e02fe49a463ceb0391fd3b
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00109/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:421ae9ed9128435e87529c54ee02e09e1fcb9e9aa5923382725e928682a64a9a
+size 1459140
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00114/debug.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00114/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..00fd1221d1d029e1cdd9612a385308badd7c9f1c
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00114/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b8cc182986e94ad55fddd2ea8f6a519508470f67c5b1d3e75d1ed8ff9ebae64a
+size 1597276
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00114/depth.npy b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00114/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..bb32c943e3d3f49c0de163fbcc3d3c7a6ed8b756
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00114/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9927827c55de14db443961566b650e0482e7a528a3fd4a1b724d50f5f39c866a
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00114/instance.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00114/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..76639ca92e8dc53102ff5771435848aef0098441
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00114/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1b19cecc031b68216a181992e3c17408519fe2f2a25d6f967c8fd74ca7c84162
+size 46816
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00114/rgb.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00114/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..fe20404552674032399048f1da89089f6bb19765
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00114/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fa2c99ec8595c4a0395604f1ebb56baf0c256d1bd68fea0df3191800c0986cd2
+size 1461570
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00118/debug.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00118/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..b04edddac1e20e05ddda6962ab355ea79420c950
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00118/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:78c00e1bdc9dfea7ac7649616d7fe9941f0ae036506eb7104c4129fe3ceef687
+size 1601034
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00118/depth.npy b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00118/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..c3e8af586d3604fd9e119566559eea07b0ba7d97
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00118/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d5359e5fc2040939da4f84ee7ccb17dbc4d9e7f99e9814c40ee351280c084a38
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00118/instance.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00118/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..0983d8a2a6df4001aca42e6fdf2bfdc5c2dbb653
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00118/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cfa3bb3789f6922d1f117c6a654882d0dda41ae3fca64448e1a7c14513a32bae
+size 50839
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00118/rgb.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00118/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..4aca93aa61ce9f007ec37fc7692895de647a02c5
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00118/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dfe752b91b18fd9f3d9572ac2d15f3cbba8160644762b85908f1c4fd864d4471
+size 1482645
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00139/debug.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00139/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..e52921833b7aa0604d56180ab41e7d3228c59bcf
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00139/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2222635e1042649b7119f27906e0794b4a3ab5ef6e6870538552c90b1c7f5444
+size 1534352
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00139/depth.npy b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00139/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..cb9aa53e581731b9900b937e8a49d085e6c72f90
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00139/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3ad82abd92a878e0b984c5b8ea0a8fbcfa4fd14de8feb3b65c042e543f44819f
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00139/instance.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00139/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..a7b55919cf5e5147763927e6a1ee452ab4d289b7
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00139/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:555fe0d4e9ba6c82836d4bcdb1842fbb1299664f94eff1e4e5956d5d8acf122c
+size 40794
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00139/rgb.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00139/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..35f160c3c84e77c5f3d4a6770448f18b809a8527
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00139/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a7061b7cafa70af003fdf30f1a6a19f624235b1ce7bddb655ce94c4a4222e934
+size 1502691
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00140/debug.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00140/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..ec5244f3d35a0671b7122eeebedffac6b51ba425
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00140/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:218c02327822bb83fc8609dc0b3fd28735ebd96835d86f500b2eb9f962df8d8d
+size 1540461
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00140/depth.npy b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00140/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..960e22c1b2ed6e09f2b4ba687191591a20e21009
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00140/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3e1758b173a0a8d026f28ca1349671c7882356f132baac5dfd336035f0cd0e83
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00140/instance.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00140/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..c073432e1ea056a391a198f7dfae6b7c55336c3b
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00140/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8a1c33656750be34f9ac5e886f6fc23498a28a3672541944f5d41e7fa15fa32f
+size 40596
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00140/rgb.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00140/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..f8355ae9693fd7e21bc9eaf377893527a4b30135
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00140/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:813ea6b67f70aaf28857fba2deade58dbcf84aa0be36e9c6ab3c58a1e155059c
+size 1528202
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00145/debug.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00145/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..6de442877fc1e46f24959083d96fced470e95f91
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00145/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:281f2110ff2a077583935d6b6ff33c2965de84e349471d9c73af1690730b677f
+size 1535489
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00145/depth.npy b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00145/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..e6c99d4f2f5f9d456a258d26e54a403770bffc8a
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00145/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4b1ac6a14b60e6f4dd925406cd787ee28d028ba2caa5d9bf15043423c00c04dc
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00145/instance.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00145/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..875489f1060c8e65aa6e4728d49c84d5155062f9
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00145/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6f6743949d0d3d017d7e94ac9286f5d5af1d619c278b5a414b903f79c812805c
+size 40037
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00145/rgb.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00145/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..a2c8e0fce9e97769a92c5febba47685731a5ee2e
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00145/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:71782973bccfe478dd77b5cfc1af700a87c9401069702855020896c107a3ff91
+size 1525817
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00146/debug.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00146/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..9716c53c9e6249652abef7fc24caa9519947b359
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00146/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:606c9d54be85d31fae5c2905f9c95d0ae4cd97a534cd24e1ab4aeced0995b5d5
+size 1524443
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00146/depth.npy b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00146/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..82604a0a038a60f55ce18e9a5640f9c8f7e7cfbc
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00146/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:146443912e02843b0c4072939960d287bd6bc48dd69b3e94bedb0420391d9453
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00146/instance.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00146/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..2c36214043bbf955ac65cbdbd79a0c548637833d
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00146/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:050f17158e2923a334a97c54881152109dfb3d4619c2a68f070a701e440f9ca9
+size 39934
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00146/rgb.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00146/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..34b616ce5236b8001d744ab6de4f1dbcfd32158d
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00146/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:797d688ee5f300c1d9d8247713d74a32407614ef7d472dc29daf809d0d03018f
+size 1512974
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00147/debug.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00147/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..84569b34358f2b013edb4bb3b813d34bca0c439c
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00147/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e055d16f1db82f30bcb14f4d1c97655cd557926897d1b1a1775ffab7b0ddba8f
+size 1521940
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00147/depth.npy b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00147/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..da1f081963cbde8eee9cfc2c008d9b137451461d
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00147/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:688bdcd1deffc3fe21898efd50eb75c7409eeaf453519a70db01e03f4ace597a
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00147/instance.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00147/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..b4a1ef97c77402a24700c1ab6d62704a61606010
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00147/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:75305a7809c37fc8f4a27207d9d59efbbb4379711991e5e6a57d5dc45d4282e6
+size 39896
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00147/rgb.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00147/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..2f6ced7741ec8c5b89ce911c72f1d2db4a0d7610
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00147/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e5a57943c1aa68bb8c26a79f8315407f613b9fd0fb7e4eb6308eef5f24e05423
+size 1524961
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00148/debug.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00148/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..1327e59847167fc30c52dae770280cf62756eac1
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00148/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b2674e596c613ee109cf4edc830a578c2081d3c2772c30bbe54feece381ed25f
+size 1526223
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00148/depth.npy b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00148/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..98d123896ed7323d9f4dee917d77b74418351c2a
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00148/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0d557b50e8676c34c39bd698abc6380a74d8a7b0ea904f7dc7db2831e95872e5
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00148/instance.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00148/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..489fed4aa963c3c4627ee26d7d118a6682c70a26
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00148/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1cefd820d6638425a60eeeeb6cb8be0e2ba3b9f74ea9ef2f55e973d9fb488b3f
+size 40633
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00148/rgb.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00148/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..93f3142c590e63aa2bc77fe58b8eb69e1c06b05d
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00148/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fb36ca1f1e09c529781a64ebad42b0755c8da12e9f4e19def8b64ebcd2c85d6f
+size 1524032
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00151/debug.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00151/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..19abbebe05d025e83a64741ef32db589f7bbea0e
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00151/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6697954082eb622492ca4e2604889a24b45fcb30b2608f089743c940a9364e75
+size 1538415
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00151/depth.npy b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00151/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..496629323fa281cc0848882e20a3b1a20e413075
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00151/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b4bef81d5e61afc41eceaead424ad7360dbce811d71903ac7172eb68c4a0bcef
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00151/instance.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00151/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..c009c5bb1497c80ea81b5221ba2a6f0bd0ae21ea
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00151/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ef436e507282f50cba897bba10641e5474b79fa7764b97fa2a181a76217fb22e
+size 41120
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00151/rgb.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00151/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..21e8021a765873b2534c55934b80d91e36c64efa
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00151/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:824403e5d7a2b30c0f5b4f44f1b6ce4b8fced2ab2fa38c93894f94aa12abcb0b
+size 1527943
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00154/debug.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00154/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..1c86fe9cfda2a9ba36816803b6b6ef00e936a6cf
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00154/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8f6be070da1655853c85a2d5e3e69b8a16e7d0b71986f2bf9c0cbc830fc0e24a
+size 1554522
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00154/depth.npy b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00154/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..ed4486e1c67ec0adec490f3bb7e203521f03afa4
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00154/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:91620e5162670fdeba422f9cdd2f4e519eb1f86f55f1cbffc8be703583e05500
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00154/instance.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00154/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..bb1b9c42071309938a1bff9f3ac31a122e9bd9b2
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00154/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4a4b5701654a8398b10d15d391028af6242634fdb70e1020220bb8199b776f0b
+size 41495
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00154/rgb.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00154/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..d54a7e542326d2ccfad113b0602bf23c0b0e2b17
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00154/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:89c1d6de873b87eb2cb0c838ec6f17f58beb03d1b5fff1179f696d6e97943f45
+size 1531979
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00162/debug.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00162/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..22657739197074c98d77da8a1c0cd1b96e390b72
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00162/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b05b6d41743bedc8ffa00469ccdd81f23f780c475a0afecc186d6839053b9106
+size 1588906
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00162/depth.npy b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00162/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..fdd2c851769bd0b2a73eac0eea0455ddc2902a01
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00162/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:99cb372e19a9e10f2362b7838b9643a49dad46edef4d084dee2e907cf3cd80f1
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00162/instance.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00162/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..be64ea2711d62a8fc8ccdbf63c19eb33132d54c2
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00162/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:40df84805536afe460142604a4025fac535822626bc04d6915b1e669173b1e32
+size 42874
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00162/rgb.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00162/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..4caa4f21308c17c7f968e2a6b69e05efcd630001
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00162/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:990e8e7676e915bc58ac663979f918462b97a7e68cfce049060e7e885d2f48ed
+size 1549287
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00177/debug.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00177/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..7490c386100886b79b03fce8e8862382a02beb81
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00177/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:02a0ab3734cb348beee75f05d9b8a43b518e1030fab24a352d13d0a7b928caa1
+size 1560447
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00177/depth.npy b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00177/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..46880c39b66054216b319dd7cf21e42795101904
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00177/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:083f320a9eaf556e1bb315b41a1513ec398bbf9a9e4dedf0438f19563a89f250
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00177/instance.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00177/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..28ce2ce3d8ab6be1bff800226a8348cc1c08b2c1
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00177/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c397250c74eaf1ff8d12408f640bec1dc1ce59f50f9b3a4440f245b830570692
+size 37898
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00177/rgb.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00177/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..729cd860ea6d3f9cbcd72563779b7434a03d164c
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00177/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:55b5a1584ec918f961cf8239322780e3b46b4c755b517432d3a5bd8b6f69065e
+size 1569741
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00185/debug.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00185/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..b265aba260b8d0694e846d88460d15b3b46bd2c8
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00185/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ab4be7865474d89faa32d9d9ac1174b03d736c1dd42e4abb8aaa2c45e50238cd
+size 1556146
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00185/depth.npy b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00185/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..83cf95e2e45d0b4803c7ebc8b014dceafa511551
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00185/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:95a9249f54cd9595a99e95af9ee054d1b7ff29820d6441c3f3d0c9c18dc6bce4
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00185/instance.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00185/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..0e50975c7ab373826403011a597284ca8265353c
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00185/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9c82fef43401bc964456a84587712b56ecd3cf4dcd7bea53d452fa63df62e5a5
+size 37418
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00185/rgb.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00185/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..580d7d39bad9710186599bbd239ba3a1a486a548
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00185/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3bdc5831ea06b5c6ef110a588d431fd2269011dcae431c0803577af539ae031b
+size 1553213
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00187/debug.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00187/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..05a9d700f35ef81f6a1f8d5ea4c889c3dab3f17c
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00187/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:83142ffd32d425bea52d6897cc81958e5009f629a7d40177191c765f0c79524b
+size 1537443
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00187/depth.npy b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00187/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..ceb5ba86b1a26b19f981f563fc6cdfcc5d5d8709
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00187/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:263bf8c1053d0e69b024233d47621a7afcdc9d769803ca011abebb9b44c44d35
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00187/instance.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00187/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..afac683ca7058c1fb113940d3bc14d782e83217d
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00187/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:95cd673e2a648be5d8963492856ee801ab9f58d3c29deb1fa62ef6b1b9b675d7
+size 37909
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00187/rgb.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00187/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..acaeef7569e173f95f6bf16b311fde51f13841c8
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00187/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b74568a2121fb764a0ca4ea8c4a4b8013e0d926bf4a918d4e8f5b0f30f24178f
+size 1546532
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00192/debug.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00192/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..b42f31882119363b78a904a6e7ab494b7295f201
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00192/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:55728b863516d5d5607a46aa2ef34858c61dfea1a94e3f41f8ae2a98276366bf
+size 1545522
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00192/depth.npy b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00192/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..08f59144912e8047caf1b3fbc33ab44dc2a98087
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00192/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:53bbf6aa471cba7a2f33ffda1cfe5f7099e6fc3c7c9fca0368fce43aa13b42b5
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00192/instance.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00192/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..c95f934fa71285e434cc3452abfc4319641fcbac
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00192/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aa061f4b1916a28d7a2bc42910a5239357204a2b929a9936e1c2922b7666d415
+size 37854
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00192/rgb.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00192/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..841cf7bdfa51b381c415ee10011fc567cb77914e
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00192/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bc5aa224d45dd0c2899cdbdfc27de3de8f79c645e83dba1970a4c2b16b576d00
+size 1547354
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00202/instance.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00202/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..56ae575d81e4ce2d791939930c3198fd0e415212
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00202/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5c1d72334f15826c3824a480e7cba333ea5d316cea4033b4257ecef7dbd733e4
+size 36392
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00215/debug.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00215/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..f6e22a8f38da7d6bac65996ab9ef5f6ba8398141
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00215/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fb7699f6c6eb6522d7c3e9082395bd9346c11b331e0cb350b348453193c5dfa3
+size 1576237
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00215/depth.npy b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00215/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..025aac3db7e501da65322698b375953bb19f4b07
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00215/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eb12e606a22c51fb505f5527a08f25d859fe2caed02ec1989513df0e36faa4e5
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00215/instance.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00215/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..9f14b2cfbf2418f53b7bed210f67af4af247fcaa
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00215/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0b84abbbae2fcd8e47671aa026100231cff7acddbdb3a29ac45a84f5e4ab0905
+size 53142
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00215/rgb.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00215/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..a3e875f7523649d3441aaf6c97f4c10122ddade9
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00215/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fa72798d3c39512f2d3abec29821da21b0f4c559c9c4b434509b874534fa4d1b
+size 1542049
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00216/debug.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00216/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..ae89ce23942e418bda11a86eada0b3754844121e
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00216/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:744c0b059ffd53a419bb5151085d8026489dfb5f0558d50d2d6677bbb71610b1
+size 1603690
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00216/depth.npy b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00216/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..e7f6548d48d646e9578e81eb6c96b1257bcc3352
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00216/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ce0554b539cbc4bab4e1be4d6154d669277511b02c7cbda6b6ddf64b7a05d208
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00216/instance.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00216/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..25e53d5746dc137db25aa83701e3093d6fe1749a
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00216/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d2870bd10aa07178b66c1730e5f069d1c10ff332e1a53b55379765e84a1cb3a8
+size 54485
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00216/rgb.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00216/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..e586dbb0a66f21ebdc1d39aeb6d66800ced84ef2
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00216/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:18ff59ea677710683f131bf063b34da9274676bc97bfbad7a338e4f210663e2b
+size 1569146
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00217/debug.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00217/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..a71c27a034ad9e48abe656ace483946494185760
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00217/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d82643eb5f55fbaba96310bfa2138c839bf7ab036757a5eb564ed13620719649
+size 1600726
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00217/depth.npy b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00217/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..63667a3dce7f742b7b0fb84c57103b66348939fb
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00217/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e115f3c72d2170f14e7a4faed0db2b0dbfd20609a9791a616e37fc04da239e1c
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00217/instance.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00217/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..c67454cf82577f4a9ca5d2ee7b24a6c82a23d393
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00217/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:df98bc06eaa2ee0e11cdb68bb36050241ff56b4af1860e1e5273ec8260f1527c
+size 55416
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00217/rgb.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00217/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..c6185ebff21f1030a6b4487d47c2137b331914fe
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00217/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b41f88dca3f371a49416c280b7f77a51c141771644ca20d8be373403f6e46311
+size 1553429
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00219/debug.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00219/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..ae4e2e5068bd70fd915919c8e63cdb6762b9278c
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00219/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d7b46fb9f6df6bb5366748694cd9f4f71f3264c9cac6678c4bfdd9bad45171cd
+size 1583817
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00219/depth.npy b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00219/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..cdfe33db31d9b46362db20c3f8623e3b810eede8
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00219/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3d29523cb3aac23a936543e8d5e89f70200eb2913125d96b7c6dbc4e09a2434c
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00219/instance.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00219/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..a2464f90862f6da34091ca834ff0e35f90ae086c
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00219/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bc36aedcaf26313009cf72366b56dc4627d8bf074d178d779a00069fcdc6c3c9
+size 56138
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00219/rgb.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00219/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..cf79f0a819f800b0539af0e557e18e004f8404aa
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00219/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:337f04e2856a838889fb3caabebde51983f237c94bf6420b015ba3804bc2b30a
+size 1538220
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00226/debug.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00226/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..9c7c6a5f52fc38ffe3c1110c194eb3b5c84714dc
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00226/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:45cbd60f8d0c60eee9330147e46a42970f5387cdc4459f2d94fdeeb8baa24eac
+size 1558619
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00226/depth.npy b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00226/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..b9ee22096b28c597e233f55808a690f9b8d6b35c
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00226/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fe4c6ef927197f939008807dbf9b669a904a2d6c6974077e1a2c589d8b4b2ba4
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00226/instance.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00226/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..354c74359a456f02e5b56d86040f46c44b573efd
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00226/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d8a01e6dfdb5c05acc5465c96c9a95a807759adca4d3a2d37984c0aead1f2b2d
+size 59857
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00226/rgb.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00226/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..312de33183b1c85f8e8335a5b2274dee71c69ae3
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00226/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:612b1cda08019ff8651a4092e7c6f7dab15b594d919d62a81e6cc7940a846349
+size 1586110
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00228/debug.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00228/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..98433c7013fd2d18e5b1d86a09c91afdaddfa06d
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00228/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c50a635fcc060d58cf0c6316d0ba1e9fa338a7afe6ed40135970a9c66144c5b0
+size 1544806
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00228/depth.npy b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00228/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..237e8dc3dc1592d28746026b0a4ea6cefa75cb89
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00228/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6c34810ab81c1b4e35ab974106f86b6dbc7699507b0ad4a8b239280e6241539f
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00228/instance.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00228/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..8a64896a5e1b0e4912b83c5661f9d08dc2221433
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00228/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1470d6bdee7c772950339ae11f10877b1da4921f3b1556c9d9fd9c60b0ce5696
+size 61871
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00228/rgb.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00228/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..bf86aafecd6d655d354aae8090ca7b7a40a4312e
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00228/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1705c661b3a84ba9980a9ba7cdb418bcf5f972875b93cf3c56a3c0da81a3f79f
+size 1564159
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00229/debug.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00229/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..cf0b240af3e221c6fcac8c228804f550fdb382eb
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00229/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:27b86393a75d124adffdcbb56a2931dfff6adf93d6851f3cc1e4d97bcf5f3897
+size 1536360
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00229/depth.npy b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00229/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..4b1bf01d7b05114dd13f8b6fecfcd00154737d29
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00229/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:18265f1c6a9afc59201a72ca615749c7627c79493a9f828ee983e0a0b956ce02
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00229/instance.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00229/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..67039e00807a06dcb9430d24e6957ab7ba948974
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00229/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:735746d2822c114abd37ad4b11baa862ddafbd2ad5da60da3a6f09764edfd786
+size 62222
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00229/rgb.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00229/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..0dd7e97ea2bca907eec30d28e82aa3448f955ac2
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00229/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:71248d6c87b35ed0ea4737bd9f2291bf3da9803d4e7d0a134a3fc9bd78cb82b7
+size 1563032
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00234/debug.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00234/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..1ef121b7b71ce265417f702d71fff63e165ef0e7
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00234/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:562b759ead160bebf52b0903d146973570e128fcd2d2c287e4caf281f8620513
+size 1546662
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00234/depth.npy b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00234/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..8e47d9c004ecec6aa717938303888338587e948f
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00234/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9407b129f88c473f2e2673446ca529666a32bee41cbbf5fc29b1c63b4e169a87
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00234/instance.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00234/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..ed110a91739a2c5f6f7757ddbc2b79c72770b370
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00234/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2d17b21fe362e5589acd59bfb6f7d41790a9da290ec1b31fd9080c2c8613632d
+size 67231
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00234/rgb.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00234/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..44576f670897a297922fe9977d38a8f49c4b02fa
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00234/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:74be02c5e49d67418b692168d592124623171efebce8fcc97caf770a694fa499
+size 1572324
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00239/debug.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00239/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..799d792ae3dda744532aa478cfc59a564269676b
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00239/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:559739edaa26d2bf05bc7e3bbdb40e31bb8536d8868dd365b6d62c4fc03e9139
+size 1572032
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00239/depth.npy b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00239/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..347a8627347728db9198895eb03ebd46076c831d
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00239/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:61dfd2c2b3facb97389e3f012891e0cb4d98ace074631504f261981466fcb322
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00239/instance.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00239/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..d3632474832e514f33d726be2a92d2c95876fa4a
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00239/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ecd9bb7e4280c918a38ffb1780d1587b494e06fbeea59020f54d914e42f9a62e
+size 73544
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00239/rgb.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00239/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..cc1f53e0c1f16b17e16426703a3c465b27ebb745
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00239/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2b1cc25f496dd65348b6c5fcf3911359d37e02869c8a7c623c933b94cac60304
+size 1582375
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00240/debug.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00240/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..f712aa7158cd0b2b427364af057b543c5fc9485d
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00240/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6ab7c9a0554538adca0203eba9de1f44cbf53ce79bc1542d6f9193d50f9bb581
+size 1577294
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00240/depth.npy b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00240/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..e58337127c823eaff2754e99faaa06342acdcd27
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00240/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:195c1075cf6378c679acd26aaea077f866488f43b15593fb9f9d4c0379eaeda2
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00240/instance.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00240/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..3d9d884ecc49ffb52a602887985137584b9e753c
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00240/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:73fe39037cd015638fe90a3572f1108f936f676221c827f9386b6bb9b3f75186
+size 74490
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00240/rgb.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00240/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..028c1d636bed1a1bbcf9ac73b7eb2829262dffc9
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00240/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f10a35b133349b2118e14d2b58e83103dfbe1f14f39905c4ef3c7d1034405f01
+size 1579604
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00249/debug.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00249/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..9ea9e6f7e4ae45c38fe82ee3a8e65e37efc826ea
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00249/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ab3d9aa1cbfed1fd0add126e7d890b84988550d72963ec546fbd5a8988ebe8d9
+size 1612545
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00249/depth.npy b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00249/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..cadef7a7516ea692064a90bfcbd5efba8373c44f
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00249/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5b2d9920f621c3464a27b557d821b1a9d10867d21c0b3ca54806d04d47088fa4
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00249/instance.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00249/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..e6276320b4b40ae0bcb09fccdaaff5c7075529e7
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00249/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c0ded0872a6ef35c10628d606af33fb01d70734f59c29168093a6a13aa90d663
+size 76040
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00249/rgb.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00249/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..02fe97c0ad9edcf3f4ae47605c9f2772946f90a0
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00249/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f97ab52134773c568b0b4dcab0d39036844bc4f1421f3931898dd74a3ab79e45
+size 1612294
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00250/debug.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00250/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..5c068fcebc660121919a1bc60c4fa893f9d38c8e
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00250/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:433fa46b81bf52767fe9ac235322cbbeae7955f31d13860b3651f9b4e6a9f297
+size 1612213
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00250/depth.npy b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00250/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..d3c9bb950ed1a50f719d97a4e4b7551a39c90ab2
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00250/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:85f435c857ab8caf480ae05dfb2662eda09262e20851d30e11938fa1eded49d0
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00250/instance.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00250/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..c3b736dfb49fc10edecc44cbdc150278268c6bcd
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00250/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:24dab84c46ed3cb0be23a32a0183ac18ef48f3e90ce3a3f2df103f333a398e26
+size 75950
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00250/rgb.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00250/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..127759400d6480c237336c115dd49274ba87c261
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00250/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:325dd389b0b795362db4c4a8dc500ffb2dd719cbea9205dd6db91868c74083ad
+size 1609079
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00253/debug.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00253/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..faf8e6ca41fa9cc31db8998118b3a48af1f3d079
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00253/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b49210ff02945f863fc17183883b9419a203a241752af0bbf1aa0d26bb1eaf4d
+size 1614949
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00253/depth.npy b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00253/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..12d5ca344e0b7daab302d5cd9733e96a4dd44bb1
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00253/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3ceee450774cdb60f3c5dcf5b3479f04fbd00e3b6268da9982fad195c8ab2ba6
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00253/instance.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00253/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..1ae0d492eb43f93bb775178c7b424a8997020060
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00253/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b08d918a9a4abf14d6038ee20c3f1fd024c7326cfe185a4aa5bcb2b0e13d119e
+size 76635
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00253/rgb.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00253/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..f9b0c488e81b00928e68396dd9dbd0966317746b
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00253/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:be7986b0bb549252a47e442f6713a83c5fee162ee86e64d099afe5b13be8874e
+size 1606420
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00259/debug.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00259/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..b08cd7ae82cad5596374c9849d08cb20db307aff
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00259/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7f306e1b973db3cf9c0039349012b7e272e5e6faa44825a385b5ff62bed5fd21
+size 1575658
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00259/depth.npy b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00259/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..40d848c198d3f40678be6ccc00b9fbc10eb35a76
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00259/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f5d700021dd3fbcd7cf8f7851673495e5229ce9199328d225a36c6d5a888e165
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00259/instance.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00259/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..2dd61351e6618f4df77193936b75e0edd3ee3098
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00259/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:edc8693c410a5cc705a5f391cbf5922068e5cb8dcdf1edfd4949b2d53916483c
+size 67684
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00259/rgb.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00259/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..3a006839d3e4b4f8c5b8c0684f668c5595d4db59
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00259/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4ccccb51bd9978e9ae4490f5c69dbd58e39096c45b172cb6058a50977922082d
+size 1565647
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00260/debug.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00260/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..d145472e94c5b034327b6c3a2a4fa429b7db4839
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00260/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:810e574e8a9618d8584a7a50e8e2ca7d6a23d8806ed21fa40939e82f704ef5f9
+size 1578318
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00260/depth.npy b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00260/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..549f7b1c507ba4f7d345018ee9ad20fa501a115f
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00260/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ce3f3d9413e0960b257e10badda153d51c50a96b13dacf5ae3138645b0929a18
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00260/instance.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00260/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..8a55ed73e344388e9a4fde959d61110d1327ae4d
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00260/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0d83f9e38ed306a3230b0485d5eeb4055697ce9dadcd30293a56345e4668e79d
+size 64064
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00260/rgb.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00260/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..15afb2a0bba7c5047fac8a7b02fffacbb42c0029
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00260/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7a5f7ce9d38473de3eef009ecc5fc76734e04a0522b47727a48c41d6a1d1f7fb
+size 1549343
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00263/debug.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00263/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..5e010bcf5ed3eab4172eb479edbe530e7f0b9d9a
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00263/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:04f87e7a55a130ad82b03c26a259942cb47c460a30a39c0f7be4ffb9caefcc66
+size 1556146
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00263/depth.npy b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00263/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..4121de442ca76167e25de519bdbb68cb9953c878
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00263/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:48549a0be0081bf03faff4608dcca1ff56eba678b4d2c7ae997bb3541695bcc4
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00263/instance.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00263/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..aec666ca841ba2e18ff9e3bc8dffbcd4cae8708c
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00263/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6e282c84a9d8076564f93eb25aade3951d24c8e7e5c1aca86be33fe635be2e53
+size 53934
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00263/rgb.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00263/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..dedb49a4672824a46492894049e0ea0980fa626f
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00263/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eca8a45b8761e6900f8e9e2733d33f34a5a1a799366d5b8fc5739506d582a437
+size 1535112
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00265/debug.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00265/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..37ef20b73490e12444950030e1e969e0c04b9d9f
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00265/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:48d044ac3b22e3cbadd50274d54bda45460f4b48ce26d599b36a1024e972a0fd
+size 1533362
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00265/depth.npy b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00265/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..b6c49eded666c894eafa7c100d788890730b8ee7
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00265/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1a950488cdc87375d4549aaed313e1913c58ee18b86e058b546606de9374b30f
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00265/instance.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00265/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..89fc2edb031ed14ed365b9b315605b1673ce2cae
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00265/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9c37be34f82302299001950f814ecff4488c4ca79561fec40ef71290d58db727
+size 49877
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00265/rgb.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00265/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..1ff46a37431b38ca38bbb344512c18018a50fe6a
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00265/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:10a8549d175ef1bf9ee0eb1eb9db635d1b68ca3ee1ddf30c13ee0970cf17fe34
+size 1515781
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00267/debug.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00267/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..83dc8b411e1683376e7b33cdf72cb4154da57b2f
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00267/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:afe9f52c030f7cb0129da41f4855fa891c061443eda19c82f4ce848a97e15ccf
+size 1508236
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00267/depth.npy b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00267/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..4acdcb8c190346b93ce1f675408d9047ca002753
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00267/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:395c5957e9565b3b230df91564438cac0c4d2c38434eda54a09538be91da5ad4
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00267/instance.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00267/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..29ce8eb4142b054931ef128473b0a4b4c648682f
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00267/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:17f7baa248d6edb20909e49838209346821bfe6142018b37268c6ef43e8e48eb
+size 46196
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00267/rgb.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00267/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..df988fa29122f6a7dedf120d115d8e176da474b4
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00267/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ad6fb0cffdbe574dc1025e5acc511e297c29328dc60d7fe34fb9e177bc94b7f5
+size 1498418
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00271/debug.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00271/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..343b72f50f80f2fc5d3fdcd460992371300dd24d
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00271/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7f8f010e7ac02558b945412bea805fd07121676487072f0675fb683a08e926df
+size 1477540
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00271/depth.npy b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00271/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..d50d1c9158de83221cd489fd580ab7701516713e
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00271/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d3e99ec0a9d3d8005eb9341a4b4c408497bf0090f231b478a60991d4e4a27ff1
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00271/instance.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00271/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..0b06d8e6633841182f8ca52977c6264968d8550b
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00271/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:54c97676414c97534435317ab4c4d16e124b7e1f9f14a2c14b208fb5e8569a0f
+size 40922
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00271/rgb.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00271/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..01e6b1c0ddd5666e073e7660da14ef017367a2e1
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00271/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9e5dc0f0de31d49f8660847888dc05afdddd989e699e5c17e165bf9749795917
+size 1479952
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00272/debug.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00272/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..94a5faa3ea0b116b0082d237b7c509b00880c139
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00272/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:512b0a2c16864e419c8e544c087878c371f7376ec46902fb8c6330bdcb5dfd5b
+size 1488679
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00272/depth.npy b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00272/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..a78c1786f3b3ecb2f59bd1fab02d6a153b34598f
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00272/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c78a2deacc3f92ed22c9a77be133389df68abe17fca1c1ab110b2db0e5fc7f88
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00272/instance.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00272/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..4978bce338f9fbb91a36692ca046c89ff27ea584
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00272/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3cc73ea2301e9ae9e9983b3240adf6b24411642cf93d00b12d95120664ade2c7
+size 39187
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00272/rgb.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00272/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..3a52f543a025b51619e6bd817b144f8e042a544f
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00272/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2364dac8c595dc89f7d145f518638a2e11465d475f7ca8f117241afcbd64e351
+size 1484021
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00278/debug.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00278/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..f826f858284e7e56a66cc99b7804f121b040dcd0
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00278/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:daba7ecc285a27d417f105ea4239c0f9002d4c9ca0e542eb0df36f85ab78f267
+size 1431537
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00278/depth.npy b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00278/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..936764700a7089c297a0850be9298b423a9c0cfe
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00278/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8fd81cde629aebbac1df050358623b788a7b7f02da804f612d00a4125f0fa99f
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00278/instance.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00278/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..68fe62541ae3d54a70a852f0bbeab10dc26d8c14
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00278/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8599321a3a01e72488a164bfd46647edfcddf892d51a0b43efb4f13b74317cec
+size 35064
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00278/rgb.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00278/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..bfe7c8de4a65fc052b99e0d56242ea48d60763b2
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00278/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:554bd2711e8ddefd20ae108df4c9b3012a7b7a076dcaa8339bebb41a83c69d8c
+size 1455221
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00283/debug.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00283/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..84b1eb4cc515e0e8cee3b62655f44d4fca63e491
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00283/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:039ce39108fd76348964feb02e97b873120e47d06db35a55700b13ea25713d4f
+size 1412867
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00283/depth.npy b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00283/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..82f514f60c3cc733542869636560310525f85570
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00283/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:33740aaa491a510414fea5a4573a59e2a599e971709a00be88ace4effd213cdd
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00283/instance.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00283/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..8ad5b8b83399295055850224e0ddcd2c4d8fddff
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00283/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c8c40aadc0b832d81b235551abc8bef772b0c77f1cab186c70d4ba27ee3db676
+size 29578
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00283/rgb.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00283/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..d4b46515eb8d2b926d9804fe5a7cd6dcce279b57
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00283/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f2c5bb0f1d68d2274aa620f497b1eaa441399d3baf59e84eba12e2581c42a3c2
+size 1436766
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00288/debug.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00288/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..5fe6cf502462dfb07f450fc914dafba4571f17a4
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00288/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9dd7895ade913acd9656e8565ef90ede5b9c6df2a28bb5e0f2718bd389d79acd
+size 1429029
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00288/depth.npy b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00288/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..f56f23b9992232c35a1b390a44475bb38824f986
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00288/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e6aabcde7c007b40699a34f579d41be3d601b94bf0f3b31e1f523026d8e415db
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00288/instance.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00288/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..4644d576b7fb33621473dbbb5bf25ddd664a5355
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00288/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3dd195ae613f339ce1a3ba02250d9054ccc848984a66655bbfc88ca0b0a0a076
+size 27304
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00288/rgb.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00288/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..438640ed0d2f6877c4b9216c9acca8e718b3c80f
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00288/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:720c167eb9bfab9b1d467e90ef9ac9f0cd836b08d8e04e182e3a5de683a3fffd
+size 1462814
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00296/debug.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00296/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..1496c2cbe8fb157193f9a190281e820a0e30afc1
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00296/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0fe857e3084c3097ffa32e8700781b2e9b8e5c782bfa98e4045bfaf97d63603f
+size 1468264
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00296/depth.npy b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00296/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..5c02c657ef152880d95be28a8bcef88aa78e320f
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00296/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:16fc67dfb8ac6894e43974e6e826e57eb83daae897ddf6c676b7dfd4f7b6490b
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00296/instance.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00296/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..790476ac33f66cf13862644373666844a2a1337a
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00296/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2e81769657c94b7fd3f3991256a0f5d3d2d3245496be08d33ae4a8e75b6c3d4c
+size 28831
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00296/rgb.png b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00296/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..a08b76924473ce2095473dfffec5d0b072f77f56
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/ORI/frames_playback/frame_00296/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e7c4380490880f506bf3be476cf74c40e5ff97aab3db6294f7ff761d3daab760
+size 1497502