diff --git a/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00010/debug.png b/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00010/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..6fd223df43708b6532c40d3f173da6e6d91c0e82
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00010/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:45938af3f90e48141e8f12229cdbcdc83096ae7cf38c07d56f14d77e5c1d7017
+size 1575052
diff --git a/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00010/depth.npy b/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00010/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..19e77b0b7f8bc0665e7102131ec99df12f88e6b2
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00010/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:92275c65264b450bc49c6e5432b567f706b2eb54f8fdab3f52b90ba9071d1472
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00010/instance.png b/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00010/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..810afd8bc21347e2dbc31fe041a2d9f468378d60
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00010/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f549f4fee80f66f3c554373f899a6eebd36e2d6742bff9e36c68b552975bed89
+size 38028
diff --git a/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00010/rgb.png b/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00010/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..0b06f8bce0180fa2ac248231e2860d99b6683d9f
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00010/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:700749611b1b8512b4f7c088f105f1ffcbc637f4f394fca19930b7e727d01a2b
+size 1458804
diff --git a/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00020/debug.png b/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00020/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..7089d6395880868edd55604bdb773a1381bf5a7f
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00020/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d023ff1edcad568d9a0da9064e07ebc6c7bbaa132c154be209c500877b688ad6
+size 1526088
diff --git a/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00020/depth.npy b/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00020/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..6d089c552dd5dd17119832921cd742e7ea9ce268
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00020/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1488f254badb08dacc63f5b9e616e989d244cf4942ff8cf3aa426b80638d6ee0
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00020/instance.png b/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00020/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..c13aa3532857371803a0476ba70d97d7887ce61b
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00020/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:afd2c58fdd33d88ef8e2df62eef459275937ca508efd659091085e66d55069ea
+size 41338
diff --git a/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00020/rgb.png b/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00020/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..2e73a0c56883f9870a97fdeeef2cf78c34872526
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00020/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c1445e578ade486c66891b51d3461e35cf34dd9d0dd398cb43108f157e6d6d05
+size 1432908
diff --git a/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00023/debug.png b/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00023/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..4696ac737489dd8965b87efedba09e8da42ee3b6
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00023/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bd066cd4d79d83b43ce233e91d0ba54ed9478d3f44b99bda72e7e81c2e24127a
+size 1534428
diff --git a/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00023/depth.npy b/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00023/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..24eaef28376a92184249bec4fd5e21051305dbbb
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00023/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:455144ce40651b8b457de15661647d48316586bb1a94860f60b0035708b69a5d
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00023/instance.png b/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00023/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..dc322f6c68086616e6fefcfe9813b4b9038808f1
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00023/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:36eb46c53e7ff4e7a825be87f31c970d1701fe01f6f9a3a7f453fcbf5f21ed52
+size 49576
diff --git a/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00023/rgb.png b/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00023/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..0fe37435cb9676a93ac5ddb4de635706abeb47e0
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00023/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3c72a82fd70fa26c35e3cd2aa4c3ee94ccc2d95d8a8dc7c2f04e15d11040c512
+size 1432733
diff --git a/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00026/debug.png b/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00026/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..db155e9d462be452b9422bd8e98839a783c7b885
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00026/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a9da0177884d3361b7b99c460a24afded0aacd01584313daa9fae60e346eb749
+size 1482564
diff --git a/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00026/depth.npy b/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00026/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..6e1145404aa4bb340e90a0b4f099377522e254cc
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00026/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3ff9df45428d7e1f96280239c121fa4b922e5f98c07bb970e190e38362e9dafb
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00026/instance.png b/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00026/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..eddad868a1c755aee9d5dd3374f65d3c1406a887
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00026/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:de56b8b8d4a5b6e3cbb0cbb2fe20cb9963afaad4c9664114e56220ff19036e32
+size 44434
diff --git a/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00026/rgb.png b/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00026/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..17897559988297f442636c1ee065069ae95c72cb
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00026/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:468548106feaa1bfd547af1053bcfcef31db27ffcc64fffe997b1e26c6102803
+size 1404730
diff --git a/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00027/debug.png b/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00027/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..a7508edbef339eacaafe201780da1b1b27205039
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00027/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:68977269c9053d298c0098b8a732d8f380e3800b5ceab7bf17f085706e390816
+size 1490596
diff --git a/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00027/depth.npy b/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00027/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..28c0c6461ff538f8e1b11e4b67c44c58e5b1fb7d
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00027/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bf629fbe47e6d284e1c41fed76fef70019ef8f413f11f2279c1520de270ca74b
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00027/instance.png b/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00027/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..95c2ac938cf092137d31c9c1e37891b3a11f724e
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00027/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b7c8b9443258d1f586ef6fe22bdc8e076cd658d0daa7e20bdd13067ce3884628
+size 45585
diff --git a/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00027/rgb.png b/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00027/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..3edde9796ed92ce54f4ab4ecc22bce4f38b3511b
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00027/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fc7802b47f80821288e626dde4c1781b9036db8a218f05b58a19ccf196089841
+size 1422153
diff --git a/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00037/debug.png b/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00037/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..20d204b1fe29fa7cb55f502a5f496bf6684f5303
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00037/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a7d7828608ef2c44f35eda30c805da3b4c3e44a66b35b9a5d4c2a883b7cdc87f
+size 1373942
diff --git a/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00037/depth.npy b/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00037/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..34c1ee4f89fd21de7159b421af78d5098de9d117
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00037/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:777bca23adcebc83d25980855db08cf03902f103833d6c368379c0a6e86bdc76
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00037/instance.png b/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00037/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..51f1ff9f9f527927f40e7b82308a9e6ae03cb796
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00037/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:83b97445ecf38b61c28cb8f95c8c0956e881c912598f64dff7ecc90795e3a06f
+size 55664
diff --git a/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00037/rgb.png b/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00037/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..a89f7e37044de7cd90a76869bb5444e23bfe9e19
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00037/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:df1e23952069d8aaa0c605e5fb7acbbb45a795f9d884bcb71fd43d6c1ce4366d
+size 1329374
diff --git a/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00039/debug.png b/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00039/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..a0c5906ef596b469a625bf4969548f04a8ee4c5a
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00039/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6e15f95d9e2ea8996288a267c0f70e61eee21329ce5520319d5bf86864f2fe42
+size 1426010
diff --git a/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00039/depth.npy b/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00039/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..44b0a3ff1c8484cbbb2635b2c0e9df4eea4bf2bb
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00039/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f14796fe5defa7073953166df7d306bebb4c70008b6468570d1e057faf25c6b4
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00039/instance.png b/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00039/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..f3179337b20f0f7a615d1d29cf01c2b9a643f26a
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00039/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dae4dad85cd57f7ac00e6549a350091e297d3c6aff23a51bcab38fc8d6f1b4fa
+size 63746
diff --git a/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00039/rgb.png b/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00039/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..6754d6dbaecde554eb8b964049629cf7ea50de97
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00039/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6fc9b7c6858fa296f4879405882ba73a2808dc35e403693157731abcc4508830
+size 1355047
diff --git a/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00042/debug.png b/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00042/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..ba628d62e648664c3ed36d81ed2dfe9a97c0e331
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00042/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d6da4836d3063503e559e44c3f716c71a342203352634dd4250bbcc088a19d3d
+size 1407295
diff --git a/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00042/depth.npy b/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00042/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..16d1aac156943e5e31fd1054b15f15c50e27e2cf
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00042/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6d9f2481ddf2dcc16d056f2ad4078e02edad70685eaef377c0fc7039ed50cccd
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00042/instance.png b/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00042/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..28e85f0371854b10b3259245b1b6ed5c5b5a4a1b
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00042/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3716dce98d3c343d758e4f6d76300103961b1b0f30a58e1a9baa048bade531d9
+size 63776
diff --git a/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00042/rgb.png b/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00042/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..66051c11d220b225c9552ab0a8f03136d7e2a3e6
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00042/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5331d48cd27ef5e5badd988d76ba838f7812cc20dc844af84f4df07122f6a727
+size 1346329
diff --git a/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00045/debug.png b/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00045/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..7c057ae86f096f0c39e033cd170c3d35b7d38d65
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00045/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6b2b74518bdf1f79a8cbcd8ed2393f0039e1962431fdd97d95ae543e8e99da39
+size 1411706
diff --git a/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00045/depth.npy b/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00045/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..a11fc9ff0b1d2a73da448b97af1943521fb2b8a2
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00045/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b3d2ebe5f39a0831e39fd5900587cbcdbfb4666ebabf8ad10e07116a6799d1f2
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00045/instance.png b/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00045/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..deeb01494943bf886c7a214c412ef8bf6cc6c980
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00045/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:00a94b8af818bdddb5751db4606373699769ad056635923c67e44c574a9853d8
+size 67461
diff --git a/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00045/rgb.png b/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00045/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..c1e95634555da2898f9b3b7fa5a42ce493563c04
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00045/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a6c4d037eb8fdd97a7eef68f985a80b2bf567c5a08d7e97db497c780b842652e
+size 1345812
diff --git a/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00048/debug.png b/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00048/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..9ea8da28a92404e765a026d8fb43d3d78858410d
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00048/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dba5074f09e9440f31137e1ad8fcc23b98e730e62d54f095122e2bfc0d8a3089
+size 1428997
diff --git a/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00048/depth.npy b/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00048/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..8e720109eb01f23ada36c711afef2ef3deb0c076
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00048/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a248ed62ef899cced71b0be4fc6b5de548b568453a1a05518907377ee5988b94
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00048/instance.png b/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00048/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..3145fe46eb3ffd3e3424b4b7e76acafe86478278
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00048/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6296093b752cdc9e4a0045923806783ae654da0a915ffa2b2cd743cbee328a57
+size 61293
diff --git a/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00048/rgb.png b/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00048/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..9e8ff8426492d8010052a24f40932cef1a689f80
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00048/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a789bbcabc9880906a486aba15ab473523ac028e7c3fcf2557b7e80452f98ec7
+size 1363955
diff --git a/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00049/debug.png b/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00049/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..dce237b5112073ad0552d6cd8adb5f321820b3be
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00049/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:02eb1c861560f88dc539d5960a1049083db1c66ae212bf0c8fc72c6c2e8a9007
+size 1467314
diff --git a/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00049/depth.npy b/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00049/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..d04f144e5e6b5832d9fd8f82d2e1657acc86ddae
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00049/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1af2452cc38bcc52a70e8a57313d0dab8d7dd0faa9f674818db56d2e21c2769a
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00049/instance.png b/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00049/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..1fae43e7626d5b9720a38181f90d8d686cb27a81
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00049/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:78f28c5fd18f4efbaefc45deba0d8d1f3080472ba35cd6baf9053ef00cbec70a
+size 67121
diff --git a/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00049/rgb.png b/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00049/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..5b6212a18cdc82cd2f836817b4b9d2c50052b76a
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00049/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6a6f3bff21c2bae570df4758865593f1ef79f0f5e033535f035428ab922df3b7
+size 1405476
diff --git a/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00052/debug.png b/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00052/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..d0a1fe077b4351999b7ec22ea1e7cbacfdd66e3f
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00052/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:106e7b8a10c8bd59db59ff489dc2fe6fda25c2eb79795a8708dd5b79bf59bd4d
+size 1464625
diff --git a/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00052/depth.npy b/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00052/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..df4ce35c33e29284000655ea7a86a6c89320d6a9
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00052/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:46e1b5b7cd56637f5dcded06ec33850a15b18b4c70caa80d0fd6e100e650422b
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00052/instance.png b/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00052/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..6de4c77572e4521be2633aa9df298c0e8dc8f660
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00052/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a582c9943d9a5fc8b364fd3c475d52e1764468eed3fbc80c4b1f574f8edf6f97
+size 68930
diff --git a/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00052/rgb.png b/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00052/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..0a92388db2a3b369b18260158d42bfe2cc36f7a0
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00052/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:46cef39b258283e2587b2ad06799343c2417acca6569ef2db4c95a0619eb3799
+size 1391981
diff --git a/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00069/debug.png b/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00069/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..5c631e9e32ce29c8ae13e163058b3c7a5fdf0c33
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00069/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ebc56ad187205d61d0a03d1923f3ee727f12331a8a34f7c0b0506bf2fdfb6f26
+size 1528707
diff --git a/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00069/depth.npy b/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00069/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..030114fc88f377810c3581a7247a8f02cab8d13e
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00069/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c3e3ecc8c92b2f4267e808a1bd685ad4ec4bab6ab0ed18bfc7318d64ce199dea
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00069/instance.png b/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00069/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..1b9dd84c5ea32ae86da9806f37f60121be4b42da
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00069/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:52d27c8f895c916dfbbe93f757182c3ffa3c206910339bcc95591b666268dc4e
+size 62744
diff --git a/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00069/rgb.png b/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00069/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..590332f11ba998a1d5a88e4c17a17d6fd8a8f2e1
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00069/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8b0ea8715caad6a6998476361fab461ebb368f774ebd673745d2514a4647a12f
+size 1488598
diff --git a/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00078/debug.png b/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00078/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..d1d10f0a4eaf3bb4f04094653ce1e86419e29dd9
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00078/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:41413f048c5e3ce07d0d68a7d6a730fef8bb91bb1cbcbc540a96c7948ceee521
+size 1484671
diff --git a/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00078/depth.npy b/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00078/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..16ed1db15682657f3969b4cb933bc6e7cb00eb87
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00078/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:000559abe0cd67045ae5bf5a8949d7f9451d70320bf06eb7c50da94537312a8e
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00078/instance.png b/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00078/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..bbb53b7a5ac03d30f1770390fc0c542513a55114
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00078/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:675ccfcd42eeb7e813cb13cc3b88a328254b1661bb53f3afafc8fd1a9788a349
+size 55466
diff --git a/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00078/rgb.png b/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00078/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..9c0e058b17e7e8370d561c1d025ee2dd3326dddc
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00078/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7f52364a69219a8452c3ab1c14b2f0db10f349e8c59951cbe6634f1ae05b8b2c
+size 1435584
diff --git a/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00086/depth.npy b/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00086/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..c77deed430222b1659fa2d63f59f82a0a77ee526
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00086/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:758ebb5d580f28719e8ec8994c1589c99b3698f5ba7cbddd4d301dc52abe784b
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00086/instance.png b/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00086/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..a9623a67f63e0b74afde1d837da024e98880e5dc
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00086/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e14c985ff4dbcb3f2cedea6c2133d95cf5740445bc998188f484d7ee05d49c05
+size 60207
diff --git a/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00094/debug.png b/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00094/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..7e828f12587dfeea91853719aa6d5956d5da8ef1
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00094/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:43b335ba3c31afa883324a43d31a3f0b9e2b949349f94e11d0d9b46994b6f2d5
+size 1548877
diff --git a/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00094/depth.npy b/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00094/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..d8787b96c200c8b931d021519588939b36b9784b
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00094/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:44259c95ee93158e5ffa6b187458a0d4b617e1cdca164b876349f4a33be09592
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00094/instance.png b/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00094/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..c46c08230723ff89facc0fc5c47c9a05038ad277
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00094/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:03642b3854d9ba7090f84b4668c5b47f9ba8ffd15d0519f38fdbb98fb0301e02
+size 61196
diff --git a/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00094/rgb.png b/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00094/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..e73bf4c296977d8f9585a0470d8314ef371c65a9
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00094/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d313d2116bc0a184c5e09ae7dbd7c80f849ddc5f5431f3c799fc5dbc05567d51
+size 1480301
diff --git a/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00101/debug.png b/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00101/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..9cbe29b409cf69aff41bc6a678ab561851a7bd1a
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00101/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9cb4186b4a378cb6b008478b0345fff9984e1b33495a758c8a2b31f73b4fe3f8
+size 1531123
diff --git a/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00101/depth.npy b/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00101/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..262d9ba10221431cb6c843ce88776ecfb1ee8d00
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00101/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0d86e2b535102bdf891d5d41e8279e6d0372d41cdd062be106863f68d21b51b7
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00101/instance.png b/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00101/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..a3c5da8156377e4dca5fe6b900b74c1d37fc3f3a
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00101/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:db8f5d31f3104ee259facc66d23c4d11d0452e8e5c97d964320f11df330b1a24
+size 61305
diff --git a/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00101/rgb.png b/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00101/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..f23ab3acb12b2db47a62dd4bac0e5752c7d18e67
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00101/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5d4208286a3df0a78774307276091999b13ed363f00c613f0a477a8491550b94
+size 1448880
diff --git a/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00107/debug.png b/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00107/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..e972c76235e9b0688868d4b9a387f409e7ee92ee
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00107/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b26313b0c7d7e36f25bf2f89dfae362b4a487a0e7b92316b23173622df848d54
+size 1532405
diff --git a/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00107/depth.npy b/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00107/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..e1873b94b8aa30a3b7c3cfe56dd0bc3b652d2216
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00107/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:580ce445964e0bf60070d149f8c5238f354b67d5f52635605ba6281cd0b2bbc8
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00107/instance.png b/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00107/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..53d20f8a6b07913bb3da1b46b80072fcd965f764
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00107/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:734abe2c09a642e43963f31163af11373af1fddbfe9fa07c28d62c12ee44586a
+size 65746
diff --git a/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00107/rgb.png b/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00107/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..db70ca97fcd2a86dd4817bfb5b41713cfcfa6785
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00107/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d7dd5c64a2f407905a8e8f163f1b6fce39c0f1baae0bc441e143a3b2a4b4b053
+size 1453552
diff --git a/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00117/debug.png b/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00117/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..c995356acdf4f22824a388e8b6e22965d441d42c
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00117/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2daf9fce50f8745c2cc9b6eaa308993623eca79ff8c5f200449779b7d9608f52
+size 1510436
diff --git a/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00117/depth.npy b/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00117/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..dbda62a5e0a8a5a6bb4d38a2061a5ff23ccc8f5e
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00117/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a20eff654830760712466eaf807c37e060125c1a9e4b44966688759fd233cefe
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00117/instance.png b/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00117/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..d83cf68c711007ae7f23f5fc165c99175884dbe6
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00117/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:138cae4ca7f5d0caf997e631b399a422e6d12ad53296a937cc2e83f1118d7594
+size 58529
diff --git a/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00117/rgb.png b/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00117/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..1b303767c6b4ad9148ce13fbcb1042248cd2e114
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00117/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7f40e421a05e0c55533bbb43fe520431882ffd2f545e7d5222785bf3345ed4e3
+size 1438103
diff --git a/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00121/debug.png b/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00121/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..e941a6c8b7a0cd0638e53e18d435370ae6751cdc
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00121/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f5106607b13d57864fa172a27cb636e13f1d8d388084f2ff0e5bd9c46b4f5b01
+size 1491852
diff --git a/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00121/depth.npy b/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00121/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..35856d4e618a20dafb4347c2e4e5bf298a4dc9cf
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00121/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:079306c1ecf95a74121f611447a72de0ec01d4293efed215d444c87433b5e020
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00121/instance.png b/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00121/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..b1041c6bd520c508c733547b5007b382dd623e54
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00121/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3cc1802c546c611b49b4bb0fa54d963fafe426e4389463dc7ecb7c592a51e074
+size 56602
diff --git a/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00121/rgb.png b/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00121/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..35a8542b0f54e07d4535b2346b8fdc40745d761d
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00121/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:89cf85a42c7f7d195ca734536c6d9496cc3f08a5b8d9891a4d9823e0c6984ad2
+size 1411044
diff --git a/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00135/debug.png b/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00135/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..d24190a2669d90bc00d780a9adc4e840fca63dd3
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00135/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aadfb18dd10bb392ef03733c599570ee552e7bdd4ac001b19f128a3973d2daa9
+size 1555734
diff --git a/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00135/depth.npy b/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00135/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..f09fd66fc34647648d0a44b503f292b1d963e995
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00135/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:88d1d147d9e4a87866cc6b43dae21cc3658c0a8344e43f33edcf1eeb707d67f5
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00135/instance.png b/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00135/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..f414f93e77430a6b5504034ef80c9489ecb64523
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00135/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:adb04fffffdb355d3edbecee0bde67ce0bd5b9d04c267ddc3207201ae2a0fc14
+size 54291
diff --git a/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00135/rgb.png b/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00135/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..e11151acee81d645d48f2070fb24e9686704e624
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00135/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cf18e07b4e9c850502fe3171e280e97ab404ff93b1bfc91943e868c2e80da136
+size 1459857
diff --git a/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00141/debug.png b/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00141/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..7be0f4e024b9cbfff98288902df75456c96fc0a6
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00141/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:df74b64590f08aeedb5ce1678356f1c88b3b5b25c2dd7ab0bdce388195caf54c
+size 1486904
diff --git a/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00141/depth.npy b/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00141/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..fdeaa905b0073a975899329f1dc05198ef031a59
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00141/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d26ee57b7c0cda90cd1611a718079bc58267abdb1c12bdd486207cd5eeba72da
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00141/instance.png b/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00141/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..a6c275f9fd2ded26ee9305d2b09dba5588f58668
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00141/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:24c2437067de5dddb6241581dd181b8262b94bc9078b2bc6fccae419c6f00593
+size 54034
diff --git a/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00141/rgb.png b/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00141/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..9a65a2202ea1f1146b32ac8a66c9d3d7d95134fe
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00141/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:024db121b38ccd2efc1a40aa3dbb32601afc7ba9dd32028542cc5fe34ccbd103
+size 1382352
diff --git a/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00142/debug.png b/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00142/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..257b07091895908d77a937aa8cc9b9cd16526c3f
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00142/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fcdf6721c02f3a1794cd466cf5acb46ae1dc2121caef0787c322c077046e09e9
+size 1524011
diff --git a/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00142/depth.npy b/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00142/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..91926e0a0cfe536baef35d24a52a473ac5998cbf
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00142/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:99302e90a1dcbe26a9551aa0570f191aaca2ddecd46d0e0e1efb6c506b9ec56a
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00142/instance.png b/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00142/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..19522cd0dcf0ece2ce220c9809683cb61a4e2359
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00142/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ec54a99ee001aa1a43a04cb73733d6bb1dece6441fe86a79d0ec7c4aa82ea8cc
+size 49009
diff --git a/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00142/rgb.png b/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00142/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..e42d6559a615f13ba2cff378a922e1c542a67fd5
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00142/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bd6fe1d42f9fd5159c23635c4f587b98d9e943d0ed1a86cc2a7bb3eb9b25404b
+size 1430279
diff --git a/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00152/debug.png b/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00152/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..9be12d912e23b7fbc0199825c94c29c238d588d2
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00152/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d8ac4ad81f156f7f95ce9b33655d6afb011c948bc93856a54fa9cb8b5da0dbb3
+size 1476843
diff --git a/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00152/depth.npy b/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00152/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..409bede37755090bc0e957f729e18baaa2b5fc58
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00152/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fa86e8edcd9de97b4108478de6bf7c0e49ea609fb714337e8631893b5533bb0d
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00152/instance.png b/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00152/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..1b2324ecfc39d4dd53cf9a96753051e3e1a34189
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00152/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:46a97324da460dc84c9a0f74607cba9a9fd00a026fe67182f2be94ed8be79c59
+size 54921
diff --git a/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00152/rgb.png b/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00152/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..60e332d1387710e5b24f3dcff86b4e010d0ecff5
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00152/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ac4f7d3cc8503ded712cf2c4b4ad31be7afa687ca1828facd312bc8d605248de
+size 1396589
diff --git a/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00153/debug.png b/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00153/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..349fd2a41a3c47ccf29da47620c5a6ce4c24965b
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00153/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:62590a386f9f063d23a14a3ebbdeec3a3eec848c755e22a5ca55681013f7d92b
+size 1508722
diff --git a/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00153/depth.npy b/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00153/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..2d7893a2ad9538209776386aec68a7efd54918b3
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00153/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b4ab84b526fa32d175e16492baac7d5f3197058118830edbefcc15da4bb50bfe
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00153/instance.png b/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00153/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..77d9f2dc488b68d132caf52df90f1a0862cc6974
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00153/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2445f3d4f8fce43cd8aee4286acc76b0c8ddde274c9daff280eec02bc2185280
+size 56163
diff --git a/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00153/rgb.png b/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00153/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..f0ad6733cc0b12bb5e8e5c925242872e239f0d6c
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777192971/aug_001/frames_playback/frame_00153/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:78c83b3d93b2a9abfc35edabdb15704fc4ffcf37add37e1e8ca2b7e43f56b0ba
+size 1429165
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00004/debug.png b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00004/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..55225dd569c33c281e77941a802afadebb8931d7
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00004/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ec5a8ff39e83fb02ad9bec46d938784eb4108871f0e5cacc82840403e0ffd146
+size 1471996
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00004/depth.npy b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00004/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..a90465f2ac5c01c28cd8f77a52355f18d90a69c4
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00004/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cf8e2497da8eae5df53960cf5a51485565a7b2879f15e8ccfbd6454fb8edff16
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00004/instance.png b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00004/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..04ba6104ca4f1e9406aa7f68a67a5ac2e753f487
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00004/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:107cf01fd6e0a57bad9d8d4a46bc8357cfa2df062a4eae928f101a6599670900
+size 47355
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00004/rgb.png b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00004/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..4c5653dde56cbdfdc8a79b57a159ecaa364a36e8
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00004/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b01b7b02c3ee85fb72a41e2095e174d48ce835e2a7434cbb903f5f78dca624b4
+size 1396761
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00008/debug.png b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00008/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..94b0fa5d2a71a087cc9df13509043f5aa6007301
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00008/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:550282e42cb13d74c207cd9871f99e09d5e110b3f326849fe6920a25a22f718b
+size 1455135
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00008/depth.npy b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00008/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..80bdc5bbbf0804c90ecef331f5ff0cb7e2cff736
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00008/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:899540d35b9578078eff110d402e9b9df6fd3952b22678a2831b9e5d1aafe334
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00008/instance.png b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00008/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..70896e5cd4255852da7848a80514caea781d2c72
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00008/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9fbb1072fd5d3952b983444881aec817e755e8fe4e7f32e37713e8eca70ce134
+size 46364
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00008/rgb.png b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00008/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..f5dcdac1c305b9b9d35b9661d8f8d0e44c404784
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00008/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4a0577cea4a3dc6b522b0b7e19e2e3a0fe9330445f10501b3d6aab42b8119ad1
+size 1389433
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00009/debug.png b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00009/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..50ba69628f9f89691651bc49d22777e32b64f7f4
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00009/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0713393ae3759d69c1fcfa62a6e3fb1bbc12a2cb92f5e9703eafa975d5285e20
+size 1452063
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00009/depth.npy b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00009/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..3fef3fe2921aa78d51f17de1591f573c03b974a9
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00009/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d04a2ec53f82d586a47d30be0ab0f4b190916c00fd17d686983442383865513a
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00009/instance.png b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00009/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..e8f718281d03fcc6ddb22171d937aa9bdb931ffd
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00009/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fba641027cec5213d041b7b2c1ec51c84e35250c2f2ec1a5ed4a42bfee409170
+size 45385
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00009/rgb.png b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00009/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..941e5ca29f5f31abcc50effa3cf4a8b9b96da2dc
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00009/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:db350b9e3c88f6642006fee69e477654b154b2a5116a799a81704ca4bea1c200
+size 1408730
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00017/debug.png b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00017/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..af06df37c1c74366538fd33072ccf56212847559
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00017/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4f0d8961a4b4eea246f4e78b3f92c97005ce0a93b7c91de3bb56cb2acb67c3c9
+size 1426887
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00017/depth.npy b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00017/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..f87542730e77360f922e2250689f49397259340a
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00017/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:53f33a5aec3708a609309c0ddf864df6669118726bd0717738711abd737624c3
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00017/instance.png b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00017/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..2c37d273a40020ad0dda32826e8e904f3852571d
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00017/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ad2c10c4f6fefec3c9a2676c6b3d5fdc84b38bad40e9ec528d2c2a23c489bfb5
+size 46247
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00017/rgb.png b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00017/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..8700d3206457819ff10de47491d914ea3e99bd7a
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00017/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:70ad4e98b52f30dd374c1f199432c31b7c459c7b7ea57099aa459b05ac1870ab
+size 1396253
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00021/debug.png b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00021/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..502cfcae345c503cb2ce69d8cfc3db3910c7e4de
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00021/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:43def66a907882bb2fb5c69516a9eb64fc0409c70715aa86e5374fdb27e90314
+size 1441744
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00021/depth.npy b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00021/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..ba416608ae5d7667a256126755fca9b1a0cd3f6b
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00021/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:28437dfe8d46af97b242dda4771e0e4e5b09e6cd0d88135359f54918a236cb6a
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00021/instance.png b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00021/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..c67daf0183bce2fdd40524262f4d11af9371d914
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00021/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f445e5c2201c4807fe010a7bad389605da9390314b4c71c743e59b4f136513d4
+size 48629
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00021/rgb.png b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00021/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..2af11cf21da13e8823885a9fc6d8efca834a68d9
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00021/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:30ab8dde40cf676e557bd9079fc9168f208d33c4cde23444f49e67a343b00370
+size 1403760
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00022/debug.png b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00022/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..3c48bdd2da5ff37c8f0633064795361eff746fea
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00022/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8c6ffa134111479b7947f265f5f9220865c3436f20c975573d676f29e11305e3
+size 1467546
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00022/depth.npy b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00022/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..aa3741210bc623f438ee2f44538c3a7276cde089
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00022/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9852f8be6e1f7c7db91cc6b1d60d3735ff7d9557b60e488263a6bf4082161751
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00022/instance.png b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00022/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..208a91a582128fb87d0732f21b5c0050abf8e002
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00022/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9a3af8ae4a92b43da84816e7e246f2db3e8eaf7a14d39eac91a861d30a94acd1
+size 48778
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00022/rgb.png b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00022/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..e1c70aea5ae51182a86464d412be11048f743d3c
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00022/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c464f53af7dda3a2e3f9c40789714a73a756eff574ad46bb29aa3a020009cd9a
+size 1423299
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00034/debug.png b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00034/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..99eca753d9a518cc1145c866f5df9afee9e88281
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00034/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:398432331c3d677188cf89f76b8d77b5e416c449de815269a864fcecfe000b62
+size 1486646
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00034/depth.npy b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00034/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..41769aa6ec6ea4e73f5cd9dd3beee6bd2653ed49
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00034/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b12488f1ea4fe885b4922fafccfed11cdbd05aed231c1d72a589e32a24990fd9
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00034/instance.png b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00034/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..87aa3ff7d394e4a5025a060aa864c6729e2b8148
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00034/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e5779a62740b7dba7fe4f8251ae2bf372d9dc1b76076f8c1b04704e583adaaad
+size 50486
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00034/rgb.png b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00034/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..f0e293908c2e66fb13b20702f907d15bc875590c
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00034/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:37e1d517819f04308e3f967fa372d0eb8c5353499f20ab640ff47257a04978aa
+size 1435888
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00041/debug.png b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00041/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..aa320e30c1e20f7d9f2055288e1e682295b55d2e
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00041/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:896240a754fa848311288424e90a1ba138cf079c949e0b4ad29e07f801321fb8
+size 1472704
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00041/depth.npy b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00041/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..212d395b84077c94abab1f6fd810fb5808d507a0
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00041/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f800910366905d80315655a43398eac19a489d16ef4519ad3256f4c9860b8326
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00041/instance.png b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00041/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..191778bdcaa26d1f38f1a1ccadbffb8a4871957a
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00041/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:af67427b185bb40c4e34b3b50ddec753d3f1eafe1ddbf4bbfc4d1231b2bfe591
+size 50164
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00041/rgb.png b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00041/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..77f5a234bb8129d087b82c92cca652a85be4707c
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00041/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:48d875471e39788603b3fca3690e0ba74446efa3af601eca74a17deaec7701ea
+size 1417552
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00046/debug.png b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00046/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..d4266c380a05ce97a809605460e5ae54a3769fc4
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00046/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4998996acfe6e1d2f14be725e6eec8e4529840ac7cb46178055043ed58d89dd6
+size 1441226
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00046/depth.npy b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00046/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..b144046bc9d7bab66d5c64cbf25de451e8a886bd
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00046/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a6fc5078371eb4de9f4bc14f757f3f8edfafe1f94f82aa129c340db9e72ffcc4
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00046/instance.png b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00046/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..38f7fd5cd41715b92df24f85e8a13a84dd684617
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00046/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c366f18f12914a4c83cc1f3e42166a8cea710904e1295c104b560292937d3b3c
+size 50932
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00046/rgb.png b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00046/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..d14d26d521a711f104a45db30df39afdeb87c5d4
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00046/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c306289cd589da7254dd6b98a78914b866ad2cb67a745f5627f0b470470be91d
+size 1391157
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00047/debug.png b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00047/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..ba7cfae36fbbe79d822ea969e6e0190658448a0f
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00047/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7ef50b4e716de00adb08afee0063c5f10893fdf659af217dd67c038bf8ff6744
+size 1457864
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00047/depth.npy b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00047/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..a40f1925a8ee4ab3ef90e80d131834a845104813
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00047/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:728007e8315b086721d5d27e92b3ce95bb2675e368e4e960c3aecad612c40bd4
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00047/instance.png b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00047/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..7216b2344862ada0392009b449466ddda992903d
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00047/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2fdb48dac4775496c8a0c6f5a9259a99e3c24edee2c18f1c05bf4439bb976182
+size 50963
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00047/rgb.png b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00047/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..51a80a07c28905ed1b1a3c18996c366ed741c376
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00047/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3cbc7d2e51acb21c6b615ba37e3f82a9915c7cc6ec5bd0710a88c187f6d86d33
+size 1402942
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00053/debug.png b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00053/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..65de69f16bea7263f3337ef3fc830cf6875b2802
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00053/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ab8fe74d8fc3c3e1d4e37d623d10fb4fea453b5eb538b15dcdd78df3a5f10fbd
+size 1428981
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00053/depth.npy b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00053/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..be6af4f2883cf5978328db1cd44345d0fe9756ed
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00053/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e3ab76968803e921066a59a10d62621c2dfc4db7c69071355f23d0849625faad
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00053/instance.png b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00053/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..8f23f6bbba67517da897d80c8419b0faa66a5a4f
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00053/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:79f016e83ffdeff7f26eaed2efd9b2a8ce10b1ca8bee5464c5bb49a0343aff5a
+size 47766
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00053/rgb.png b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00053/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..3ddcdbded0e3c5c1500714f616202bcbf29c0bc6
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00053/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4fb339258ee4a4a1f21f1b5ebd5f806a0c15d60aabd9325816efa031dc9bca9e
+size 1389045
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00058/debug.png b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00058/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..ca5da69eb0637320e33b75ea6a2a95d6b723af2f
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00058/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3c2b3773a0d9ebc50656f66830efa8e8062452e5c0ea2b849398f477506f43c1
+size 1394267
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00058/depth.npy b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00058/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..9445e663f45a26242587abb3b6bf2badef9ed170
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00058/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d4f9adba4ba42f0eafbd2bd49807f34418998e756a03312f1ebddb7dec220bd9
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00058/instance.png b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00058/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..ee12bca21d7e265732aa4f8f42c809f6ce89b6ed
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00058/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f1bdd2f1dacf96b08798682ec938e2a1fa29b41d0bc6099a284723987b62b5ef
+size 46413
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00058/rgb.png b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00058/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..846c396470392bc4d2ae3e9bd54ba286633621b1
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00058/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cd60f2b489918df4f81602803eded799743030e63a41feaed7bbebcfc9140302
+size 1358851
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00059/debug.png b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00059/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..6a6c613b718ce54946e19bf494de14c1374b2fb3
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00059/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:33dbe3e208d7badeb4d78f46ce764447280ee30066df6503abbc92d5dfc797be
+size 1402588
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00059/depth.npy b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00059/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..2d0614b26e71c87137ae33962df0ca7c54a72661
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00059/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:27336ffd69cab87836dc3d3976165ce69bd50563c0557dbc657a00a3f32ba9c7
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00059/instance.png b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00059/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..b163cd33b727378ceaabe19114a9844abe413698
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00059/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:471428d9c71ff1adc5004b996d5a8398389e0eb2e3efd679bfb57e10ee0fc1f7
+size 45843
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00059/rgb.png b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00059/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..c5a520601e713313377fa05b5d851ee03f3bff42
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00059/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:02ac60f55abb5f1066b60f6ccedcf5679dd81a20e2964b156094937b653326da
+size 1371677
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00062/debug.png b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00062/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..f1b1de2d2afadf28738da5fa8cfe3419f5d67708
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00062/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:85555435b219580c699c58510e4dcac81dd06307cd60ea2566e07b90d32e5d0e
+size 1391587
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00062/depth.npy b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00062/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..6ac9472ea9f3c94a546e12f05934a76cb292d127
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00062/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ce7912dc6dab0d7946d5d9eb4018557e5f0a340069e0efa1e9985554668c028b
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00062/instance.png b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00062/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..d3b0d3ed54dc0a82be5cc37e35b5378c2a1a0e7d
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00062/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eceb1ca40d0de3f87d0fc09dabcbb326b18e821647da826abeb9708b19b1101b
+size 44878
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00062/rgb.png b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00062/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..c334f13cf86cefa76d3b88476f28979648ad8135
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00062/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:043797cda003ef88633cc8bb6896ce66137b497feda1f111a2101366d7b94d9b
+size 1356125
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00063/debug.png b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00063/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..da3a356712ee74bada506027fb797194cceb488a
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00063/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:305dbdcbc0529648ea802234bb6516c7ce5a56ade9bb12a3e94809de8b7d529d
+size 1383107
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00063/depth.npy b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00063/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..1a406365a592cf28d541d4d381f14a9022ea7e03
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00063/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6b425cb6c000997a89754598d738923f1dc483c017f955871965028836d28610
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00063/instance.png b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00063/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..6c1e163c8bb3793a74326e7f49d1dcb38b28ad65
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00063/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2252daa10ff1f2725e43fe93a532d86300f091201071ad40f6504e5072e2fc41
+size 45175
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00063/rgb.png b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00063/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..ef5385cbd859479f0cc272473e784c2195d3182b
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00063/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c3f3eff7be3f771c6877ce7fbb300abe50fb9e08c58a4b6f16d6b88c445461a4
+size 1353849
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00067/debug.png b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00067/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..0a003a0c75f871ff1da13a3906c6555f09daac9c
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00067/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:86c3a5d56cb8dda627929f01eec73702e9dfc176b37619fdb2d20a04a7921e9f
+size 1392250
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00067/depth.npy b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00067/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..df3de82f1f79a6925b20d13df1c3a11c439d08a6
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00067/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f78fb46916b532ca411085fc0a2dffa8ea00d18e9a1095a776a6ce5e3294992d
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00067/instance.png b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00067/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..3ce8ced312749be01e61cd5af45608528c9fd95c
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00067/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:01d364a4a098edbfa7048dad35641c8c5a865192790fa5741875e0bacbb3845c
+size 46667
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00067/rgb.png b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00067/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..f1119f0aeb3cc6e6e4746f06aade096bd73f7376
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00067/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:82651bc40f743521c98155b5a78d4561bfe3a18a846b74978bbb8d1943adf068
+size 1361637
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00073/debug.png b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00073/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..fceeacdc9675039451312bdb7a3a1c0311fb6e1d
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00073/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b8bf8478843e9ffaf665c8fb9f3a995450b9f03294ef53445b9341bfd79278dd
+size 1399164
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00073/depth.npy b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00073/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..290885adbb7d3c9422b91dafaca202f09013e799
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00073/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:80c0aa4307638deb325ae263175325dd2ac5ef19aa56394d129fb1f15789dc5d
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00073/instance.png b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00073/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..142b8ff68e863e2c27f0ab6b2998148aa0789cc3
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00073/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eeb86b025ee2400b77f5746fbad9ad42f1d947bdd2591673286daeec9d430dd1
+size 47123
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00073/rgb.png b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00073/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..cb7b8757c66d3da19d9cbbfc2f6873eb60682b4d
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00073/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0bf09be047ecf077c8dfed3a77f34db72274930e126d00e2728a0cc16b9e4c04
+size 1362359
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00082/debug.png b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00082/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..295c3959a58cde132c0f2fdb2cdbb29693b6a40d
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00082/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0b84e1051e742f1492e7a7b4574de7ce60eb75b50d575a513d40792fcfd12cf5
+size 1364895
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00082/depth.npy b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00082/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..a2574ffb315a3267ec00dfaf26a6fdbc5f73c09e
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00082/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2a12426b3bb134bcb3e20a5961e966818904c2cc907cf1e2e91469a46ffed323
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00082/instance.png b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00082/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..f2481ab8b2e4ec83402fdedf942fa8de5a7f3b84
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00082/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bbc2be27782f3cb4a87cc9698bba430782069955acd83749e20a6ed98cdd20d2
+size 44879
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00082/rgb.png b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00082/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..fdfc169a25f57cca2a9507519fa1d5186c7396d2
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00082/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:604012a8b275ee436d4afc814b6814ed525305f8dde66c56a7bade70c900984b
+size 1345324
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00085/debug.png b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00085/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..91514f9fd03ee441cb3fa95c1fbf6379177c47ea
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00085/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:26322dbbdf4636b0c3d9f2d11abefebb0f1964558f99602d1ad72e214410976c
+size 1357339
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00085/depth.npy b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00085/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..2e16e52f66a2fe482558303c90da4832a69f8f57
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00085/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2de4b34debb962e6a60abd26fb8706f0b1180f05027c6b5a632294726fc79b94
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00085/instance.png b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00085/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..9665143b3c8dbf0774cbdb55b55f53e83ecea172
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00085/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:25b5ae3934707a02164b00c080f6d8790883afdd626c4d75ec81b07c40ae9fe6
+size 44257
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00085/rgb.png b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00085/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..4e3f01b0f08641c9cc1ab65816dcc6ba8bad1404
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00085/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:56a9da400b3c832e68d64d42e9fce920da80d293cb6db240cd90d17cbedfd5bd
+size 1350638
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00087/debug.png b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00087/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..23e96856ccd3aea2ddcf227c1126fac5b51f099d
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00087/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b41f2eb58fbf0b353f298a2d9145fe2913a349593176f8c387f179ce3b188911
+size 1400521
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00087/depth.npy b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00087/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..038d2e435a58a28ee13f29af541ca876e84701e0
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00087/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:88fc47bd4db4901fc138e5a8a45831f815e5b19c95ab52c1e6bd6a129c4329f9
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00087/instance.png b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00087/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..036848f3776f0c9f72365b60e3619559cbbc6172
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00087/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f4b7a9ce841e94785645aa8b6de066a5a87e851c90c5c709dde78d7ec551be1d
+size 44196
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00087/rgb.png b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00087/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..86e4400b3d42ff125ca24de8fb0457f5a183b408
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00087/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:daa5a676756b6b1f83d21a9db04aefd0e23f942fdc45daf1e5f475a6ad44b1f9
+size 1385028
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00089/debug.png b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00089/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..62c5498289ae088bc315f6e56ac1fa952686690e
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00089/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:faae3c7c72464c713e63eda49507da2ce31ad2a5b9d360e8e34b2416f70579ee
+size 1405686
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00089/depth.npy b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00089/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..208593ab4744fd4efec961a52a09df955d05f812
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00089/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6eb81025d64d27597849bbb00465845b58b74b17e57bf5b3ff313366b8b5d732
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00089/instance.png b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00089/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..162ebffce536b2a9613fb347361f882273720b09
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00089/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:74d0cda53d0d5874a709e12a0f4b029632ee40e8437b40bec73816cc5176da8b
+size 42626
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00089/rgb.png b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00089/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..72574bbeee434cd2143c76a769decaa6db3225f9
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00089/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:65d2a9b519d8687f63e7e666570dff75c21b8408b0c12b3d0a9f95e7cac07958
+size 1384574
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00090/debug.png b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00090/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..c12332d9cad4919dc7dba5a7b99aafb84c3ab29f
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00090/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5b72d525f1e885a5077f02721788a1a4fb1a023f00869addb40be04a9f755f86
+size 1399868
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00090/depth.npy b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00090/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..aa8af238df1695c185005e8a9b7b90f44d460987
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00090/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:de439d512e2ebf97b73d7cf8e8705d867a97355164e646427920965ea95cdab4
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00090/instance.png b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00090/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..4b6e7a853eb45ba9a382877b5e6f3cbc1f3338d4
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00090/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3efeef1eaa160930e136482336e85f65593897f91320091d0e2b7237f92adc2c
+size 42638
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00090/rgb.png b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00090/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..2b3f9b51cc5a5aed464aef56205873cda81d335f
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00090/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bf1122561c5215f56090eed0e6cb461aa015856c1a1a45949e53627fff28b305
+size 1382490
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00111/debug.png b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00111/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..ca8ed9046151a03087b4ea92a4f8f266d582f8f0
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00111/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d6a713cb80770fc5a7a063d74695e07db15e50581748732ded83fd1570904e05
+size 1444942
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00111/depth.npy b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00111/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..0b01f40d49389b0d05fc22de81d31df02771ba87
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00111/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:490babad1c81ff676c686229eeca30761e59729c39b1fe307d01c76e325afed1
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00111/instance.png b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00111/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..dd5d95bee918bdceec548d915462b0f874c4dc0b
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00111/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7de18d36377a65620b23d80a868f71035a26fcfbe54339610f3c64ea89a8e6f5
+size 44302
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00111/rgb.png b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00111/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..6372edabe7a4d1b5940945c24dae13ee0e1e6d46
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00111/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:16bc0cc2db923cdd16dbb1beaeb565027e0fcb952ab99872c6c8ea489b14147e
+size 1395875
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00112/debug.png b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00112/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..57378039cb05a1520df55cdde5af7411b301fd2e
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00112/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f6e8a7ac40e60f55a86aa01f2eba15427cdf5b28c64ab741bafc5b6fb429f9a5
+size 1446626
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00112/depth.npy b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00112/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..02869bf8df22797e5a330189794c12cddb230bea
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00112/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a629444b24b21896c6c83ae1380695223dd64618b01b130b3d70875d495f4b5d
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00112/instance.png b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00112/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..9f7cf575f47fd1d4f06b67ccd898fafe14cb3d44
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00112/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:afbc5bc47506a947734054c4be8ee2fdea0e66d375939a3496838e290603b3be
+size 43933
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00112/rgb.png b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00112/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..b07d060d1e6235ef8a5e47963001f9d80af7e014
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00112/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ed6484afb5ae391266ebc3eed1f74c99b5314a513ed7f48a3b1bf17ddaf969d6
+size 1394982
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00116/debug.png b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00116/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..cb9194acf8f22eb01e26d33ab9caab170ec2de64
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00116/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:703012bb2f33a814f6d18ee9c898bf463ee6f4d4f7ff734004839a01a98e0b1f
+size 1456246
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00116/depth.npy b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00116/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..f28d5bfa3ed8a4e0297de49e6593ae257be0b890
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00116/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4798413a89b7882544e63f39bde0518d88700d5ebbcce128a850a133734f6840
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00116/instance.png b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00116/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..20af208cf2366e1e1a4e830ef8612698d271f030
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00116/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:17c691224a3df515efa30fb29e4e7aa01d49a1352b373baa80ccb89a03cd7d9d
+size 44973
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00116/rgb.png b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00116/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..6126949260173325ad0e5a4b5bfc7b193081ef62
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00116/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:80bac01915426398348ca0b80dae3f79cc90fce10747d0c58649616671ebe05b
+size 1406265
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00120/debug.png b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00120/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..a9af291a84b920f778df96aebe612211696634d1
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00120/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:95a7a18ffdae055fa9923b6f427a36bee77d88ec4accdcea1c36a14f69f03ca9
+size 1464214
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00120/depth.npy b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00120/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..870f6eae1e62a1cb5dcdb89bc231f959d692048d
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00120/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bc0884cb33c9967b9b3b57b4d1c7ae9bebfbea244cd6cad41d203d45e2c4e4d6
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00120/instance.png b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00120/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..67487b3a9f8e3081fa383bfacaae1ff7e910d31d
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00120/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:80a972384b0dc5fa59bfcd6e10a72683ba12ebc086b4f8d6a57d4fe4186df78b
+size 47221
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00120/rgb.png b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00120/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..43925e11e6fa4df15153833edde3bad82d88989f
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00120/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f7c6f5ad389bc1aa6660e649f349cbe027241f67fda88944c261f6cbad04f603
+size 1405644
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00123/debug.png b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00123/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..12011616e399e5c08dc9c755fca8c5219c790d39
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00123/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b2a04accad43ea3d041ba4838744be6558f50eddbfde6e5a75d9b05529feb71a
+size 1503784
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00123/depth.npy b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00123/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..ff10adad3f2713496a3264766605a6b1341671b3
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00123/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8d68f20db60f5fff016bc2f4f8224e95f74f0b6a8916509f678a1a3969de5558
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00123/instance.png b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00123/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..0bf08e57d1797fa8525a82f75578a9ba20c1f239
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00123/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d7bf9eb502a193f01040cb5c36a3cfd03a908ae1677aa47b9b499dd69fbc8bdd
+size 45902
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00123/rgb.png b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00123/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..c676e44b0d0da663fa5af86a545fb3d01f5809f1
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00123/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:04a1e28cd564a09ad1c001afbe405200b13849da6ebb9c0e6bf0cf22aae39139
+size 1435720
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00125/debug.png b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00125/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..dc45ff19a36d57999401a90a515614ed9957c054
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00125/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bfec648cff432e7fc147f6bbabe7bbffab0f3a2027fcad9c5dc9733cdb98d58b
+size 1485440
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00125/depth.npy b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00125/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..458f3c70c3b26f7dcc469800774b6b20f3ce3dd0
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00125/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dd933b779d6b6849ac1c6f20fdd89660482403fe490ee84b429c67578a57665f
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00125/instance.png b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00125/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..46a4c22b24785362ce548abf5443c7e42ba18318
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00125/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0a85e5f296a29edfbe10b90a4889b03dbd36719cc64604f1cc355d1879e2813d
+size 46930
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00125/rgb.png b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00125/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..317537a78f7aa2005d6bf5843727437ad61a3cb7
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00125/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6c4fce83c718f244906929042e90e1ed6b64478f75589100883169c77801151c
+size 1413910
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00130/debug.png b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00130/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..f010fc4d713a46e7fe23775f5a8f30252d83689d
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00130/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:51b0b57e82df4363edf3adfd80ede01c7df3133f8ca5a52338370ac31ee62f3d
+size 1531322
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00130/depth.npy b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00130/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..5df02e95b577b9d7105b0b7546f24c972036d89e
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00130/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e0f7c21d02697ea5e4d0b90b52597c8f1f922f35dff99a788926a97c8612bb24
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00130/instance.png b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00130/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..199f9955f47caff869f0f74c43400fcbf2e7e6f6
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00130/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e2ce0b65300fab1a0b2d2046b66e2fe25e9a23250adac8c8b8e73d15837869aa
+size 49771
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00130/rgb.png b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00130/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..d9f27792b1c348898758c911e87711bbe7b923be
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00130/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dd14ffbc887459574efc22d451a67bad7afce27eb5e1654e4fc811e9006bf424
+size 1446650
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00133/debug.png b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00133/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..8b18aece2fd2c7b52d8121a37ac16ffd408a368e
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00133/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5e3171e5f83354df8cd6d76badd40976acd320219414773a1b52498efe642af7
+size 1509675
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00133/depth.npy b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00133/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..20ddc4e91e7d636b6c33e82560e873d82c726008
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00133/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ba0218fc93d9f0447a0e5fd3d749cf0ff1afedd1b50cc6216342a4eeb48936a0
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00133/instance.png b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00133/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..e7958d93efb1a91c4f464c3cda0d4724a9894e91
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00133/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8fc665202dea1b74b95d58667e91c0df4eb90260345d74ca86f254a954d97571
+size 50919
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00133/rgb.png b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00133/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..1e0c8d42b1a9369560d0397e6ea4813af38baf04
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00133/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fdaae6675052dc5558df3fbd8f28898c378c643c482ade8ee057a079a4370431
+size 1445283
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00137/debug.png b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00137/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..9bab9784a51b6a5deed2e3610264cc0664111258
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00137/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:35f00ca190e4704637593d6f7bce2f6f0788143f0f231ea9351872cf2990a9de
+size 1491669
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00137/depth.npy b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00137/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..af16ff48f421d3346dce41d7648411ae9df950f4
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00137/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d480e175fcc449e88405f20b5af1cd37555e590d1eb02e437f75366be6cc6aa9
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00137/instance.png b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00137/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..7e21b7a24a92f0fcba34bd49d682f4926217a3fb
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00137/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bf69988fe523d079c402d3e09e6f0b457f45b764d0d25c4c065b71b06a314df5
+size 47953
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00137/rgb.png b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00137/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..c6a9bc5eb206d3d8859e6321094446fa8bafb990
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00137/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:99c4bc2d43f2b4bc37a84bab9290bbfad5d8bf3c6f8f205f76301265a091b2d2
+size 1431304
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00144/debug.png b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00144/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..79d4a1ac8265112e2b67dfdd2a86e4ae70ed70a2
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00144/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:901d97096ae9290dfcdf9760f9ab74be6e6e2288bc218c7e94ec8b0de6274afe
+size 1494501
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00144/depth.npy b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00144/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..3281712a6963a91e22dc458e1dc4594b2b212cdf
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00144/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a5f10459a5e3ce6259cccf94ee9b012724902c42e0c5bceff309f99349d7d5ba
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00144/instance.png b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00144/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..d83559b354cf452a8078d53da6ea7e992f411f9a
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00144/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d4325a957467d71b5e14d615208b0e44d01e1b598e51acbfb10e946feef4e202
+size 39987
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00144/rgb.png b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00144/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..1ed21bd85209dc65f1547339597a36ecd5fea93e
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00144/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:65fb01b6b69a36a8ca1cfd052b964a035fa885190b6bf0f9ecd3963632074a73
+size 1438131
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00156/debug.png b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00156/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..ce5ac64a16961c9525b0e1a267f14af90ce5e471
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00156/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a22c47f7641dab3f2366d0bc97badd0fbccdfe8846f8bf53065a3dd089db570e
+size 1541989
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00156/depth.npy b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00156/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..3a7ff178041c672b9773cfb539fd3e8327c5bd47
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00156/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1bab69d10751005c5f45e4f9006fca6b1093816d09fc9457c4674086d111026b
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00156/instance.png b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00156/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..99ad5bf81733e12cf8b3ea4d81068c91c514d184
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00156/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bf60bc2bb00defa6f443649c918cb3f83492553103a143432f857d8bbf8bb21c
+size 56197
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00156/rgb.png b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00156/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..02a638f7e4a5c6d65f224ce3ac2926c2149ae87f
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00156/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:94b0fb1fb43f7bcf5cbd8a67700c9716e63ade055be3070521728c082bab70ff
+size 1495448
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00158/debug.png b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00158/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..c24165a54dd8cbc1a6f4d218ca5126269e83f8fa
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00158/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4a6165ae3a80b17e114cbeb228f64cf978b4d8a6ad74a239608e43c45492ac8a
+size 1528063
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00158/depth.npy b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00158/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..207e41edbf6f1ed2592ca931566fec9cc63c11bc
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00158/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:788fe5eb5cb5bb27ee7b7bd6c46691d0e38678b2a6fd85668d9ac9716b3159d6
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00158/instance.png b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00158/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..24a678eb30801e97e9271775196aaa016c31652c
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00158/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2eafe4d8af1413f9b58caa4b7143b6d5c5c47704b5d00c5593e97083df83b777
+size 60354
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00158/rgb.png b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00158/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..069c92613bf07cb368ab9c5fa3de99568d67c666
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00158/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cd4489af0a6e5e92159795644cbadc3fdccda5034b7a66bd82d789f4f569549e
+size 1480279
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00163/debug.png b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00163/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..c6c3d10113a3125cee00b165d8e67ae6fbd0942e
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00163/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4a15cac4f77349f884589f1e0aca4a6f4e9735080dac31f720db5a19818b08dd
+size 1540189
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00163/depth.npy b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00163/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..cfb0516802542effec78ba56d798063f61bbf2d8
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00163/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c5726f6f2a76d1993c2b622337491b1460eb30e8fd73fe89a6ae7cbc04082989
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00163/instance.png b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00163/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..d87b5726bed1ddb95f7aded128ce4ff4a6cc3455
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00163/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f2b0d3c8ffbbd4c407bf72e528a4720bb66ae673e36dc96c8d278a2dd09d6e22
+size 62888
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00163/rgb.png b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00163/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..212a339d16880b0174f4f05558ef592195d39f16
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00163/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d53a60c31d1d8aaf4557a20ce403765d697c7b3fd6f1e57a3b1ffe5f3c6c6962
+size 1497062
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00170/debug.png b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00170/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..49c20f3cb25c2396431e461853a815867ab08899
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00170/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1366fd3f8a228c9b47ff67836f36881bc38944eaad4e687249137d800a16f0da
+size 1487812
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00170/depth.npy b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00170/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..e75a2a4a23b80ce50e11e0fb64c2a97ae4585774
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00170/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8f9882a14ca5988de0f6a765a362247beaad273acf18884b3c3e8434f8c409db
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00170/instance.png b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00170/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..977465282a7a446d0cc37a72948730f5a0e7dbe0
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00170/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c1d0a8b507d716fe8769df76a818de9a38fc9bb1fe31f0fd97f1dbda1d0f39fb
+size 50224
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00170/rgb.png b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00170/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..73666e5244cbaf91e949e671e52212cce42bd221
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00170/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1316f1f69f1ff42700897b4bfbf87926143964f6c4e9d80e4307b2710bd6539a
+size 1418567
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00173/debug.png b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00173/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..c813a2499436d0c11288f6cc9dc2ba4099f6895e
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00173/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:49806516e35427bbc09f7815c93dfd05e63e22800ff7f1c8101f76f7832c8a3a
+size 1452823
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00173/depth.npy b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00173/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..710d220f4ab57f88f68bef5e4ae9bd21423e12fc
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00173/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:25520b40cb3b49e7eeb7b9cd882b7704c374481cfce66a50a8d5233a2f0cd3a3
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00173/instance.png b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00173/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..c9ec07d7d2f1f5be931417fd68b5c055705c13f9
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00173/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d58b1a65e121e45b01529dc7e55d2cc8a8eeb333c40289f606a11a0571dceb08
+size 36714
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00173/rgb.png b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00173/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..f4cdf8dc250bebb3ab4269d54ad2f50bfa849603
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00173/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b5040c563bd80306e998fbbe0d373fa1df955a14ffd483b6a6b4e2a4bbd05a38
+size 1373022
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00175/debug.png b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00175/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..09d5d09ad161579496882f0550cc0c6876247fce
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00175/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ff16d05b5d33e0124db4c34ef1199c119890c59990558e881b1722af97d4a585
+size 1442224
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00175/depth.npy b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00175/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..8d80fa9301fc6792d13c6723596d16349ec7cc29
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00175/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:36da9f02e030cfdbdcefc09c9ff68c1b54bc09a3970aecfb65311ebb5d95a819
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00175/instance.png b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00175/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..1b997c2fa92fa7e011d5fc407017d2a5dc271f41
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00175/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b9d4969cd8aabb1e1bba03f80bc8927eb87f7e37b53838a771470e49b8ba800c
+size 35880
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00175/rgb.png b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00175/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..a7c66a023c6e5e6951abf5012b954a432a320e97
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00175/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8c37bf09dfc3a26780ac5b243016cfb5ca4559b59253765cdf9380070320d776
+size 1371712
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00178/debug.png b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00178/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..755cf34528d3a26dd125b6e340b5bad18dce326c
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00178/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:12d0316e91e455a974b8025f14fe481cfbaa05f5cd995fd0cd6c22a312b6de0a
+size 1431338
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00178/depth.npy b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00178/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..faa53277b0adf3b0e76c4f36dc457da1c806c919
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00178/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f24b7b4c552a9b72d87ecb749dc0c592694ef70957b637357ff0dfcc81bff7c8
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00178/instance.png b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00178/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..3f74f1a28255b51fd190863d4a02bfee1aca35cb
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00178/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6587c7224fcd5f7ba6ffba980dd4fbf94d8c7b0087f80269936f4c4cd271de17
+size 34041
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00178/rgb.png b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00178/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..18224a07b1d433fe7cdac2ce3809009a381a528d
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/ORI/frames_playback/frame_00178/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eed7d3f2ddd1cb5364400c85f5d69e226ddc5ebd32f203c679409b427dc34cc4
+size 1378161
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/ORI/perturbation_visualization.png b/data_v7/Town01_Opt/trajectory_1777272153/ORI/perturbation_visualization.png
new file mode 100644
index 0000000000000000000000000000000000000000..dfaa46112796b87f2e44f7fb782e3df1a0b4aa26
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/ORI/perturbation_visualization.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d75fc16e77b27b339794a2ec4beb5c4d8655bc98a33f8095bf6871066655e68c
+size 8627
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/perturbation_visualization.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/perturbation_visualization.png
new file mode 100644
index 0000000000000000000000000000000000000000..0fa8484a5d8af5bb6aad4eab3b37127bf308636f
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/perturbation_visualization.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1e384ebb84cd69ae1fe6c5ed3a76e767f71a9a7e0844eb878e40505b4e3404db
+size 213048