diff --git a/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00010/debug.png b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00010/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..9d8bb5ebe8719105a38bb817cef11bb7b93f9a83
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00010/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:93c4d54175ce809373e1352a8de23a3fefb033b4d005a83a51f7a9c897d75eed
+size 1553890
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00010/depth.npy b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00010/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..3f706b62701dd071339db8f883f9bd5588e6582d
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00010/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6b71efbd2631261523d14514c102ff7a1959b2a8158fa6707451b88183ad24fe
+size 3686528
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00010/instance.png b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00010/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..d7a9ebcad063028a458e65bf99d72fc5d86a1e85
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00010/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:52ea30c303452cd299c2689858a7984e9815c409490d02b6f62e5ea4d94ce2f9
+size 42304
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00010/rgb.png b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00010/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..7cb486ee51c6cb8f48fd2d716723a38e3a2929aa
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00010/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:184e9cc28b7dacad977d26b1cea669882bce15e24822d0a879a2a2a9c20d580f
+size 1556984
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00012/debug.png b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00012/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..7a7179aa360b50eaa6c7d81d61f2bd911ee79ec7
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00012/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2fdbdd3e610552743ba256de3df090584f346e20b5bdd529b1788cd9fedc0658
+size 1582484
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00012/depth.npy b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00012/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..427f5df96fa99dd122a01407a1a3441d0d05e2b5
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00012/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7ecec9f3872f633b6320ef35ee5c5ea3bbcfe7e256ec74bb742110a5138efe7d
+size 3686528
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00012/instance.png b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00012/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..dc8cd7127b12b258a3732064e168cfdf44c77010
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00012/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:149c9a68fda2ea6dae6c43ec1e206010347914da4bcf55d7fd1a44bbc66d0915
+size 41681
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00012/rgb.png b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00012/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..802c1d1f7fc8902ee29181ba7849a25ca956671c
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00012/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:de6e88b4c10dbd30f51b98f3abfe04c15d5c1b71c9eab24f2d0047496c66e314
+size 1585551
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00015/debug.png b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00015/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..45dd34c8243696c772bdd8c847ab5927cb8249d2
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00015/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1a5f24207ee28be54625f00bdf334196ba85ef51c3e55b106e12f3ed10731aac
+size 1572124
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00015/depth.npy b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00015/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..fd67bb69fbc8616d52065c5f3c0dbc58253e2bfc
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00015/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5e7022d791a0e401b498ed410c997acd20cae407fa97f0202b419d378539afeb
+size 3686528
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00015/instance.png b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00015/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..23b611c1a1d116953e68624ebfdf56dfa7513e85
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00015/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:262bc97ac6115ad82d5cfac6984872871df7770f757832d5251f1b690d032e64
+size 42182
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00015/rgb.png b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00015/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..5c3b3baa3fff41103b4405bd8758ff29f12277f7
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00015/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:673523fd083cf9f2958cd29b4c91f1a05834515855337f0a05138270c02ede1c
+size 1564465
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00016/debug.png b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00016/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..7488db890b2fc70e9870d845575eed3b69959f3d
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00016/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0bc1eccd59740132c4b593f7b878e5eff893f76ffd28eb5d9fa00b52b5b81592
+size 1589327
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00016/depth.npy b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00016/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..501db1544f5eab0c7b709b1020cb225bd3300016
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00016/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d40cd21434fc45379dad11f4a962231b5f63b1403f4fd9bac8e749fa3617b5cb
+size 3686528
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00016/instance.png b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00016/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..7cdd438b0f2e22d7483520e1c6c2fe07806948ef
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00016/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5b7b95d4e0d7e523df05ee7eb621cde764d479aeb17420a1687327dc44de6629
+size 42511
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00016/rgb.png b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00016/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..293f4fbe1f1c08d75e39b1c157a914fb31447999
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00016/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1ddebc62f414821cb23c63feaee37d47b1404c206960ab19a02c7aa3bc778203
+size 1586779
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00020/debug.png b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00020/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..563c68724c3b6f385c2ca2580e8202ac411aa25c
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00020/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c04e64381c106dbed5f9231f44f047224316c4aadb1e7ce6921be068dee3e04c
+size 1579978
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00020/depth.npy b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00020/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..061aabae485364f78e9c88bc87f17f93edfe82d4
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00020/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:687d599ca14a6a72ac6280c16abe101f3fb9437d0cc97c17359ad89f704308e9
+size 3686528
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00020/instance.png b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00020/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..45f3ec9413982f0cc5ad6e25708265f50daabf69
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00020/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cfc7824f9f77e2f8b5aeaefe25cd6e0a0439d242b3cb018f325b0f8493d854e1
+size 45369
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00020/rgb.png b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00020/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..1e66af43048db9907748d036309e4f128ff2e89e
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00020/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2a125adbe65f6995842e055a4ee1de2cd1ac9b70bc6d8703d0dbc5fcbb5e5738
+size 1567587
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00023/debug.png b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00023/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..af48fb0fc6be462494360a98c07b3400d9177c5c
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00023/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:72212f6116f2970259fdd12120c7bed0411223df8faf2b31222b363f9b88e002
+size 1581914
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00023/depth.npy b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00023/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..de60a1940dfbc2458d297c31d9b7f294778b6526
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00023/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:abfd68d440f876e90c3aba7e27207a49532d21c8c3e9a6a22af03745b9318506
+size 3686528
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00023/instance.png b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00023/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..4c9d08d7b7447d52df498b12d27b7283148d18ef
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00023/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:04ed3c779835815b86700dfd68d67fb9c8f78656048533fca4d9c3a4bad24700
+size 46844
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00023/rgb.png b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00023/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..39f8ade725ddd97c06a63461f025ab0c2686ec2d
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00023/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:69bc50fca3659f2072061cbda7ddcfb416cb312651182ad839f4390471b11aa6
+size 1567411
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00026/debug.png b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00026/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..b06f067fd803f2c9021f2c2042b8640f92144ef8
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00026/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f6ef0493f1512c3ee1a081837635e042a79df1bf12d60b192cdf5cc2900f04d4
+size 1571484
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00026/depth.npy b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00026/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..bffb7d9a1a26c2a9b0eeded6ce59f78ab20aacc3
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00026/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:078564c65c188c9b6d2d7b0c4784c8f0745fba1b81242fe2848d3f7db55ed5f1
+size 3686528
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00026/instance.png b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00026/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..4ca54bfaea81f7df13b6c82a255637a74fc1fa69
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00026/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bb7fcc05d549c7617d0a458dc857a7018e48a2e31b82177c4bdf74e04c26df32
+size 47572
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00026/rgb.png b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00026/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..bbc02269a39c7ddb7cf44b77e6b28e05756fd271
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00026/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:82a5d4dde43ff312f20dc22fb68e3a0c7bd11983934160ac82d0087acd83a6c6
+size 1556594
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00027/debug.png b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00027/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..01effd455ad9453d428d42431fa020194f347314
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00027/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:686d3e9f229faf3f0c267570a77e5746d83a1d964b8b817f958b8cf0584b047a
+size 1585835
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00027/depth.npy b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00027/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..03d7083d4f3ca65d37095d7a0b2c13c60e5dd64c
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00027/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2d5dedeb885fc5bd49d33a4c8ccf5994d85630083fad9b5b0a20f5a2b6550149
+size 3686528
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00027/instance.png b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00027/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..455fb942e787791ea84a59905a17cd50ff5c4d88
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00027/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f959f31c2a22d0bb32ee7315e9fdb7f447e3553fb6b48ceb3adbbf7c8a96714f
+size 47859
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00027/rgb.png b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00027/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..97e212d3d366a34d9af698f1f91f8b85ee92acbb
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00027/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:acdda44b245242a0681328d139ac3981026afce42abbe07d45641b3d31833f36
+size 1571857
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00037/debug.png b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00037/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..7436e34336ac8a66f6525fa413589f3a1fbb62c7
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00037/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:76faf4cfa2eefe91117adef5d55e8dce77a71ecbf1d3875beb7aaae5f3d73005
+size 1576623
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00037/depth.npy b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00037/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..d48bdd01f123eeb3d6969366eb0e15c1cbe13fc8
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00037/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:faef4da591e0bcb7e4dc9909b527918fb157b96b558a5bebde29dc78af4dadae
+size 3686528
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00037/instance.png b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00037/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..119321581a212d2ac715b50daa2349deb2d90a90
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00037/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1f1f621e66f3faf8f05222c87d8506a81d7d1fe2a47e0fc48821edf8070c1c73
+size 48804
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00037/rgb.png b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00037/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..c729e480fdb9d984d8cbfa99028ae0c7451bb71f
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00037/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:93f8f702ed0cd053ab901d996076cd6472420802705360e8b4def1b93a1d5d71
+size 1572222
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00039/debug.png b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00039/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..51a5a8924893c0d63bf7532f26537a43cf9ea02d
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00039/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5e7db84ec177d04a61f97092ab18210e5d910fb391b5fce74f30acfc4412eb70
+size 1600084
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00039/depth.npy b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00039/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..eb84c5b1277b6c0eaef8882a2ceb16ed1893b935
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00039/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c0fdf088b61c5b4a6b2fedb3b71ac899c955e1671a665bf90b2cf0e1bb9508aa
+size 3686528
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00039/instance.png b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00039/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..0b15b7113a6ffe9cedcaaeb6802b6a2b1596f4ff
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00039/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3372d9f87651d1a0ce0343b962bccfad155b31a2bcbba0efb6452a311b1c817b
+size 48446
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00039/rgb.png b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00039/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..c842c614cb2e20c761823e4ca0b406e0da1ba8e1
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00039/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5ca87fd351c60f4337820bd12ddab6d4cb83404d2166e691ad6ba4e491cfd089
+size 1582865
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00042/debug.png b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00042/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..c4037b3223711a70be0076fead093bc945c1b4b0
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00042/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:31c79cc3144bd8e5e3ea83f02c084a4386981fbb80aa7200a1fb1faeebe7cd88
+size 1596961
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00042/depth.npy b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00042/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..3a4752af57d4d5c2251f770fe34b52321315a93e
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00042/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:752306bdae75a6d5ae07601f92331baaae7dfaa54ca7a3061ee7934f82d32985
+size 3686528
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00042/instance.png b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00042/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..d46f4be6b5c21677964ac2edb77ac65f0f77344e
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00042/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:52823927f695fb3f3db5e91a47d5c261be9ef4fb7ab72bd03112d3897d48e25d
+size 48516
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00042/rgb.png b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00042/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..df2af942178746b5d9f2066375f0e94c20ddcab5
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00042/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5953f1b6facb361f0ffd8040cc4ccb8c08806eae2efd37aab15ebb352b11d390
+size 1575401
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00045/debug.png b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00045/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..e93e68f0f5408b7282754d489d641831919d5c8f
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00045/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3237953b22a697753894bebfd1aff0cabacdebe11886c8d46b6d2104dfebaddf
+size 1595312
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00045/depth.npy b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00045/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..30f1aff0d66da20d7d595191cfe9e32b15f49572
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00045/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1800f8b9e7412e58bf91fe8da416b3047801b8de29c0c8a45456e8861579be2a
+size 3686528
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00045/instance.png b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00045/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..664b6b6f5665f98c997b77d41bee1ed9bbeff77f
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00045/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d1d4b30320fad0483ace76b4b60d31be9e5ccd5b947c878dff12311842e60119
+size 48697
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00045/rgb.png b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00045/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..9ffafcb67118f4e3647d2b0ae1f8da11a8f62f9c
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00045/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a8ad9a58d8952a7afcf3d9646d8895ffe63533281a2109052ffe3aeefc8675aa
+size 1571112
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00048/debug.png b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00048/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..c0de07c1817cc8e16ed7787aa3404d27ee732aee
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00048/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ecae2dd8f8653033ede1b5f832fad9ed764058edd1b8f65019a2e251dd2659bd
+size 1606194
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00048/depth.npy b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00048/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..7b56d403554495a9f22144cab25f6c96c2a659e7
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00048/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:45e2340aa02b37fac899734be2e370f8ae85224738cd221ca0fb3da195948f58
+size 3686528
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00048/instance.png b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00048/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..50afb14a1437c3105dd1fa786b72c2df0fcd7097
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00048/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c255741c3f1635816a7754f20378b17af5e5923e683201ae622a9bd3579e11d9
+size 49896
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00048/rgb.png b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00048/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..3806049081de3cac6db88cb5108d625f61e73d92
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00048/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e35b3d379fabca0e5daff6c0dd0f5a0efc5510a082ae3da642173d4413a41ee7
+size 1584028
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00049/debug.png b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00049/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..08dcbc1f880f03a35314abca0400aca90d71c23e
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00049/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c10e2807ecae6f5504074872a5e2572155df5cc8d8929051e938804c08d76c3a
+size 1593278
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00049/depth.npy b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00049/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..af6610b96c7578f563af91922e07ec12600c88ab
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00049/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1150871043e6b8232393bbb8eec6ad92d14f62061e8677dfc9f48aa2548aa71f
+size 3686528
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00049/instance.png b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00049/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..f45577475106110bc3e32eaa284d977fa077162b
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00049/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dcb67e0d71d27291a265fbef6c447bf8656711350272bc527d956230f348ac45
+size 50014
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00049/rgb.png b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00049/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..a94c26603dd4afc9c4a23c8eed9ce7d11bb31a92
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00049/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:71d8798467117d4ee2b11000d59fea18309e4e30feaf624b35304f574f1008e7
+size 1552324
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00052/debug.png b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00052/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..ce8a7e0b45e8952883c109a28865adb15c26275b
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00052/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cd4ca2f87a2bb87f99517edc59a2c6042be594aeda42c2c1807cf46f8851c0b2
+size 1584149
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00052/depth.npy b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00052/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..c146d0ba418f5c57ff4408a2b90e9f2570f8ec7c
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00052/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a33915cb5cf70bee97492f0105cf04b1118985d4e02291539aadcee4c3ab35df
+size 3686528
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00052/instance.png b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00052/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..0de21f8d5aca1cda76e5788741f350d191763e03
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00052/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b298eaadcfb8bbf6a13c303d45a2956636b262e9d7baadc07e5085e205a0d27f
+size 51196
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00052/rgb.png b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00052/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..ff858ab682fbb84dc4793914592a612d7571194e
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00052/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9e304f55eca3d81aae66afd54acff9ad63f915ff101cd0fe5e6ef605838ce560
+size 1543239
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00055/debug.png b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00055/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..8afc729979dd9ea2c5936d308490f7748124b424
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00055/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6417ad773a22e2aa2c3568b7ddf3e90984dee83417607b1f4e912736b6471aae
+size 1551331
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00055/depth.npy b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00055/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..94a03ed2a49a037fa1f41bd4815229d6030ed1d0
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00055/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:11adfed9cfff70e6a772edfdf36f50d419fe8f7c14607e9815ec0ffdc46d4223
+size 3686528
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00055/instance.png b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00055/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..473048c7b87fcc0537849c4a5384dc492ffa6892
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00055/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4b9c1819ea341c78c4c82808e1c753dbf46a7e271635134dc8c29180243013a4
+size 51090
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00055/rgb.png b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00055/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..96c228622ed0089a090c55069e50c2bafe0a4152
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00055/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:afec27f4bef3befc97b15efd11abf8e0e83ac6ddfc1600d5fd1580635724d7a4
+size 1521119
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00069/debug.png b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00069/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..f70abf5bfbfb780370d4d106071d2c6052110e3b
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00069/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:63a97f1076b803a7201cbea734b34e0eb4ae8bf2e368debae16991aede8d7e32
+size 1491216
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00069/depth.npy b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00069/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..3c150d97021f3003acadf6d5bdd9cc62f1d55997
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00069/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ee44ead35bb343e175e2646c314c09bcb70bdc269b037fac7092966bee0086b0
+size 3686528
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00069/instance.png b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00069/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..5a48364df0bf37f48bda3c74e791e7e2d3c95acb
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00069/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8e2d9e1686ad5ffb17282c515dc96167eab0c014a83d086c088e00989a16d189
+size 51456
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00069/rgb.png b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00069/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..777b8a6bd67cb0b50681d249f34cb4d569345d5f
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00069/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:46c461d051a59c6246b5f22f507ee676f76452280faec2aad82cdefebed7124e
+size 1489515
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00074/debug.png b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00074/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..8ee6ca3377a1c54d361a07e500703db299b3f0aa
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00074/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:18cf9ae5f0962a57076018ca92f68bbdcd4821483636f01b0f03cf593b8447c7
+size 1501616
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00074/depth.npy b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00074/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..fca213cd605bfb8ce664fcee34fd43d48468303b
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00074/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fc2802ec4861258f54e5f24e35479bd5259dae1ca3c2289526aeb5c134f3091d
+size 3686528
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00074/instance.png b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00074/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..7a36fb9954f2483f0339281d0eca17a15edff7a3
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00074/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7a29bcf7ec2cd92aa3a7e01f6fd3abdb06e73c7e8b6853ce785e98716ca2bb9b
+size 51244
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00074/rgb.png b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00074/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..eafa4513101fc1613d8e401e631099c497c28e05
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00074/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:715a86734ffc7f736812aeffe38d92ddc6358f365eb3706692bea544fa7ee909
+size 1482610
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00078/debug.png b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00078/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..857d5c1e4052894171d4d864542cb60579e198ed
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00078/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b689f5f67d14f63810b7548b96279316a19dbef3b01dcfe7bd68c3f88aa6322a
+size 1499325
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00078/depth.npy b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00078/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..a39dc35eab36e3db1252b4c2482fb8362d0c466c
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00078/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:38f7e2dc5e421e3cc27b78e94178bdffb51998a88cb88d0036c2d05b06c3799e
+size 3686528
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00078/instance.png b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00078/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..b4c96803a777391d727db380975e03f64fcc6e5c
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00078/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3d76d0475f85eb37147311ec23abe2c1bed16d2e09f64ccc56562692d8edd509
+size 51355
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00078/rgb.png b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00078/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..25f81ac424e68a337ffa0e11dd93ebd4fd3fc6ef
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00078/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5d7ad3cda7871e246a50a89be5be5d537cf58959067d79d69f8dfb8719d656ca
+size 1490368
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00086/debug.png b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00086/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..e9c80408fe82044833162281bee89460afaae525
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00086/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e432e41c56afab73e4af3447faf354bef33e10092aceb5b83d27673aa56a0a7f
+size 1522022
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00086/depth.npy b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00086/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..3e07f3886d7d54276c3dd7328560bcd61f46d4ff
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00086/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5c13e4697506d32b7e40b9d0afeff2d78d634742a6a6545653251c0d6a9427a1
+size 3686528
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00086/instance.png b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00086/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..b74154f0f2832027ed30b13945b1583869b08839
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00086/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c14a94af415be8a71ab9998a969186c683bfea98f9c557902ab5d8bbf656393f
+size 52289
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00086/rgb.png b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00086/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..0b1305acaef4235d7d76a99fe9a289e70e032979
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00086/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b069efdb121295a9ed87462b4297b4c9ed794366d40158b3b197b67acff49dc3
+size 1493515
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00088/debug.png b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00088/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..1b6c476b34c764a66a0ea06df0971b4386588062
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00088/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2ba1b3b4210eb0a04eeea4a3e21dd5e4ac06c97b5a177b30058a5ee9b91c2f03
+size 1490002
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00088/depth.npy b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00088/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..e875f4db249728e4d2709ccfe3a15b3b459b3ad3
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00088/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a84f611b4653ccbc1ee37a233e5649a69ea0f07fe1d8855f7f89c285e13f2433
+size 3686528
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00088/instance.png b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00088/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..6a6ca7e2e84024577c7ac9aad2d9970d6973e467
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00088/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ddba6e2d26113224f7c6675a2ad3820a71300cb12b5efceda5a923d89a46d267
+size 50238
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00088/rgb.png b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00088/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..b8d8fa431d19fc117a5bebe1fe308e26e353521f
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00088/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8987e0cd237590348d6f217e7a3d5761dfcebbed002401e924c26d16197b15bf
+size 1488277
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00094/debug.png b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00094/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..3cc4ac6bbfb28b7a05d6b199495760c6c2665936
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00094/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:08f0599bfda2c13b00fb847844e18e2008308874a67a25b457cb04c380360b82
+size 1521241
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00094/depth.npy b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00094/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..f7051fe87b9d8062bfd1d3e86cf50512da457c1d
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00094/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ebc8b86eeed1d417bc3c23e209a16b062106f75f0305162f2e96ce39a34d5381
+size 3686528
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00094/instance.png b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00094/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..4956dcbef219399aa8847b90909cf498ae8d2f5d
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00094/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:56f80eb02bc55558fc59c826ceb125d5ec22ea74b86c08994332edc0f842c0f4
+size 48154
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00094/rgb.png b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00094/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..40bdb03fb570130fc3a8759315f9c333a1750643
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00094/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7dfc408ed1ced239a5ed6f6f21f58326580bfcd6813123db7150dda7400be93b
+size 1508755
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00096/debug.png b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00096/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..16da184c23d526a85f7f14a6ac22768fba4c3eb0
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00096/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a0e8217f38b6a70b2d0a976716cd5b36790b302d9293887ef6bd4cf2cff52dcf
+size 1538083
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00096/depth.npy b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00096/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..2c3635885c590a3efe624ca9829e5343ea6e1305
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00096/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2cbadcb2f3e76288aa9e4ccf55ce924266880f4f09a6adcd67d12f6aeb604033
+size 3686528
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00096/instance.png b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00096/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..343809a9c490cb7b6e0e20d741d9dd267ae34cf1
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00096/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9888923abe39fe0cb725d14b5e34ac1c4b5dc44342f5862f9e057625341b1cb2
+size 49105
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00096/rgb.png b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00096/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..d24ac895d8d80d10b96e6254cd27b4a6b638cf69
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00096/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6adf9e361ec651fc00a76f10a11430081e95fc54283fe75bd545c50bad2e27b6
+size 1526862
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00099/debug.png b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00099/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..6dcc2f58c36ce902596a4eef5064503f7c3b35fd
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00099/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:72ced52a46c1b70f9b9d96eee6fac5d3a81512a2c816a1a6b03874d6e621eb3a
+size 1546882
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00099/depth.npy b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00099/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..e8e406babb30b95b6fc0f52b6dfab97b9b690b6d
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00099/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4615fbee0ada9f3c53da7ed5071f54d93a64a63abb8041d80d1c3ef31c9902d3
+size 3686528
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00099/instance.png b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00099/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..4b2b4328ba5878b171e28ced53a2606c1116e278
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00099/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2bd5fe1c4b4165c8eb4c002a2d8d5f2c54681da0134dd58cffd648bf3a6774a1
+size 51258
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00099/rgb.png b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00099/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..fd51625ad5e9127bf782e7ff496fb75e06f0d9e9
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00099/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7fdd64ace7fc9a694f9824ad680d3b63e2610d2aa78ba4f09a39ff10f5b8cceb
+size 1530753
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00101/debug.png b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00101/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..ae9a9828bb1a732792b4511e03b3eaf9e6365585
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00101/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a4f60efc115c55ab604af7316dc114ba78d8f4071e17c4ea316bd936319bad35
+size 1557540
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00101/depth.npy b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00101/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..3204b7313647ae7bb0c988b04e8ec4a6517747d6
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00101/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ef196aa8e69555298c48e9995142150a05afc1ffe0a9d208e23bf5c10b7c44ae
+size 3686528
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00101/instance.png b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00101/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..9fc9eac0da693b386846bb649baa03bc8a7b7e28
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00101/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:87b301efd4fd1e3be67d4f8246164e67a48d4b66972cc8a38fbf9ec937fc03c0
+size 51988
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00101/rgb.png b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00101/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..8beae536b74659a7678574daf754ffb8105c2b6c
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00101/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1a91754e0f35d757f65c5c880c65288a6f7cc6461f5b66bc866888b60dea2012
+size 1539406
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00105/debug.png b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00105/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..7208e9572a1b17211f7de2219145a860806719a9
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00105/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4943ade1de86346c04db88ddbb6d546163194c38a6a234068484b406b2429858
+size 1562837
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00105/depth.npy b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00105/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..8ac2efc8efdf758f3fc0392a3ce9e47d123d9e48
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00105/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8f4eaac1c1e5ff1b8011904d5293f3a0fad4af2b74b94be656c87dc5f3c6ae74
+size 3686528
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00105/instance.png b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00105/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..e03c619230ea5412663ca1976d42664bfd198013
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00105/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1a306f191b565bf6b4279efb5bdb8cbe29451e06cfd76e1d0033bce9732bff9d
+size 54217
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00105/rgb.png b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00105/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..08ecfab856abeb54d774db04c3733d1eaee5c4c5
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00105/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:20c90ed6ed249d38aef61e738584e7165b7eaa882467ba8da34aa4cc712e3518
+size 1534983
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00107/debug.png b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00107/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..d5d9638b2a1f598ef67f11b4c03fd5ee3eb621b6
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00107/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dafca4a992fcaf60bf313ce9d16ac135df9e361a730c45f6892efc7edf8515a5
+size 1550570
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00107/depth.npy b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00107/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..ee91f719d5426e6a0e9925ca1e4364dd0dda1378
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00107/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6cd15981a2e2e2945a8fc5daae79564074a033042de83e320e83bd1c0561fc1f
+size 3686528
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00107/instance.png b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00107/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..71399a9fc901deffefcfef40b2968ecd9345eb3f
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00107/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:da5148e477610080ff33463865238e37e7e0b239cc616dfdbeff5bb7ef748742
+size 54451
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00107/rgb.png b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00107/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..b74e89dd79697ab4486dde307c18f46ebd8bc918
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00107/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:52abf666f14281eacebbad5926c49f87a4c14f3730478f1b5c33b0fffe497b10
+size 1538742
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00117/debug.png b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00117/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..42df63f621f421b287061b1c7555c773ca9c27cc
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00117/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f35a1bf92c1ee5bc464345eb22c840a6fdeec91cc323f2bd214d8c3f03dac085
+size 1584542
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00117/depth.npy b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00117/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..d7aa188e7335cd07e4f1477cbb2c7fca8a42d79e
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00117/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1260ef3e00bc036d5a78228300f3ae02a8bb3778ebcc8d9ec9bf07698bfdfb76
+size 3686528
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00117/instance.png b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00117/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..858e88164db313240ad17fea0f33fbc0f15ad75d
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00117/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:172288864f19055298b0da92fb6161ae74726c505a76ce7c0d6f1bd579e1c305
+size 56617
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00117/rgb.png b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00117/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..2b3b39553b84bec557d796f85cdb194353304ee8
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00117/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:25a54a6154fb0764986d87fb39ec68217df74ae0c8c543f338cefa2244143b94
+size 1555390
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00121/debug.png b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00121/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..016f47da0d1e1942526971b646b785bac840875f
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00121/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7deefc172b5df375c9792cd4d965ed90b1495ec9e44ec84d736546d7f92339db
+size 1607146
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00121/depth.npy b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00121/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..8182d7a2161f79915940c86e7428771a8b041685
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00121/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2d9c867c52713463d351e052689dbc593878a70f6bc466d2407c54c7c3b405fb
+size 3686528
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00121/instance.png b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00121/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..06c036abd573cdb0dd98faaaf579a5115c4756f5
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00121/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5bf393d5cbecbe325425ed9aa68b717b42d217354e4613177597b3de7f4b7111
+size 57356
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00121/rgb.png b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00121/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..7466ed5d42672fb7441cf275aa7db803a2d1dd89
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00121/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:267d0a0f3a287d9b4ff66819a338dcc41a962f80f01b76aff96943d279a57171
+size 1578766
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00126/debug.png b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00126/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..8fe8db683ea3c5ab1a6af930b127b9415a190b71
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00126/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c4b8d9630ad90c936c7bd91eb586c4f8ee6a88b42b1474d2fc26f4dc86794e00
+size 1611789
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00126/depth.npy b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00126/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..cf2bd35d9cf5111a8f418c1b19ae18e26acebf03
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00126/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:183632a3cdcc38e279d06b6e7f66b5d11a500690ca85f25727271b80a54e1c88
+size 3686528
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00126/instance.png b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00126/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..f4433afcb75c3db4949fbe30fa86bfb0060ded74
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00126/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1c770da06bcf9e39d82d8a5dceda1e42a2790da1418f8b9fb2c9e3af44290db0
+size 55524
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00126/rgb.png b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00126/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..d1481a05eb030d2aa66db21b437286945657907a
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00126/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ce86bb5dd3cc3eca72657824d2842b33e69820a5e4ac1584ee52c62ef6cb197f
+size 1568887
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00135/debug.png b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00135/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..2ba8dfc16eb112aaace193b4c7708bd8cec874cb
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00135/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1b73ed51fb8ffb5d1bfad2b8f93fe61f7988ebb1051e9ceaa6571098e1cf759c
+size 1599742
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00135/depth.npy b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00135/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..d58d68667c88d0c165752c9cc7dc19b323e9350d
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00135/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:be120718fe1b9391666f1ad0775ee7af05f3409234da1f0d0d06e3185e0639e2
+size 3686528
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00135/instance.png b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00135/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..358e0074f70f74cb655e474c94ce413710ca9030
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00135/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:36a92e5c459803cdc798aca196162b9a6cfb6de432fe1ea5eb4944f4e2c015be
+size 46947
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00135/rgb.png b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00135/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..99ab603c1df4be331b47e4bd816893923b05525e
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00135/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fa255740b476c998707a79000fdeacfd64d8bda677bcf8453cdfbb5c758125a4
+size 1570092
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00136/debug.png b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00136/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..49992a799b046f3abc1ae0e6b090f17d8eb78cd6
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00136/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5972a98ba611af1bab250431b30a70b71e2d6f2b61c71f044db5bb9c51f3c284
+size 1606013
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00136/depth.npy b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00136/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..0b8c059b392cc849300cbe98d922b47ba86ea93a
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00136/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9c07d775234e734894351f4bae6c3e2ea042e59566e7cd93d3a932d8c9892f29
+size 3686528
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00136/instance.png b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00136/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..5965cafaf6b47547cc81b6689f66e23b797239bd
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00136/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6528659b95a1bb9214253f1ae300bed75c4e0c7be0df2097db7b67ea65bdd09d
+size 47433
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00136/rgb.png b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00136/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..410eaf7db3482d3ae41da99dfe4aeb5a380ca1ef
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00136/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:53a9b83577e737d90a3b883ab973c2f75cdbf29d5a8c0d4ef5aaaa5562341634
+size 1580032
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00141/debug.png b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00141/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..189e15dfc8135e179431f93540d059a3ffcb9938
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00141/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1fbb174ef9d16a77c2c4f48f8600f706bbb16643b7587597ef1ade2cf8c06761
+size 1596349
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00141/depth.npy b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00141/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..efbdc7f41d9086c29a85ef0d36e7ee1b54f4e011
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00141/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:84162923de0ce4d36e864c9808463925c4a65951461b15bd3d6bdd390932d570
+size 3686528
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00141/instance.png b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00141/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..09e5d8495cb373a4206cba609c72795462fab9f0
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00141/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0960cfe579794519d8a3f5d56eb25cf481d0748909d6f06e09d61142d439a9f3
+size 48612
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00141/rgb.png b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00141/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..133afa712ec8e1e9e61f2effae81c7031602f8e6
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/ORI/frames_playback/frame_00141/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:04a3e34838e57727ea4192526bb40fa8cc5abc6bd77be3f0355021d7a5c54513
+size 1573283
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00004/debug.png b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00004/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..185e9c9a4159b6c0ef470e2a20cf1587008ab377
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00004/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1daae6c99802273027f2c5dce7b09e48cba5d57888af139d602553008c9f17bf
+size 1597680
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00004/depth.npy b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00004/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..9c6ad376a1d6ad6d5e324c49a6c32758e548142c
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00004/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0c29905450a31f2f606abccea3584f9d976f829d977db1f227ef6f95e085b2f0
+size 3686528
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00004/instance.png b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00004/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..5b7d2026a8ecfe61fbbb4bac8228801c47d414d8
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00004/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3d3b743483e4bea5cc7fb1153e8dc8ede75324bfe48afe30a95b05cdb51d3611
+size 44070
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00004/rgb.png b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00004/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..f663986b440e867ee592c0b35bc90ac458fe82eb
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00004/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c651b8b713ced3a914bb3619ca1ed442501e037e5001764ef5a614bb74773b95
+size 1552075
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00006/debug.png b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00006/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..f2fef0901eaed7d43d5c8d543d778df8e843162a
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00006/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8fac5a7f7baad36a240b1ab954d723e4a00494f4c53d9a7572170ffc5d2d9263
+size 1582364
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00006/depth.npy b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00006/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..33cbf118c25ddb6ba9b1dc808178e7495eb344cf
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00006/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:50cd438d016a7f9030718ffafe71fdc9a3cbb89e0b02bedc62407eae382f3d9a
+size 3686528
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00006/instance.png b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00006/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..49accda1b8a44253ba40a314282d20329387e2e1
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00006/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c58cd9bdc1a1f4018b8f8ceada54dd37910360312ef55e6e71e41c4e7a0c0e91
+size 44695
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00006/rgb.png b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00006/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..2c29a856a853c9bbfc56f9172f760ccc29ff66ac
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00006/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:feb8f0321413c8ed5f062ffe72c7f83775cb717c0f3b32aa3acea7be4d5e4949
+size 1553367
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00009/debug.png b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00009/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..400224067b2ec91aaf5e16961148177e7f67e907
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00009/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d5eff0a6c406bdd201d4b1d13b8565ff985b454babf282308bdb59b5dc5e487a
+size 1602050
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00009/depth.npy b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00009/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..46d958311028ef325bf1652b0ae3e6f7c732cc17
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00009/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1abde9ac32b78dde4666ead6cb7c46267b4c611d5ff3998238f3690b311d1b4e
+size 3686528
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00009/instance.png b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00009/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..f0c9836e537dd8e9ecec1d2124949698a96cadf8
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00009/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e323cf5b405d911eece0b5d7c77aa7e5d7ab50e99cf36198de62e51f7d1b80ec
+size 40301
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00009/rgb.png b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00009/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..45464c9572eafb1f724cd387c8c9d9f0eaf304ac
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00009/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bafa0c5e72321b0aab264160f66b521460cd3a0be07b1f07aeaa86e290a8527d
+size 1573270
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00011/debug.png b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00011/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..822170dd43ce296a2780f1bb7aea2df1865da344
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00011/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8662a3d66c96831614f486d9e2155e63ed4e10680055197631bf9b3386406910
+size 1575260
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00011/depth.npy b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00011/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..8f3812ac0ed99b0d059811cb7e1073324fdedeee
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00011/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:018593f50d1cedf2475947971c749e91f74578682ed09c16a6040692bdcdddec
+size 3686528
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00011/instance.png b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00011/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..be999fa03f9b71dff4feee2972dff62ead8e1955
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00011/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:45e1b6ddc5bf401b24d5eb35667c5c310efde9b640966829b75ade7dbb8c5ac6
+size 41398
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00011/rgb.png b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00011/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..cb47e6861f150bbc4ce5ef378aa1311c2244d853
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00011/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:71fd27c0361ce62d50388e162cc08a33d880827a9259eaf586f955da5b5cb12b
+size 1557213
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00017/debug.png b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00017/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..907530e11730e95e08a866ea1786613c99299a9b
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00017/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cbb02d70c29b27bd35c361aafec82564133fca6e91348591e912669d214e20e0
+size 1607407
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00017/depth.npy b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00017/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..03bcec8d54768fad3914a5550e01abb125fff054
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00017/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fc3c6464cf0113d2fac3d7fd2ccce72ca28eb66327e46472f4179ab1dd8912de
+size 3686528
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00017/instance.png b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00017/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..49c7fa52baf9671059a851567918fbc386129b84
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00017/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3331d657615032637135a6df89c68b578050f55825f10f7803e056cd9919e088
+size 38509
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00017/rgb.png b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00017/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..e599afc5342cbfde5f451f979b7dc75ea4f85c13
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00017/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:70176fe044e12293ad9a4000f1e93e714e027d61ddc29430b039916e8da27e1c
+size 1573308
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00022/debug.png b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00022/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..522c20780547420115a8fad89483038d164423cf
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00022/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5c9354ca28874b0693814158121df6ae3f9e3f9366beeed05adb00cb435cc1a3
+size 1603839
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00022/depth.npy b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00022/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..14f857ee530bfd79197905a5853127c20c003955
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00022/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:734e08f70204021e9ca71ed9a4ad93de685f5cebf06f7c7585c19b3e366cdc5d
+size 3686528
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00022/instance.png b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00022/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..2037354d76110fc4e61616d1aae807d2886fea54
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00022/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e7a1f59ca72f204fc388e8ba4a92b393e400edfe616e20ca6ecdf86f1eece814
+size 40771
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00022/rgb.png b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00022/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..f903f27ba8a7b01cb26a1f6fac935b13c2c539e9
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00022/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:53d9d351bd78c1761a22d1db1270622d13a3984032841dc1bd6817a3006dde60
+size 1563766
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00030/debug.png b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00030/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..28ca4f04753f2ae892f9c5ca2d5a616404863741
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00030/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1c8d614233ff9ac10de705e14d0dadbb5685ff814181662593b83f77576030f9
+size 1616167
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00030/depth.npy b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00030/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..fc3e0aa99ce004b6df188eff9b6e15c58271551e
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00030/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:509805ed679c83571fe88118561fd961394ed4dcb865180e4e7853845b1c4e49
+size 3686528
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00030/instance.png b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00030/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..d84884b2b90ea14dd1427717c3b34dd2f04b8f4f
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00030/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cc5a2268322244efd1bfa197691a0af69d22d56b3c2df0392d9cba2130a572ba
+size 46053
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00030/rgb.png b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00030/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..f31d822b94ed243fd50a46e8cdd505af80757f39
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00030/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a3bcd34f732c5dc2031b8fe8ff458671d7ec6c71769eda2a8891425f42b3bb14
+size 1562199
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00034/debug.png b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00034/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..8b4b38aaf5a979e52961e3fc48e8774875502f91
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00034/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1821365d81b7f7178e1e6dfe1958c3574417162c9483e376a2fd2000c4fd5b6e
+size 1596610
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00034/depth.npy b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00034/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..a1490df68d3b1d680962b82af1a2859fcdbeca01
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00034/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fdc669ce281b259b03c44eaa11e8ea8d7529911096d76e05e5112e0bee1a3d8b
+size 3686528
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00034/instance.png b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00034/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..3d404fb6d5683cd4296a577d6dac41a15954d29c
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00034/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:72907e9bbbc7c9413d4838e9401d3d97d5645fd7d1430eeccd8023258736a83f
+size 50522
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00034/rgb.png b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00034/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..fcf14dacbbe60c8b595bd23e6d8dee1f028039fa
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00034/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:65f7752d42ac76347ef2c51ee0bfe93037b37fab1607d1d86ab32cf24645aa99
+size 1555317
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00041/debug.png b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00041/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..dbc72db137ff7dab2fe926fb8b9f75da634a84f7
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00041/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9e91f66b843eb8665edd723bd3949f615faeccb34c4a26dd6f2d6c5c7b520be7
+size 1577731
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00041/depth.npy b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00041/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..c971a311ecd093cf90b5cd6cc0964d68948b0a02
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00041/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d9a267950863587d5c7ebb674fc418618408ce6da575cb99dd95fb7b51b9999f
+size 3686528
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00041/instance.png b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00041/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..10a3114327ce681fdca1b0bc81e56af113e21458
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00041/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d69e460c952bf6a23bcdbe30e22487a93269ae77753f79f224765d4e9e00e84b
+size 53319
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00041/rgb.png b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00041/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..83ffedf4b25d3e1a63e25bfe9fde50f77e35e82a
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00041/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e8169c7790cf4547f8f181bc091e969b633be74dffa399c55c716d22e6dfdbd2
+size 1525104
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00047/debug.png b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00047/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..e9a95ca0214f7cbf5b86f517b075b04f37f74c36
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00047/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cce0203b943ee62de80789c305c72c37cfabb39b337220410eed552fd37ec0c0
+size 1598717
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00047/depth.npy b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00047/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..a657f25e35c9ebc791281a2ae14ce40e886f8c1c
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00047/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f14a28413ae9d782e863dcff3a17b5919fce1234d0450a02f0aa02e8eeed1775
+size 3686528
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00047/instance.png b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00047/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..f61e546304b87208f207e3ed071398a2e5e897e1
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00047/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b5a0bb67ff7029bf8f854f06e6ffb9f9b6ffed7193c8f6da8dd47537ff25cb0a
+size 55790
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00047/rgb.png b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00047/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..eaa2cdf5b423c5b958185402c57b6385e9d02316
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00047/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a916b971030617e19b01a37cbe687ceaf8c9ce407a9f7f55dbfba3d4bd5dd604
+size 1513465
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00053/debug.png b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00053/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..41c89ac67ac10c1a944089954a55febc970cd9ef
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00053/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d8d2e1f30aecb58c96b87e8a110ebdc1c3e7c14bc8c56a258fb9e3b122916e5f
+size 1574129
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00053/depth.npy b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00053/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..0b516215e48b7beb563ee75a7cc392a3cbbdca54
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00053/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:587468848f9ddeb7765af7b5cd6e6b7d0370e46ebc39a025c8841ca7be635b3b
+size 3686528
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00053/instance.png b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00053/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..267f22ea5724dc56c23097a1306a244d8f003d84
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00053/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a6dc171dbd6c01db0e21e6e85d6fb2a2320bf30302b1454a75eeac26c7b916ae
+size 49781
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00053/rgb.png b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00053/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..c6c7f5c745bf780ae2a9160abbefa5b008369e91
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00053/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f64fc94e21331e631f328af52a2c640e53f8d70c0b079e4484135787f5804f8c
+size 1521635
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00058/debug.png b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00058/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..44a32ff4f554f33600299488e936b801c350b26f
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00058/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b544254704a54c966b62fe8ee5624c99d080613c9608eb86c810e0c9c5dfa0c9
+size 1579261
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00058/depth.npy b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00058/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..f9f4c2f8c6ab667c7b732693e32a64a1aa08e787
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00058/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cec81d6e262d5cb7536255d461ef3b15d63078706f3b33bcab4c58f65b7b2822
+size 3686528
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00058/instance.png b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00058/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..575bf34257a6b7daec32f52bff0b30afe346378a
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00058/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:97dd473210d2c44e28d82e6cb01938ac0fc38dec6c1036cd3cb31a128c553cb7
+size 58452
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00058/rgb.png b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00058/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..810c9b0e79ce4cb6d997a28e0ee54f4b95e79df2
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00058/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:09ccf0c78911e3c03a80ec96ffffa62837ecab2732de8af5ee54e214aca42ae1
+size 1514976
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00062/debug.png b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00062/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..051488cfc370486a55380a15b37a587d99d3fbed
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00062/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:72508f39bd76324a793a6cfbf984d511d5fb8d076921216e2a55ee49a6847cd8
+size 1517553
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00062/depth.npy b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00062/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..cc365d0f26ea69a6dfd8d29ffdc07c729404e0e6
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00062/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:abc9e6d790f866434ebc4d96b453e06d13c8d93ea65dd1625d29e24bcb7806c5
+size 3686528
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00062/instance.png b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00062/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..1ea7213f383bf021b0e0c27bd5bfe2319fe84e4f
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00062/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:69b6672810324cc601f10d89ff67484952ae5f36b14a7f5dd1ab415fc9029fb1
+size 50731
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00062/rgb.png b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00062/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..965a9dbf4e0ae8fb0aa4c6e5e1116d533293804d
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00062/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:06c25ec44a035bd73c32c945916981d8e96770d5aa57c3a6238a8ddb8e936ef7
+size 1491251
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00067/debug.png b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00067/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..ae3d8508f619a4178d30f57c579d65b6436e7818
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00067/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3e54c712875821962775b7e08b0b317dbb7822c285f9782101f07b118a507542
+size 1510109
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00067/depth.npy b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00067/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..f6defd4db1dfd88f76638bedfdcd80ccc982eb6a
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00067/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2380174a54fd7c7628ea4695d23cb747eecfbea57b059c4cdce620871ce13283
+size 3686528
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00067/instance.png b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00067/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..72b8b589ff60745ef476c9f22658595b5d521478
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00067/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:79753bd536662652a2a8a42a1ba01edf01245eb79452820965f228916259f1b6
+size 51212
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00067/rgb.png b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00067/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..049ab5275e3815cfdab3465f19e92328f3106fa7
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00067/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e614e4d8d7c7df6aa4d8a95e061192a7f1c1d46a508516861a256152efd30b21
+size 1477098
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00073/debug.png b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00073/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..95d353062807342edb490bb08134d0b41c335042
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00073/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7ba214c0279be15a644a58dd86b070452eed5a44c3bca3f94ae3408e470e3ffa
+size 1525128
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00073/depth.npy b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00073/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..2ae6ea1784e5ae9dabac45a20f2d268b76aa190d
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00073/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:43dac88e38da69349d57e6f0dfd4aa34fe6938e4d8e4cd51d13a44f2425b1564
+size 3686528
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00073/instance.png b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00073/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..1a2e0e797673c3ba2ac257f09a6fe5ce5d29464e
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00073/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5d03e6a0ce82954e0b5cd503806dc65c1ed7c55296a1627fc65be10c48e22662
+size 50781
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00073/rgb.png b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00073/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..90a21972066d4acf63fa4da35520cfa62ecf3125
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00073/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c752dc2d65516887a75a305b28ac433b087f29e0a99471997ddc0711861b25c0
+size 1486892
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00077/debug.png b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00077/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..90e9a7778c89fd0cf5bdca312fb32e2317780bee
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00077/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9b3d37a14aecdc03baf7614f1dd3751d23643f82f26bd75fa6e372f16327f4a0
+size 1557794
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00077/depth.npy b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00077/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..5b55a6cf48a70e414eec955bef8830a32f48397f
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00077/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:489e2476ec52ce0dd836caf7f97709ceb6f146a4d77ff53e321dba4330b5dd6a
+size 3686528
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00077/instance.png b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00077/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..b6bd1874f2e295b7fb6b41e6bfb1d18f9f18835f
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00077/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:10ddca95d71c3dde928d1b2e3f6881d0b1a9e30bda8833065aab0ea5255b27e0
+size 58376
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00077/rgb.png b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00077/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..e99ac507f82f3d6344645a55fd957c4ae09e43d0
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00077/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ba0b56d09f7292848a536410a0ab5b13e61dbcba3809d1360a7c0a938c478410
+size 1485317
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00082/debug.png b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00082/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..156afe52df87d9a0f6e96ce964566b950d1eae39
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00082/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cd9cead96efbdec8c079e29d6b1b66cc144c91be5382c3ac1b0d082030e0804d
+size 1554471
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00082/depth.npy b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00082/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..9c303ee3526b23edd1dcf7f96329403b09b60d2c
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00082/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4f42e4de55f58fe51aad3e54b86416d005815fe703bb5a0f10d318bb2ef3edf4
+size 3686528
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00082/instance.png b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00082/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..9d0ba6294a2a98ac00f071a2b871cbe367ab1c60
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00082/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f8c26bd219848dd7957d3ac39e08b84d12d6f86bb976d55d7eafb49fb6143894
+size 54765
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00082/rgb.png b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00082/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..c4301223ef8eccc29492f572abeb89128e5b726c
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00082/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d12184d67c86a5bef8cdfd43eccaa055ff8467aaa7d6896afbb43c28e270a342
+size 1479106
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00085/debug.png b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00085/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..9f385ac44915ae8f07e54735057fc5f691ea6e24
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00085/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cb58da8244c0ea6d6de2ff92791dac732955cf4b8cd0007e67b504167310cf1c
+size 1546841
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00085/depth.npy b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00085/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..1e6b5adb7c71687b285a5274c91c4cc4d0b548c7
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00085/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5dc04e9c952a5398ee176edbc5a25bae401f3bdd3387ad195295242330bfa059
+size 3686528
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00085/instance.png b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00085/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..0bc7ac4f79ed393336955b802d55a9f143b986f4
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00085/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:01dbcdc5bfae376d2e9cbce0ca21ef1cc57964c278d9ce19403768ae7d89958e
+size 52394
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00085/rgb.png b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00085/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..5747d48e2b383f7b0de8afd23c7842b898bfeb9e
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00085/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f513daa37a7c109386dacc808c2f2382e211b4db86129d589b0668ddbee7aac3
+size 1487742
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00087/debug.png b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00087/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..9a5cbc6e1ae7eb30c44012ae141d4c4ec07abddf
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00087/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8131226546443943216d2f6bad71e2315cb0cde023fb111006b92a7b852ef19b
+size 1539186
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00087/depth.npy b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00087/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..1113f5481b6d5c12563eeca41ae8a5022a718de0
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00087/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4dc3d4e697ccf01a3c26c5b15341aa7168afb84774e658689452d9356024a2e7
+size 3686528
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00087/instance.png b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00087/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..d8387f122ffb705d2ce92f0ba85c288d9d73ec1f
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00087/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d2ad924c64cb02e9c7f878349d881a2b865fc8f5bcc09ede7075f06f7436ba93
+size 50729
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00087/rgb.png b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00087/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..d1bc96daa2a2c0b77e6be8d51da19c22b17869ad
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00087/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9e8e535326c788b46289048b919a5f8ac47986b959f6c4dbf71c9067a5536a61
+size 1494700
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00089/debug.png b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00089/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..a108c6d34831e2053635664e6a41f29c41b9b040
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00089/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e75fdc4df84ad46ba659b579f6a5dae47bc201e2b095f7705fd7ee81597fe832
+size 1553275
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00089/depth.npy b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00089/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..f4587f39e5580158ba1ad1b8871fea1bd6cfb0cd
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00089/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ff634ee2a209656484ab2215d807f044471dcb13a56fc4e7191355dfb3208956
+size 3686528
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00089/instance.png b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00089/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..cb286ce10e5965b561ff4ddb978071aae86d7b1c
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00089/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a2c5e41b733e986e2ac81791a21b52220ca26d8585cd8520f7701ac62b120bf8
+size 45583
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00089/rgb.png b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00089/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..4ab2cb6850f1a393bd09efc4847486d032ae9cec
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00089/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d989b9abb3f5b82501d5756e9e2c7b5c6c1c01a9db98d125e73693f5ce74427e
+size 1519500
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00090/debug.png b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00090/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..de454243405594b968767bb24f16ada9212c3a39
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00090/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:edff9b505227a3d6a9c04dd762ef795515ae3ba57d01ae47a82af66ade135fb2
+size 1552742
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00090/depth.npy b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00090/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..79d9f923dd009291ad59e2382dc98ef3f7b4e0da
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00090/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a18684d78782bf62ea8124bf4ff60e9fe2832f386e7f1d7566c7502a09dd6d28
+size 3686528
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00090/instance.png b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00090/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..5e8160f819c5d41d98c8bc1ff841657bba5d5a57
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00090/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:695d6e79c1f8f818ec425cee6455512b97a608921185d29da15684928f8c4f7c
+size 44701
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00090/rgb.png b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00090/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..2448e0aecd4778b2053b353ad31520d8ed0687a5
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00090/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f9a2346c8e44fd6833786652059d54b66d12d7d44b1922a76db054049ae8d8ad
+size 1517066
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00103/debug.png b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00103/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..c4a1294ea36b3a0d491bd672e1601c7a8d54888d
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00103/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bb9787b6191a36647e131a8ecc760ceff919d058338740ed027819ed1cc0af96
+size 1582259
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00103/depth.npy b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00103/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..a341958c8639f69be6a2eb8b69f6d29571988b29
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00103/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5eaa23cdd3f78cf74711c73842819258f5d19c7f47f3741de33a51ca47f99881
+size 3686528
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00103/instance.png b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00103/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..2bf40297c6d0fe1b2d9a035671de80787ab6aa8b
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00103/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5a80a058b666d7171700ad390d292a6b2956b7cf27cc339afc4789148700ff81
+size 53329
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00103/rgb.png b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00103/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..951314a639ea4a986f7dfec3068ab54f2bd4998e
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00103/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e6cadfb626c37b5614f5abca428b04ea708997bb073f2a80fe52b335777afc54
+size 1516491
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00110/debug.png b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00110/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..3a336869f505f62e113d3900dd7864d38bab36d9
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00110/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3fe2539baf17930612ce95e5bc5ba520ad70b28e563c65f120d7bcb4349a5636
+size 1585061
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00110/depth.npy b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00110/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..4f98eac71258c75045361fb77e153611d71b4d29
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00110/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6a7e6b7b59f690d3516dd8187b54c23da1391f29f58a3f9b351cd1a8db7a4572
+size 3686528
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00110/instance.png b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00110/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..5125f42cb36092623907a62dd06cdbd5f3e975f4
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00110/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2712de7f75e3a5da2d9d5304f8845144b71bc0f8104c65c6879abe7e0bcef586
+size 52974
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00110/rgb.png b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00110/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..9dc5f5edf935747af70b88b16157667719819114
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00110/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:689c92cee41e63ec43ea2033cf73e410bcd896f0bb3fa4acdbbe34d076cd0071
+size 1527550
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00111/debug.png b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00111/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..ff933656883f42413c715c645fe44d63205a9684
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00111/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:91bda2ee0d21dfc8ae986b10b6f198fe7d9947f3d95d77fa2d94705d24c9956a
+size 1584257
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00111/depth.npy b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00111/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..d195f0f2c122c1bb1c8681ce4e14fc230a257e69
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00111/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:108c8154198c49e181f70cb741442750727358a6e130953c82076ed5b7bd8a8b
+size 3686528
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00111/instance.png b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00111/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..aaccf5e68a5181a07a81e878838f9f220ad9d938
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00111/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9fb5ae71846ff465b127d0d4c094c65cfc0d705b22cd8a7c5be86801f7500cbf
+size 54667
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00111/rgb.png b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00111/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..46256bac34bc7141ea249410e6e2c128486184e0
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00111/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:06250522ca08fe9d0a670eadf29f2bf869f9b4d9e023e96395b29b3474f6d3cb
+size 1550270
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00115/debug.png b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00115/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..a8f640d1448f8f05c8ffdf2966697b852c0170ca
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00115/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ffc9e1c9de9fb98e314401439ce056c69c474cd875e5289a027a72065ad7a0e9
+size 1613190
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00115/depth.npy b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00115/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..a9617b11490848d73c168d946e1756d586182420
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00115/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:637dcdb420be8be9527187c244b986c435d45ecfb7804dc5de8172708187a534
+size 3686528
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00115/instance.png b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00115/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..1481ef30ab9986d65c3dd7e238ab88b56e4d69d0
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00115/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3650cae27bd4327473898b066c6e282d83fdb1311a8e1a815e801a70879deb90
+size 48665
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00115/rgb.png b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00115/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..e91a0918728ede6a9c4ffdb3af0240a7a3e58783
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00115/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:048dff7e020d82d168a0625a3f81cff8eb67960ac4ca4de745d7019943438083
+size 1570615
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00116/debug.png b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00116/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..e6e17906bbb42f7e960f5141f9a917886b73878f
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00116/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8f2a358f447011368da7439a26eda6cda539daec0992571cd6f7ec3f40067d7e
+size 1636037
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00116/depth.npy b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00116/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..3c6957efc84f8e51630e95f39db066921ba3f714
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00116/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:277e5fe0e229326f3326bea88cef007033521a556b717221308e89c2997b930e
+size 3686528
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00116/instance.png b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00116/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..e4a485063c5cdd4551abe7a6a6d3c23aadfe7220
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00116/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:14dbe50efeb29b0ab29b9a84b58f91d0e1fa84c12ab54133fd7a5d240e46a3ef
+size 60663
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00116/rgb.png b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00116/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..042fbef64c3964baa8d1bac062716b5c65c1c8fe
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00116/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e973040d33fb7c0cd0e4ea52826a5b1eef617d521da5bf5090fdcd359bc3bc75
+size 1567537
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00120/debug.png b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00120/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..07bc3a5c195f02568093e57f699b2e3c15a1ea87
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00120/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:26d31d9fde912d90f23e84c79823004a575d427ee6b4335d49ed322642cc3b32
+size 1623712
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00120/depth.npy b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00120/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..36f65d37bbe3d977dd3f5ed263f7d299492973f6
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00120/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c4517be2b168335ae5552343ac5b6950df57f009c68c84aa1dd0e5c801e2a845
+size 3686528
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00120/instance.png b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00120/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..8fc8cb782be4150fb34410bb817f399a30691149
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00120/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:73a81d81fdb76614c88038e1f20aaf70ce37d290c9a34248119b90328e61e8df
+size 52529
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00120/rgb.png b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00120/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..c4002813692616a2262c6e96a2640ea490f4f87c
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00120/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:05571630cfa6d604bb6e98540abc7f4a1d45947f914a596f848c4d0ffde00e3b
+size 1561275
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00124/debug.png b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00124/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..08fec88f1b42d6785e42015b27b91779e75a3325
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00124/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:776563e3f8ebde1d9a32b3816fb52cbd60f752dbd944d84f0e1e1a1fb91640a5
+size 1635633
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00124/depth.npy b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00124/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..d7b005b93e4c710673e1c748017d117da0694fb4
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00124/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:14e13f8eb534fad277f056b180325bbe0e4268051cbd79600e917626ae453276
+size 3686528
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00124/instance.png b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00124/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..70e1d9df0518672104054c41757944a5528fd9c1
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00124/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f4497e40af83e9a35be2551e6f2a5ba65cfffcdb479c974daaf71728f776e06f
+size 56955
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00124/rgb.png b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00124/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..faeb01907e41aeb61d76ca32754d3709151e24e3
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00124/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e917f78b270e7b35bd2006c173be6cf3a6d363cfc7cc6a04e00ea4681d130f45
+size 1570555
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00130/debug.png b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00130/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..a82c8f9a94b494b9f8cd80a617834d678a28f213
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00130/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8b667b09d329137492d85147d0dc0fa1660e5c441ad5d4e8d2d39ed80e0f59a8
+size 1661587
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00130/depth.npy b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00130/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..ba6b16e8fae80ead20d0b114a35cab59aa86c2aa
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00130/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d16e03a534536215d688326c56eba416ee1a10d80aeeb53546891481f69c7498
+size 3686528
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00130/instance.png b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00130/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..e067773b3f7d0dc5ef3d30c3c8f4ca51c2fdb4de
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00130/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5b20c4837470c588fadc454524c9ef6f1ff191e75394abb763cf13831f049fa2
+size 54132
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00130/rgb.png b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00130/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..f348c3f7f4e3ff9069136e81a3935e9b92da36df
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00130/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7de855cde26f9ecc277bc6cb167e358a2dfd7cc80bd0a591c44467d343e2af5b
+size 1573800
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00131/debug.png b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00131/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..45e6ab2f6db90ddca5e55f67227cef9c24ecfeb0
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00131/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f53e17add390918c56ece6993ad632b3f9b1926e13da9994884138f53a9aba6a
+size 1643757
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00131/depth.npy b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00131/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..689b0f11c3280ee3e1f7eb1d4e91b4078eec67e8
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00131/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eb44801b340caaee4782b52d2e2f3653acfc6b40f47f1d78311c87310b8db359
+size 3686528
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00131/instance.png b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00131/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..7dc50b17236818bb47e78065d00a83984beb5f3d
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00131/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c6a840741354f3e1fc4308097222bb6deee4cc84d9513a403f6d1a0ec20f9813
+size 53230
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00131/rgb.png b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00131/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..85e711db4ccd67d49ec55a509543e94fb67916db
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00131/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0f20a972ac29597cb5d3d46b4cb99ba887fe4910d710a2ddddae7d1ec3c923d7
+size 1580345
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00133/debug.png b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00133/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..2c42a8fa489dc63748701023cad1ffd08d7f5f73
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00133/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:19227663a8d52135fbc4d31f93f01288ee793f22e9ccaa5ff483ce5844a7340d
+size 1621733
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00133/depth.npy b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00133/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..a80e038e59cd842002993ad1f1b030bdc3f9fd97
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00133/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e20d0aa503cca4acd953c015bf2b8aecca7ab25d9a4456c27b24363c25124f47
+size 3686528
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00133/instance.png b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00133/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..d574ae0c6ff5021aaefdf09abe40dc8b713960d9
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00133/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3c0978d933a878fc85c3f09b427873218416de04890a130955b63aa10660df22
+size 49827
diff --git a/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00133/rgb.png b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00133/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..cc0a39c7024b5880e8e4541914b0713184699d6c
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777051735/aug_001/frames_playback/frame_00133/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:de5d32c7fdf4c1919e5b6315b590e78843ae653df61b8a9eb981b02106ae8869
+size 1558718