diff --git a/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00000/debug.png b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00000/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..6c6584f55bc3d714b7eee060610f5c9ead7bef40
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00000/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:90038cd10db8ce350266e07c9a5dd95b5d9ca49ceadfd115c56684fa60e07457
+size 1727991
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00000/depth.npy b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00000/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..fffbc21d7041e63589678978d63f3b0509a218c3
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00000/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:99d2faf5923754078eab842cb81d5a29311f63779204a5f9f251a4fe8bd67107
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00000/instance.png b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00000/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..729dbda5a7257286f47f4c4e8ba7614413f04fc1
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00000/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e12d95226e11e853c401cf3c0acc3df04d670c922d6142facaf00c27bb42fa87
+size 134495
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00000/rgb.png b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00000/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..9dbe2c3556d58c54ba46f47674d3e3b584a54eb2
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00000/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d8ee4260090601f62522c7dcf85a9fc8f02e85129494b34a033e8519fad7de5f
+size 1777668
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00007/debug.png b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00007/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..49dad01fb6e2aa30878b21f6d4a44fa0e8a0e796
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00007/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4c942a2ead422ebac7779bb118576de29bc088acaa0a56162dfba43011339f43
+size 1735997
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00007/depth.npy b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00007/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..99c7055f038151b3eec576718174afa29138a1d1
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00007/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eb1c7029d751eca2a8129f356fd4a9abad8c3a6b34d76e8331fdd0cf87dafab4
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00007/instance.png b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00007/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..db11873dc013f624e396f8aebaf389351e206b7f
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00007/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:79c37bf8dffd593a769a2ed7aea5279f825eff31287d829d1403d687de00061c
+size 124564
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00007/rgb.png b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00007/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..6df9f9accebfe76e5df158d26a7a4ebc607af73c
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00007/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ded9c1f07af6fe56dcdf9c139a77d99fcf832873c617126e46d1b4abf6a8e9c7
+size 1759867
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00010/debug.png b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00010/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..ba222232635aa8e94983d0d06c5d1abd12a29220
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00010/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:46bf838b4f4cda244e7e7ca6fa473590ac81962acd1550910a88b7c5afa33ce7
+size 1757179
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00010/depth.npy b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00010/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..f2062cdfb2dd5bc50f2817543655f651a94fc5d0
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00010/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1efacb657a00f59f493010198e58c852aa594d4e3b534aeed552d5bc07437156
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00010/instance.png b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00010/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..16bf38f1ee417f34dbcc256da8b974d4630082a5
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00010/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f035dfb22fa2b2c6e05d3fa5ff23f6308ed9d3a85421d44e0ddf004d9555c367
+size 124416
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00010/rgb.png b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00010/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..6f186c1972c179e1baef06d91313817889fec824
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00010/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5fd1028c1bd7044a6450185ac3bc3dc907350b1a9740326aeac56e61d04da9da
+size 1787169
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00012/debug.png b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00012/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..0c115c8c283881f16d28fe1c31b946987f1a82b1
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00012/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7a0e3971047e3468dbdb7eb6bc7593bd17157b12ba6c3f8796bdfb4a5a9012f6
+size 1761520
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00012/depth.npy b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00012/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..ecc2e5c46c57ea372654e2a6438c983238b4709f
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00012/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bcfea39334ca88a7b4365f6e4578f79525775935112b5050a62c47e35d1984b7
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00012/instance.png b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00012/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..1a85d42ddfd844bbce64045bc7cf1025259f8773
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00012/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:56bfda4be57695878983322f724acb556cf7c00542d2f8b34734824f155364d0
+size 126727
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00012/rgb.png b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00012/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..50c4937939e7def79e2275ba10377a0e963fd026
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00012/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e29394b49dab93cde3e3ef60a4e9e7b2cfe75d8e75e8df44ae5d15ab89e804a2
+size 1779440
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00015/debug.png b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00015/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..c6a22d71f77f64e0f89a57a7101a6240f0202c2e
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00015/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:103f94071fcf6c52cb0a65559186372a97ca4f6b370702b4bfcbf91d80b70bad
+size 1774511
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00015/depth.npy b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00015/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..bf987251898c7b0adcfefcd93414ffb91150f984
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00015/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2b29df9c18fd946c728b15a2adc5e836d3406d6818710b5643b4a92c88fdda28
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00015/instance.png b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00015/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..14e556d72366f08cce865324cc23d29047cb14b4
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00015/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e66970a73d1a9007413138e1ff233d2cf28ae2094af7fed2f554d89846663d73
+size 130974
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00015/rgb.png b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00015/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..3a13b8e540d0c5582ecb424ab442b11c395fe44a
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00015/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6109976ac864ed49781fc2089d091c297758fef34e01ba3b0ce59b2061401232
+size 1796151
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00016/debug.png b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00016/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..91c53915ea2b711a20a661d074b4be71a1fe1bf0
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00016/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ce016628f6a6acd84b46f7310c59fbb7706e02defbd580c019b0fb99740c566c
+size 1769746
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00016/depth.npy b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00016/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..1fbd5814b2f63bbc44830b58fa678f00b081e579
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00016/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1cdbc75ed0bd1fc2fcd1ba6ab3b4767d43011a5e7937cf618b4aa8e495b293fb
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00016/instance.png b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00016/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..3c621a2bd1f162a0fd1f957fba69f73c74ef146c
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00016/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e423ad82d07af042cbc231838bb68c11e73dce2dea6b8d00df05f3324b23f551
+size 131264
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00016/rgb.png b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00016/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..4b832613ec143fa1b38d5d923a583c1dfd59f130
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00016/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:66bafc151e273fd4fb1045b716eda8829bf32fefe01d41973cd80692ecf9f3e9
+size 1788062
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00020/debug.png b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00020/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..e578e9a7a353f094fed687c4b1245d0df4f61015
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00020/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0f0975f737d5be22ddd2f1c0ad3f114a68211fb4995c9f7062cef06697599e4d
+size 1788418
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00020/depth.npy b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00020/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..54dee45bcd7c0b29e826c9f2024cf53d871ceea2
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00020/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ad38e45291aec211ba5b8c5cd5509695291ed2ce557526008bb5009bb2419cb7
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00020/instance.png b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00020/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..1d2a155706b00d54531500a18e9fdd184fb3d319
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00020/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6a580935d53f47443a391d71ff7744c1ad4ca161fe2aaab68e1327e5fa27208f
+size 133550
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00020/rgb.png b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00020/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..501eb1e1eb80b183f3977b1b71a702bb7eb061e9
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00020/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8f350a6d3be99a6d14e83107808d888d7fa8da23c6d34fdf6f2bcf5baefe4ef3
+size 1801338
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00023/debug.png b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00023/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..b7ea16bfcd482004000eca4f7fd6057b43a4809d
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00023/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:505986815d677a4a2d8b4dc32897b833df8f693b940644487ef8eac9705f7fbf
+size 1779372
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00023/depth.npy b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00023/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..73986a164cd3c22919aa12009336e28058f79c95
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00023/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:42c728160a93385cadd48270d148aa0d422f9a5931254341251159e38fb70081
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00023/instance.png b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00023/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..eef18aa2f8a0a9c5f1e1f06d30261f4f5d6f09c2
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00023/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fe1a44724d3b3a7165a87e8402ab826f80fc484fe2816faf0a2b3eb17e9fd898
+size 131640
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00023/rgb.png b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00023/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..284f04dc40f7faa1131e935ff9a3e41b36c15adf
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00023/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ce66dbba219d4e38faf22d3cbec0040582cfba3f83102a7041443a0afaad6a80
+size 1793871
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00026/debug.png b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00026/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..c4143df26cec4f9e3969f8e51863754fb7dbcaa7
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00026/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f316bd4170b18997d090f9d2c2c702bf0c60f84c3f10cddd0349461d0c556451
+size 1800633
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00026/depth.npy b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00026/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..69db97d1d056cdc3abfc41de175c76bc6c8d08d1
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00026/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:77325a04ee6484b04ad87dc266b14925085edb73ff544e1ee6cf65e59b19da52
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00026/instance.png b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00026/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..4752b4be0b98057d253f390fc18230ac8d101162
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00026/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ac3ed8d53bd76f20c1b097c8a049be3d04de39d2a3e6a2b57f2ecbc5e7589a24
+size 133983
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00026/rgb.png b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00026/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..ba30e897c5244398d7260823e72e5470ecfcc2c2
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00026/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7125b97a8c754e175e054329a92c88952031991b4e18b491ce4793f8829bdea7
+size 1808071
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00027/debug.png b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00027/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..23f9cf9205e6d17d9e4a841acd93dd8cb25e3c49
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00027/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:153ec67d8ba6fc9810803ddde3600b1df1c121a1a1691e271c654ce40654d681
+size 1797212
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00027/depth.npy b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00027/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..0af9924291a4fad2492cd710019a2bfc2f8ce7c8
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00027/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:26e47c8bd14dc29278734a6ba13bf2f5fe84df7ee70281515bebc5338f5ff8fc
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00027/instance.png b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00027/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..b571256184214401b4257b3d895c74a270149547
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00027/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4d733f9c0c3bfba1122c15b7f2916b2844b3ead95f2dfc5bbf9c66e437ce5edb
+size 134425
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00027/rgb.png b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00027/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..2c12872927f12a53b291c3ba4c1a06201d34fa98
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00027/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:97cdf135efc1a153b56ac4c270219701bdcd424da4c348355d0db0127c745c50
+size 1804731
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00028/debug.png b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00028/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..233c3d4965a6cbb91e019764db04a0b3c30c15dc
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00028/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:26513445d15fa53eb81b7801ba2c56e696955989fb9d9dd34713228936c4555d
+size 1789487
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00028/depth.npy b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00028/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..de3671b8866aabffca3d502a0ceb0933a120a058
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00028/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:899d544dd788c289c694276e5adf016cfd2887ec582a8bba4583d55dbeab3b13
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00028/instance.png b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00028/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..9f76729321f084c276c8039abe6b1a6921cbc712
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00028/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4d714c21f9374f99d0f551e678b61eb776b5578c424367dfc0ec0b1c82524df2
+size 133669
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00028/rgb.png b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00028/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..9efae6a81d5742b0062015df527264e6a8650f5f
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00028/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:121c38448a04761ae4aa442c21449e8e674e71173f2da2f273ecd73533c5777b
+size 1798461
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00037/debug.png b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00037/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..b179814ecbb62a92454c3b763ec05a6f8e4b0091
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00037/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7dbb19670d4e7ea09821a53ba80beee0250b1dfc1622ef11de9a0752a84c3957
+size 1763776
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00037/depth.npy b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00037/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..5c7c657013b2c7b15eb670165798719200794c78
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00037/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3d1259b6478f95072d96df3dfca1e229b3672199e8ab56699fd45f6eb095d89e
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00037/instance.png b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00037/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..cc21090f4ea35c8f8cf891ab9aed0091fd4d5c07
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00037/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d7e44e07161f3c84f4bb36bba27ca859bdee01cdb9131c5c577f2db7ed90294f
+size 130113
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00037/rgb.png b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00037/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..831aa72e185d90820da748d3f44897de10143645
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00037/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aa8e4b28514074f4bd5ff9e400e539aa6da632fb85b370e023a183f0fe58fef9
+size 1781566
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00039/debug.png b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00039/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..a596137cf18720be6f659af7485974187f2e44e6
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00039/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:198c1931ef0e1681bf626dfff7c25ed04427645b306a7008f202525aeebb6688
+size 1768024
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00039/depth.npy b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00039/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..aa0d48ba113f3f40a9c52dd8f72bf4f83cc6dcae
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00039/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:633d6bae0cf613a5537cdd4a0b75a9c53e6cc6bcd9c4ea46dcd55a535e0977d0
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00039/instance.png b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00039/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..6e6ad767c77b05cf79f8203ff7481314a3edec34
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00039/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7675c4b217e7dca555fe4be36596db72c9ff1d833f83cf35401fabb9ea01a00e
+size 130370
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00039/rgb.png b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00039/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..d0c78766ebb37d3a986362c5cec2344b73c35538
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00039/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6130ae1765a9d0fc6487371992d326b9796ccc17e4d73f81b87b81e2c8dee0d6
+size 1778727
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00042/debug.png b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00042/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..b85b0227ff15696dbc3183a89a567f4c6bb29c2c
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00042/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f43736c198b944cd6540bc568caa8177d3bad274890411fe2c5ec76b572f0880
+size 1767817
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00042/depth.npy b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00042/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..7235f9731f7bac2fadc9f37180849693083cd81a
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00042/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a8b54b4294ae1c0ab116c56c836a8975e968a7075607285249c1f81553478cd5
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00042/instance.png b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00042/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..279937ff6a23d004d1c98dd9e54ce138d77bd65e
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00042/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9e64652cec6958668e06d3f8aa36bdbe722f546369124450f9b5dd0b72fc21ab
+size 131000
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00042/rgb.png b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00042/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..2ea888b51f9e2837b73686937b55d3c94922ba36
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00042/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9de4ffe059a535e8d2a7cfb2eacd228e08d132732c7540b8a96afd0aaa13d9d3
+size 1775782
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00044/debug.png b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00044/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..7aeee56a59c9d47387088e773c91457a21b3d391
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00044/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:53011f009d2dd298a58f0e3048ea53ed24478e8b8dff326e66594a21e9ac9d54
+size 1767496
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00044/depth.npy b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00044/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..fe992b22f85065fd922a098f08bf88fbc633778a
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00044/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e38f2064bbb900c8c3baf51964e8ef3d6c679da98d5bcae1df7466e33603a3de
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00044/instance.png b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00044/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..277dde81c849eeb162c14ad84701e39a4e3b6fae
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00044/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b6b8a0df402f62224ee7cac2b42b8f2dd9aac4b098f50f743b987c57f2f971e3
+size 131508
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00044/rgb.png b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00044/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..92f8ba5eb5fbc04e1aa15a37ad8dc6ae2f558e7d
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00044/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ec1cf2b92c44df3f42bffbbe2cba4412d8525302f0d974b646174fb87c7cddce
+size 1778091
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00045/debug.png b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00045/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..19d17aa821511043b9d717ad0317a1b9bdbd15a1
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00045/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ce59557d19c53d97a22a2ea6347d79fdd5f7d46a84812fd5d15a43b66b1e29ae
+size 1763214
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00045/depth.npy b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00045/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..ea925df5850cb4ce83ea7eb0c4704681f5f763ff
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00045/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:12b055ae9b787b097c2e071a4765c334e4be668b4d5eb9b34b16ffbb9ff8590a
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00045/instance.png b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00045/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..a295726e5f6ce44f9aae3a5c94a707ca03ba5142
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00045/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fb54a871570bb5aab8c32a9f67738899888741d9f71e3c10da9c07ae6fedcd1a
+size 132197
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00045/rgb.png b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00045/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..f3b04f9e354c2b0420fc3fb7a361e8d13f27f94d
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00045/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0a2c224ccc989583c41e518092a4330d583c2976073d59e4ad963219d3037c97
+size 1778061
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00048/debug.png b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00048/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..924af2e15f84c04ca1e79a430cf385fab0b4bb5a
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00048/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d4b1e36ba9ae681e3522ae3a8311155e813fb9436a93b1fc66e22175e4adb760
+size 1763785
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00048/depth.npy b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00048/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..793d139fbfd2cf39ab3724cbab1fbf1f07aef1af
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00048/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f92a416262f5083eaaf3ff043d077a19a10dbbad30fe82bfecaa29406721402d
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00048/instance.png b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00048/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..055747ade294e4389b7d50cc7adcd898af242fa6
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00048/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:87e190d15717048a0cbe5bf6000d8c9c7d942387109a5521ec786afcbe78d0bc
+size 133757
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00048/rgb.png b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00048/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..d2a07a1f5eabf27d2783f31cd27091c65d7905cc
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00048/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:41c6d89dd6219555a588a1fe2f4ae9ab63bda4597c2fca6ea9f80d0d41bd6307
+size 1781464
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00049/debug.png b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00049/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..cab718622c2cfd4c5e0b12b0f24d9cd8e45a6f6e
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00049/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d7099b16a52c769020f54b1999df0fc3910e191a14c4d5be315c276c033c2d5e
+size 1763403
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00049/depth.npy b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00049/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..7c7466aaa6cc103676ee4145107e82233ca22d99
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00049/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:87dc076284303e053ef27f0226f50c5b6751eb9c0fcd9ef52f49b04d73c42e8c
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00049/instance.png b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00049/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..b009f6bdf141de91b4aced2722ee7c4646110be0
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00049/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:de74dabc510182b15bc501c98fad466ef5bd809b675d3500ead1af793eab4e07
+size 132386
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00049/rgb.png b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00049/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..8bee3b87e3c2d10f275e9c2c6b378ec90127fd73
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00049/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8a8afcf148a597dfe7c885eb0854d2bbac482b231975e937ad288cb40baee6ea
+size 1780338
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00052/debug.png b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00052/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..35cb5cda132bc9237e71ca489ac91d9b18f9fd1e
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00052/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:95c4a974a47e399057e1e66f6b89f32ab62fa2d23ee7fb326eb3a2ed92df9608
+size 1757217
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00052/depth.npy b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00052/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..6b85d052e75023a5840c476c44edd72706f4f46d
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00052/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7459257512eef1cb22af863fa43438989d125fd2a2cebda0f97c8f905e5cda6a
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00052/instance.png b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00052/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..3b08156b2eaeedc808a503f66bf956cd81bff5bd
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00052/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1cfc0b6bd5c3a8a2be62e64e890460d2cb31728a6ad47fa8341d4bf94ead7d67
+size 129645
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00052/rgb.png b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00052/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..ebd6cde04db770ca05ec276acb4b622353a64e80
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00052/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c52d28638204d3e623ac4a917f445cc7ea60352a0dab04b8d483e26f76ff9d34
+size 1770252
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00055/debug.png b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00055/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..a24851a63b2e8ed839a0e884d93a8494fb27956c
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00055/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0ab80b508122a0e1119e5a1cb30c11f251b2bb4adffeb4719cd8bf12f6ee7b10
+size 1752809
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00055/depth.npy b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00055/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..3d7991d975a65c8d63be10fe7697ae78eaea0d8d
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00055/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8799054259579ffff6fd62fd68e3b75d2a7c00ccacfdb0e7de36ec623d327b76
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00055/instance.png b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00055/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..d19f6d93a0b85155454cf60c3bae1e467bdf3ffd
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00055/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e36ebbe39aecb1b913be412c97c9160cc8677a31c29bb75ab3eb85eb4530b1a0
+size 125489
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00055/rgb.png b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00055/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..078a2ee8172c74b475adfd1afeb66e84e4dff9ec
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00055/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f57bedf64ed4d2a0c9ba279c2b1313c6ddfcfc9094f6f3a93c4a67cd12020fc0
+size 1763000
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00060/debug.png b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00060/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..06c2f49c7c5acd99571b20a7f9f014b6e7cca5e6
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00060/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3ec4a1cf0d6605e8769b154b332331acd57fc6bd3a46e2a8d4d900813ab401e3
+size 1726511
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00060/depth.npy b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00060/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..e3a5b550a7c29a5d546fca5c20b49b690ca24eee
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00060/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7e3f5489c2bff73e1909641da8a38e550d4d6868d0eecf69d632dc5d8d9cc3c2
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00060/instance.png b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00060/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..e9980f2a2ab71bb0209dd513374a4afd3ad3c6f8
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00060/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b666d23d39df10a93e8a2b35c5dd198e8d350b4a740320239cb94605a931f4af
+size 123892
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00060/rgb.png b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00060/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..53292cf6cf6aeaa839e63d36063496f842d832f7
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00060/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e35a4611bc13bd7574105806540b99516ebea1993f7d2849d97d2eb11c37b1fe
+size 1742495
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00069/debug.png b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00069/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..0a3a33b0251530c801eb350368c51988bab0392c
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00069/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:91eb2d346950231a81924f3830456aae06eaf960fb979e6f13a780e70da5f3c1
+size 1738051
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00069/depth.npy b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00069/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..a5e792570efbfee346140209488e75a88bbbe9b3
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00069/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9df24f5459665e05fa902ca5cc1e806044020ddf4c87cda1e605b5e4d3d9cab3
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00069/instance.png b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00069/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..ccbbec9d01a558e880d921ac9d5fc47f156efd69
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00069/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:992bf1a9fe1f70dea95ce9168d3ea79a2a52f8d36b44951f9b794b81605d81e7
+size 128771
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00069/rgb.png b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00069/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..a68417721bdc448e7f553d912cfbfb564e557070
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00069/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5ba71388deef5d2bf602a8682b64646e78f4610e74948b6bac9513fe672d90f2
+size 1749452
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00074/debug.png b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00074/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..be5e84a065406afaff38cf54fbaaaa058f47c21a
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00074/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6e25e0d69425ca90638486be66377daf6b6f11e2d2ccd5dfae438e96ffb6d887
+size 1748905
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00074/depth.npy b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00074/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..ec70f84c75bf1184496379f0c981b3cb8e22a30f
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00074/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6b7672c59f8bebcad7ab9d0d2a445fbe9e42debd15256579b60aec653c4fc64e
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00074/instance.png b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00074/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..6d342bf605d9da71e01a1abd25778e90085537f5
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00074/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dbdc285c67fbd9e82945a0255e5febb28238a731610ad571216fc8c927230009
+size 136727
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00074/rgb.png b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00074/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..4f8827c7931a4d1d4f2360bac13d137e2b0f4eb1
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00074/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7dceac29654c2f4af8b303abd86725b86cc620f375d553b997161bd2f903458d
+size 1754538
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00076/debug.png b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00076/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..599d21d2ddaba1105f55e05e8d14e4023c2cfd59
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00076/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a49fe562e7d64cd05fd90df75ea09714d03c7cf75acabd6e2e483fac8fec0f69
+size 1764198
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00076/depth.npy b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00076/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..193d546b1d201e8614cd184db8bbe0aba434b1dc
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00076/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b8d2cfb07bfef8697e142da3627cde4634236f4d083de715b4bc6cdcd7484079
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00076/instance.png b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00076/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..155bff2808e3d8048dfb3fedc5516ca003513a4b
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00076/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:52206a999c05db63d607521d9ba41f733e01901b18f876cebabc8203bc6c7a3e
+size 140958
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00076/rgb.png b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00076/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..8edf6d1b8c379e2b100a59fc30679b76b1285bc2
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00076/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a75002a7466a82ccf689400d01a18c915c81969c747c917f057e88818f5da8cc
+size 1765494
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00078/debug.png b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00078/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..28a0be5914968e172d4984396dfc3e5cb5df6fe6
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00078/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7e04889053350a95b733b8f7fe8bb3e6e92b218acf834f5639fcdf1e68fec90b
+size 1758613
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00078/depth.npy b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00078/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..aedd3b3388d8ab30aa279b38721ef28caa8eaf11
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00078/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:50bdd548441bc689eadea177763ab73ff92e584970b22f0d5f35e21fa20d35bb
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00078/instance.png b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00078/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..afebd3a8f1b7a09f235c4d7d510c36f2ffb80006
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00078/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7638513832c777cd226620e4a7b23fa29957a1aac6cc83055ba4d84c50d26697
+size 141624
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00078/rgb.png b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00078/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..fab3d602056e988ae5948ddbca18e2ab97e04ff0
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00078/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:764a8e73b9406a86e5fe6897b6b7e1002856d5ae3f73571471b0e3708902bacc
+size 1768465
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00086/debug.png b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00086/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..8e6f65dcff2d28c7448fb0581f404e79c3821135
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00086/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ffab2810480fc132c6b3f20a11cb90c55a3c5338d43765def29ae803b8b5cee3
+size 1771479
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00086/depth.npy b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00086/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..71d11e4674f6a37ebf3875c1b02c287b7f3d592b
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00086/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:78ffc1db7bf7ec28bd6313463e27a93e6d8f8e6aa13d5e8713a4b90a27487b34
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00086/instance.png b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00086/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..01db164ec88194a47e71906d8a924ff37602e8a7
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00086/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b7f361bad48d96b51eced1cd12767c3c715d580fee4e5c3520bc88f7249e440f
+size 152781
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00086/rgb.png b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00086/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..46c7bd62e648cbf3146fb944b96c481d622fb0b1
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00086/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a9e16d10592f9d9789e1be4ce3e91d8493a14d910386d0efb74bc381bced0fe7
+size 1784383
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00088/debug.png b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00088/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..e191ad8aa13f3682688f7a350cf7e671e6d06abb
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00088/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:28ddc3c0be36d03f25ff4214a712037efef5ca8626207049c87af585070a8f12
+size 1778656
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00088/depth.npy b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00088/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..360cefbdf0fbdaed85abe80064511a6332abb282
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00088/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:630c3966ee8f993f74ee4e82f9040203c0f7f3e005c303d0856efaab1fcf2088
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00088/instance.png b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00088/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..84df26a12f862b23f54dd2c16d3ca7af60e0a877
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00088/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2bb883b6e8b80f61d5073a664e5f1b7c3161dda2c4ed247a59a81ee554648e93
+size 155949
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00088/rgb.png b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00088/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..7d61da1960d4cf9833c603e9fdbb61e3cd829b51
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00088/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:827feab5e59a188376e9840d0e9f84e9bf610a46b0557ce1a98bf47e77aa7c4d
+size 1785471
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00092/debug.png b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00092/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..2995aeb110741bb06cd832f3e9d6d54d356ba58f
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00092/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2853d6200b88f44e93bdec4ed164ec087073ef2ef36dd15b32684dc5250c0a8c
+size 1788000
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00092/depth.npy b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00092/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..6b68a80e4e2db0fdbe3ff54aff6076f2b695ef38
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00092/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:326957bf5baa1d1ee58f44a46bede913ebefc10a3d6563dadb0d02eb599c40ca
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00092/instance.png b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00092/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..1edc0799e52f6d146ba41f0bac720958d5f03f43
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00092/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:71c8ee366f5698efa9ae7dda5570112424be30b474394db0646b2b335b882e52
+size 162782
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00092/rgb.png b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00092/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..bd05cb78fc23f2da8eeab44643cb1343840ad7e2
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00092/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ee04d68d981e6dd72e4ea6eb261fecd5f114ab93e6072cb966e4813ff150cf8a
+size 1798496
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00094/debug.png b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00094/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..e87ffd86a0845e2323d322d9d20cff923a5f844b
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00094/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:642599fa67f523d2c9c1a76ed429cc2d97e5c1d9ad69ab5c2a56bb6a29c521d0
+size 1804748
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00094/depth.npy b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00094/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..272ce1fec5e16af2474372d8846393b01206866f
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00094/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:45012ec145ce59dc0e59faf1c491f820151c4a7a7326061d17c8f4f1273784bd
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00094/instance.png b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00094/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..aad095e4121684fe4a8c4643201a5427d78f5081
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00094/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cd6ba1c24749dd703c11bfd21a124247bcfdc0f895e4bc185bcd7c15a2b95034
+size 168984
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00094/rgb.png b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00094/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..0bcea927bd91a6355d204988ebbda97c3e2b218e
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00094/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e316138b8242dd2ee78b9d78bd7a9734c900098e70aca7ee1401fcc1e71f79bc
+size 1818247
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00096/debug.png b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00096/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..8085a881f5e3dea76a6879f4a2e0e222eaceef7a
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00096/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d363f04aa862bfc37c4cec355fb665585ea5a8b3ff52c00eda721033ec4b3cdb
+size 1810355
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00096/depth.npy b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00096/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..ad40556d67bd3a741e3465e1cf4a5691c7470d7b
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00096/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c24f913c78670c5d76f4107bdb5752443fcaa48b95e2cb0c0c6542665c1ad9d1
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00096/instance.png b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00096/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..c696706407606a2592c8d5652ad45f46dc3716cf
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00096/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3623401d5c8885cfc38df3026eed5ae15da0da3cc2b41104ecaa426bcd08330e
+size 174265
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00096/rgb.png b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00096/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..8ca092a1f1cbc287479455c8a725f5ed593e9e4e
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00096/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6b905e99724936ae40ac4771c60eb37a76a9ad2a97267a02f0c2670ab8b8a35a
+size 1836355
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00099/debug.png b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00099/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..895e1f587f8d8c6b5e9e2beca4f863fb27d128bc
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00099/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fa603241f8be6c46919c158960714519c2795292d34bac1a3cdea19f895fd4a5
+size 1823094
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00099/depth.npy b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00099/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..34863f722f850958e2886191363d41adb32c849b
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00099/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d786311061ceda9a160ca2bb8fae45297d34309db8a8d42b0d9a538a23bec4a3
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00099/instance.png b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00099/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..244519c7fcf19881dde27f2f0b0b0c6e0036b1ff
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00099/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9b8c1357dd52b6852b27e9da9a9d6ccebd61421d48d2c4efabe39dd22565027a
+size 181229
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00099/rgb.png b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00099/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..82b5760c699b893faf3fd29d2cf2957fe1fda40d
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00099/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:05969945b5cf1e06432ee9af9616744d1e116ac8cb75b1ce1cb0520733fa7979
+size 1859684
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00101/debug.png b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00101/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..e69a897361ee8552abf5b2fd951746113da5b31f
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00101/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8c2e1e3d9d302987a3df2f620b5b2cda221d2ecf5ba863e6f6fa611157b7acfa
+size 1846605
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00101/depth.npy b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00101/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..4a6123e896ed92163c5cca33d7423cfa1b3e9a86
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00101/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dbb7871cd8042c267c38d60a9c56910057728ecc8079826bfde37af83231113b
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00101/instance.png b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00101/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..4c49a6fb0e2e96c92755f3b49e3984fd55b8345b
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00101/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4110a239518ea7cbe4c13e380e61cd801b0e8bcd496351203387a78fca514985
+size 185195
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00101/rgb.png b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00101/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..f847caa919e1fa4b57b6a448e5909a1b5373fda1
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00101/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:14a836495b7b0102c98a349bec3d4b0e469e00e35d0c72b2864c2169432965a1
+size 1882956
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00105/debug.png b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00105/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..623c17dc56337465cc9ee85f2b194412bbf53c88
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00105/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:59bc2cf049375ae7d5fd397243fbbee5fd0af0a0ba543bc6f0974bff33fc9f2f
+size 1850653
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00105/depth.npy b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00105/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..0844b83f4fcf7ee28d36918478e2b2cf065ee490
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00105/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:85554b53cb148f02d5795b07b3734bd17b23b40b392a74d297689276bc9428b6
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00105/instance.png b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00105/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..bbdf0b28fd5e6580d417b979518a9903af58b759
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00105/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4764292096f7f84f08bd53aed7d63d398ac07440300bed55d90c9a6b8cf6da8c
+size 188609
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00105/rgb.png b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00105/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..d1540e10f61a91046b45a4f243db4229d36b9ed1
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00105/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:75a6b23ace56c75f923dc799c9cd68faf5ab1dcfeda6b5ffb7a6500c910cef1a
+size 1886812
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00107/debug.png b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00107/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..54562f44cb81d2063b879012199bb84a6dfec06d
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00107/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c073a92b9d1010735531e2a41fa1e2866ddef19dbbbdd3e01d42e656e965d6ef
+size 1849655
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00107/depth.npy b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00107/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..a01bde76ee8964e8f849c8d8f5684858dceae8b5
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00107/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8b3fd61ade4d1facec3e99f6337087a3c3982acdc42aeb85661dfb0f2abf4c30
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00107/instance.png b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00107/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..86b3d654ad6c9480919b6a0ddb75b169809776b2
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00107/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:530491f7fd6f02c4d284a5041076d56b6fc719cb04365f6db03e90f4467b3fd2
+size 188851
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00107/rgb.png b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00107/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..6d305a14add938f6d0ac1e950a5fd6d8b0a39e73
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00107/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6ef134d4c3d08fb9ffca5e8341aa52174602e12c79e4227f40c315bd0fcb8950
+size 1888823
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00113/debug.png b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00113/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..0c7deb63a5441dadb341919e1f9ff39c1b85507e
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00113/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:39413658d9631216f95fcdb1bde61d25f45d37023e13fc3ddcf9a0658c7800fa
+size 1885519
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00113/depth.npy b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00113/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..9bcb4ca3be2766a0256c991745babd1f831796ad
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00113/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d3acc38a2c8735779ce86ca53b7b33a3d8e203eb69e7e430a805f2075a7eaef7
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00113/instance.png b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00113/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..e1508188163d078b3ccee67b9f86e4e1ae3fdc7a
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00113/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:74f4faf3bb6a110ca1a5e83260aa46a019e2967daab02067f170927e047bf95e
+size 193164
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00113/rgb.png b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00113/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..2e105d92fe16204fdce4edaa4e2e1a317a3f864b
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00113/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7719b0eb598f59a3da6f3d72f3b2c897b860bfa7aa9325bd5e2c7396cd1aec22
+size 1912106
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00117/debug.png b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00117/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..5375d9f8d5c2b5b3662ffe366ed13be1f8ca8020
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00117/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:72cfbf55df55cf8d463eed0d742f31db523f6825cca4ddd156cd341bed485112
+size 1888478
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00117/depth.npy b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00117/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..a3974c6b7368c518b1fa54d35efbdc0094911326
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00117/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5e5839a08e42678f1fc66025e28dce40f7a53528665d4e7eafcdfdcf653afefd
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00117/instance.png b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00117/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..723ce2ed2da4ccd09b41c67af99b03008a81b7af
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00117/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f471ef09b3164b7e40700348815434491f1532dbf3263cb7c297030ed7bcc121
+size 189360
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00117/rgb.png b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00117/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..35fd90826b8338fdc05c78e6d8c068de99066868
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00117/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7dca795a23096485e05eb3a5294b124d4b223a00259fc132e7b379efb91cfa26
+size 1905369
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00121/debug.png b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00121/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..1bc07a6b067571618b7982acf1f6a8813aaf695e
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00121/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cea12c930896b50e1fbbac36fbc9b799992be736e8cedd7c3d24dede14c7fb7a
+size 1875622
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00121/depth.npy b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00121/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..d0574db782c78abf2ca0b9806d1e1e82d28f845b
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00121/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e9da9f5d5daa00421e453d1f318008165c5466ddccbeacb19604c7aadb443f32
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00121/instance.png b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00121/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..a41dcd34fa62040c5e5ff97d69c7a1a40156904f
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00121/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1b0044909f4a92d55a7d48bbba303c48eefb443956811b1f23070cf3f0d7517c
+size 184996
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00121/rgb.png b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00121/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..e0e161fa65f83882163ad2eff1be93d56390b9c8
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/ORI/frames_playback/frame_00121/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0f8dcbbc22cdb9a0e9b7c4d9dac8bc105d2d2ea6d411396c3a18617dcfcb08fe
+size 1888773
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00004/debug.png b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00004/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..3d6d34367839ce6903eeffe99aecd464e0970287
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00004/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:522c9449ffd5900e2fa6b2701ac6a78deb40508a09bb0353975bbd90e45e46b1
+size 1771432
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00004/depth.npy b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00004/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..f1ea085ed7699966e9dc4b9f74595090f6174609
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00004/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:52c086bf19dfe2ee92fe0daeb73cb75d17b2b9784d840997085f068a99ac0186
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00004/instance.png b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00004/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..478e2464d05bf60db720a76d73703ca126927c3f
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00004/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fa46cf1c130983d5d96e925e82d070fac35f09f4bd40ea99fe2a77e0ef6eddbd
+size 128216
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00004/rgb.png b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00004/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..ad7a6e937886e341f37f28530c47dc512f5fe220
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00004/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9dcc36f8cd4f606ee98396ee76a9ccc3bdff51f7ab6535591120e3e395901b50
+size 1775890
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00008/debug.png b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00008/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..2b5088629e7ade974d1d2b541aa392b99392dbe2
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00008/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8adaa483df3c943f237bdf64af82ff4cff93fbe9abee4b68e7cf8dba134db197
+size 1778641
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00008/depth.npy b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00008/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..e263fba7091b001d839666e0843b28bbbe2d392a
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00008/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:116dada301f0bb6e5fa5a270a7a1fde6f552269d01cd06b872b9cad807b32556
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00008/instance.png b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00008/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..24433b648a33615a86c9ee094aa8458cb2846795
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00008/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:22fa74588dfad2754c554c5837fee0d86b935a1e99a986d8dc58fef3ba7ff497
+size 124173
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00008/rgb.png b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00008/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..bef4b1fd1711ab5d1956ef02200cacd722f86895
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00008/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2da98e2076dbef13ae20280d75c70027bed485385d30c2d5bb3875865f89cafb
+size 1772554
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00009/debug.png b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00009/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..4f28ddb63377d60dd235c71a815b3b8c9d7c83cc
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00009/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dacabca06db28cc19b0f86e9121fdde1917fe70bdf718371630399d2927b51e2
+size 1784582
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00009/depth.npy b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00009/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..63ceaf3d3947bf059b5dbe57ad4d0690ab25b84f
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00009/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5a0a0d4d00df5ed4adb29dd570b4d843b253202f0635ea448c794737c7f24482
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00009/instance.png b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00009/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..b3edd365ed8f5db48cb50467d501117832ee1072
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00009/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b1145cd92e4922d3fd01ed5dc0a32a61771e020c785ecf2028e1610b5d25223f
+size 126682
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00009/rgb.png b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00009/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..bb4ea6300032979eef754bdcbac131f4db292f7c
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00009/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ff92ac9c02defd9ca93526afbc3058df588f922743393f722e19d0a91e80b14f
+size 1771650
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00017/debug.png b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00017/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..cfc45e8755032c81edfed3a9aedca6e041eb2802
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00017/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4b43e6d104e85b6e5ccd18bec7ebb5ee5bb82baa745f4297ccabc4532f23e9c8
+size 1806104
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00017/depth.npy b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00017/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..9968410dd53063ba9ebac7deae3187c9e0b98813
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00017/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:355a3ffe0924adbcf8a4c793b77eae4394af742af175064e238653ee5ae8a773
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00017/instance.png b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00017/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..55e606b79ea058808210c523bceb87c7d3db5f07
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00017/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fd07bcfbdd7cf34f74be47c9062586331a41f9a98f398c4a2d2c880801a08f23
+size 130309
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00017/rgb.png b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00017/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..830fc5e305e5fa867005986f3032802323c822f8
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00017/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e938591f4ea3b6a63b13bd44de9e8352379656d22baf6cce5cf52dea3c2734be
+size 1789558
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00021/debug.png b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00021/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..a7315e2cfdbc5061e9c132e713820398030ffb76
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00021/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2762ddb249a380d68e09be1848be4d973a9d2e3ba07bb63fd109ceb6c1b2def2
+size 1790335
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00021/depth.npy b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00021/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..4da42832ea107eb2380af6f5a8138900e3a33500
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00021/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:09f28988b4765a2f66b9e84d13df0e6a08e7579e6de13f5e67262da9b5270133
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00021/instance.png b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00021/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..dc43dfdda6e11c6170d11e6e7b58e9502cd8afe5
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00021/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:003764db542949aa8a97b5dafd1dbb67bed2f6f13fc7d0a40d0631a8f2988b0d
+size 121035
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00021/rgb.png b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00021/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..5f97f7b6e698eb42c5006ee1b9597c1414330674
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00021/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:686802cdd441b023ffc9fa4c372f0f7b46ec7c13b53a6a995900048a85521080
+size 1777561
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00022/debug.png b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00022/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..23a9e25d69d28514e6658aea930f48237e1069cd
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00022/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:061cbbeebf5fc73b0ffcb419162adcc38c7ae2ba50fc5dc7c4b98ecc3c8f5045
+size 1816634
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00022/depth.npy b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00022/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..11b4b348593ccee0e109a5ad4f4b1f95e9f52687
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00022/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f1ea05b2705a6314f8d655fc024a710ea733a9961592fce338d7733128c6940f
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00022/instance.png b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00022/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..53caf1427648af50ebee4a8106972d674dc36fd7
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00022/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:98fc3d56b4b7e44d423bd003fafd6f5814c420843ad8670a805b68b9b0fe10e4
+size 132656
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00022/rgb.png b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00022/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..af55c135f855e939b453cd2b1de0b904d75eca7a
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00022/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:efc86e331497e30b46b49a01fcb917acf137b4e5053ea3837797fe2d1eec8ea9
+size 1803576
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00032/debug.png b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00032/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..121165249293cee3695f0db7588880aa7976e1bc
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00032/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8e6bc6cf26002f871b886dc862d5c768b53aa4fa604a746d190ffb94217d7fbb
+size 1810262
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00032/depth.npy b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00032/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..f448ff8bced7368ae38700d6d811b99801415e9e
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00032/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8b5d0c3c86b5b671e069db19b973e30a83e59dcb20d3e7410bc61e5ee8b169c9
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00032/instance.png b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00032/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..c29bb52fc3abaa9d18a960ae83a1ca689755c797
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00032/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8a94f20bd20659a7157ccb98ff0c6923e341a3d7995e9ae7c406fec5ab80f2b2
+size 123102
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00032/rgb.png b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00032/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..1cb818a222e62419c3be64646dca2e59637086ba
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00032/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2b88ac9d9c737ac226873c107b35b86b62886a8b7672c08a204f468ddd2cb95b
+size 1790336
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00034/debug.png b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00034/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..181aa796bdacd0a82365cdf0f9bd9bf0b9b8a3cb
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00034/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:53131c767d923331f74358b6e0af0e1ad687f965bc7ef6cdad16f7c8266353f8
+size 1800316
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00034/depth.npy b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00034/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..86474bfda195e6cc39b63dff3ea20dbcacd530fb
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00034/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:50745bcc35d8173531892f87d560dd9f3828910c36e6b42ebe60a87229c567dd
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00034/instance.png b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00034/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..0282270e6d4239652c5a784ae91033792c577ce5
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00034/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dab6db02d3bbc2fbee864dcb0075b1ef887c2e84765abd333172281380b5d753
+size 131023
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00034/rgb.png b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00034/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..54606746575655315e217e4550e322a4dd7a6990
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00034/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7319fed9d604294633cac85d4b00d25abd8c66b14df26c2774680f1db359380f
+size 1789623
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00041/debug.png b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00041/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..5ed55e0c66aaec0fc9cea0ae293031588de078d6
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00041/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:97c8a10db60121841235033cda9de7084be3f4af82f0bb1328afbbcc9e235fa3
+size 1785350
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00041/depth.npy b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00041/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..5dd9fed01b7880cc54c6b03dd85c011991fd89ff
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00041/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c72f2deaabce29b2ecf8e196f29988fbfcc99aa3a15d3691c321c8858364ade8
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00041/instance.png b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00041/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..d6f78e7949972d2e191c33144e66fa3332f6a3cd
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00041/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9b2941428e6b43b03ffdd0d4bf07d564fb9654764a0e473fdea3ff4942d72af0
+size 124035
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00041/rgb.png b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00041/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..61a783656dc6eb52ab17addbc2a3abe56952b3c1
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00041/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d495f0b738510fcde7b196b3b0a47ededbdbf3b46b7f61c0ab777ad1fd501ac1
+size 1771179
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00046/debug.png b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00046/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..d898cd33a397b236a65bac404b0b01d7779c1e0e
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00046/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c1ccd0ae2d62ed61f495b58d2cebeaef281a3582fda9b2486d644b2007cdbe0c
+size 1788621
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00046/depth.npy b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00046/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..b3082d6d7204cb4a19492e2a65c7d0b6efb32aae
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00046/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d7f765b2a612db4cdabc6524fa977b682545d6de92758d82427de9e0527d9431
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00046/instance.png b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00046/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..da27c5854c9337668415a4dd84729b0d0f13e15e
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00046/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7328c8df0e224434aafab1c2d54a861625973b941f41a0548d347c6f42584ff1
+size 121475
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00046/rgb.png b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00046/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..b91a3027bc27238bb604ac00c1250392f7e15a0c
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00046/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5bdbd8f9ca76643458f64c7e8c60ac0297dae88b93328001b37c0b7f6f97de01
+size 1763884
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00047/debug.png b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00047/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..5ede9adcf94819c5b012637a47311b0badd15f76
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00047/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0531e8c92b05a9df9d761dc2322a8cd252fc3af4d1f72ff2c6a224f90d094c81
+size 1794912
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00047/depth.npy b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00047/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..7b004a588370ae65e2167b783cea9c5a1064c952
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00047/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:14c93c5a450f335cf9c2e304ba7bc27b802a9998f7f500c41fa08499806b0a9a
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00047/instance.png b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00047/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..a1b2092b1e6d71dbd405571a55695e7f854c5e79
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00047/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:96c5263cd3cfdc6aff03a7615ac888262fdf0ec2b80a0f195eb168c4827105d6
+size 130274
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00047/rgb.png b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00047/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..1e3b4b2f486527b79f17718e05f3edff536dda0d
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00047/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0fccda65f844bdd8bfaea873d1773cccc0f14efb471c3412ab23bb6565b8328b
+size 1769804
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00053/debug.png b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00053/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..3fac01c00f8ce433af55e54f55dba5c19de59418
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00053/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5694ff53359e69ebd3d74271a7abae8d4cb6771b4d15099a6c70c06b8fabbe3e
+size 1795382
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00053/depth.npy b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00053/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..88cf18e9093a2a20d590995e7b9850af4da2a008
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00053/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4274d465b103ea31ad16ef07ac55c3e0d65f59aa34e045874cdf78b479af9843
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00053/instance.png b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00053/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..7fb6c9fa7687ec33b2a81ca6feb62d683f0fa892
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00053/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:de2043f8f1cf44b8566f7689b319f923fc35658a0a72982e69d9c8459975eb9d
+size 123620
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00053/rgb.png b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00053/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..2eb4e38017bc3d0d8899bfad9169f515cfc277a5
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00053/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9d5c5553bf044ee26ba324f5feb34b36fcb222b52127510763e068380b444a18
+size 1769121
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00058/debug.png b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00058/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..1113f97d3c9288bcac0522a53c38f5266d084020
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00058/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:83c7cf3c36ed8c3b24953bed2e209abbb101fb97114a7abc5cf0d4f22326c948
+size 1793392
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00058/depth.npy b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00058/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..e88740d7291b14925cb0163b60fb9355d86480a7
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00058/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:651888317581be055d932f3879b4c86453c4a21ccf16e1fd745590f3fb97a731
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00058/instance.png b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00058/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..cc20d663ff2b53ee287f2bb95420fec6de1ad186
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00058/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:563ef77a038d1f6d15b7eb48b4b763d7a3ebc7bef2d6206e989a936f79245063
+size 131458
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00058/rgb.png b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00058/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..0afb994c1b612f44a40226a4dd068f675adbd6df
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00058/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:88285f20a10568d83e85a90cb9608c1fa03e522a67551bcfa28144caaf75d8a2
+size 1784376
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00059/debug.png b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00059/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..7c2d915d3ba591019700b5b6a32cb73fa41bfb68
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00059/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9e00b2ee8e2cd47e1e930a370189482a5a439f28b44e5b2f8d773cbba8246d51
+size 1785840
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00059/depth.npy b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00059/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..992b07fd7dd8f864166ea11468fce249defc3ea8
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00059/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c2f009f7a9d503ef3888197ede4ebe5a10e1974a06c0eb71002b06f3e611614b
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00059/instance.png b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00059/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..543e91e89f5e764023a7454537b40e419489d686
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00059/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:40e7cedb049166021f4529a6f83c5af13e5c0ab5e36ed5d5d09717142d227df6
+size 137911
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00059/rgb.png b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00059/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..faac70abb17de8adc00ab117f7d425daeb815e23
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00059/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fe295890b9352abb2328d42763be913a2950762e942c0cab21601a720b4236c6
+size 1768943
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00062/debug.png b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00062/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..33867b3e7c03582bbcd25d59c4c15fb9e686fff2
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00062/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:495ddd361f3dfe762b1b8256048e55fb4eb803f95513112b4812d5fb733a75ea
+size 1762847
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00062/depth.npy b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00062/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..f75c388a0146a181fc303b5aa0256d17ee268491
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00062/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ae48001e7a5a23f0b683183f81f30d9928af7d0f01f3cd37e2ae21c9428ec4d4
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00062/instance.png b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00062/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..44429f31a4105a2e75ec045633c9701eb6ede776
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00062/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c3629c2d9a84c284fff5d898a17228df25cded4fba5979e910f376504b112437
+size 122309
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00062/rgb.png b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00062/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..21781892762e93cbae0949e152fd9ea270f7324e
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00062/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2da8715fa08f32b643ea8930ea54ed858106e5ff000e8438b194c481b3e92077
+size 1750291
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00063/debug.png b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00063/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..faeed98b1c6434f95ae66591199b7ef51a908ac4
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00063/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:99b5b938b719926c55a00e89ef95fa1eb7c1fa9bcb97a1621beab0cf50699836
+size 1797812
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00063/depth.npy b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00063/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..a5246fd100e43885022e9a093ab88892a8dca05e
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00063/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f8d06f364ce91c7199860dc98f1fa1eb8108b69781624ab9ef37db0d56bbd9e6
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00063/instance.png b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00063/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..9f4657a9e15f0b005087d170c4069c611cf13717
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00063/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e05dd9353252895be4487e5200680d80a6c4bfb8089792d2240fa6da51c68d1e
+size 124379
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00063/rgb.png b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00063/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..8a329596c18944e6d8909dddd28a0d7d182abcea
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00063/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7a6860b09203d069490a9af6c34303b316bfbc4ff56d3d815ea23eaee15da597
+size 1779494
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00067/debug.png b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00067/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..9433fc03edf26fd123939437f352be2137c1b6b9
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00067/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c9691c5a057a996547273892e2be8230985434e14d7a026049dcf61b26278891
+size 1805239
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00067/depth.npy b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00067/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..1a84b1f4fd1c0a1e16fc082b8c1b2333c54cad9e
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00067/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d1777fb1b8053cfc0090f71a6ad786f59bc8821efd7eb58d076714caed8ebbe6
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00067/instance.png b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00067/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..44ae53e5eb21251bda49c0c52ffb29ab6446acba
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00067/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c0ccb0cd3b65d66769d2477a89d05987bc4867fc78fbd5fc0f60e1453b02cb65
+size 127368
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00067/rgb.png b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00067/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..7a3dc494914b60da0536f8761c4323cf884122d6
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00067/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3d92f2c9561c3f56f75d27bdfc540b8aca1495b4a9c921c98935531a9b7c85fb
+size 1790445
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00073/debug.png b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00073/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..fcaeb1c00908e754f72c6680f5beea270340e7bb
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00073/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:58dde78ae672a6367cb2bb1a24c5d8f00c299836191e5d7952440718c3ea3873
+size 1779578
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00073/depth.npy b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00073/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..2a87d860fcac7a0a356bb203495eca749d05d7f5
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00073/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6d86eb7e75ef5ef2bdb7c40b9ff224bcb7b065860f8352fb0c9b7ce3b8fe4075
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00073/instance.png b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00073/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..7430aec57f8be5e8a29355e9d142882cc123612e
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00073/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d1ebb729d22c22fcfe22664b25593421083bbea0db72ed108dd2d13e62e977e5
+size 135610
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00073/rgb.png b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00073/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..f0eff36a0495ed573bd339452831f673bd08ff42
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00073/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:37acc1b12b7ecc651a5296cb94c5378ad8abc8062d4efb3fca6adaff7f5b1422
+size 1754677
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00082/debug.png b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00082/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..deddb38423deb83700848e359708ede58f85a276
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00082/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:981244200b57cbf3f7de5548368f226a11197d9c83518307d99aee703c4805de
+size 1797491
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00082/depth.npy b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00082/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..ed71000c93b079d84a0da693fda3c82af196d5aa
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00082/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:305c6c1a62768cf3d0949b19d8160f2e6cd117efab9d7a66c641d23562101e0a
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00082/instance.png b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00082/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..30c931cbe040a662b22d7c38811bebf4e7bbfd21
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00082/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:df9364188a4ebdac32e2d0bcd5328aaad03a501476d417aa182e5293cc3798fa
+size 146724
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00082/rgb.png b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00082/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..6fcd3c7d6b2db0a13efc40cd828bb9678abb4632
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00082/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f24cf9ccd4993c433bac9d41c4f04b1ac91a8981bea9361130986d2a83341ce1
+size 1772833
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00085/debug.png b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00085/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..dfadf7686a98be695a1ba865074dae6d0402240b
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00085/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:41ac6695bd785f1d9c4c676b6636f44db428ab526ab0b7f8a0deaf177d635cff
+size 1790412
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00085/depth.npy b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00085/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..f8c09af2e734db4f29a444a9a27815e62b6f773b
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00085/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:84677dccadf714a29836ccb1d22b18b4951ef495a15c58bc344f1024e8de230d
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00085/instance.png b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00085/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..d62a0576c5af6df6ebce99475f21bbff5f8aafd1
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00085/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ece57e4845530924ffea472f6bbfc87e34433e16e9601fd5d1a20a5c2fa58800
+size 147775
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00085/rgb.png b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00085/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..647cfb7e4ceb2e82ded1f875fa24936eeff96a67
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00085/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fbc60c858d87acdb71745e707bc931470673f1da7e2d3c188d9062ae75299068
+size 1777681
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00087/debug.png b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00087/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..7153688a3ce03c5042031b9faef0378ad239f752
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00087/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b6b23d313d1f0f7095b33660af0b2ab713c73a0f4e9a6b17d2a65237271db6cd
+size 1790158
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00087/depth.npy b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00087/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..8ad87e5e4aef3d269d7df9f1615b65019ca658a1
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00087/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:73e3c1a3c8f0c5f14f4b73ecbcdda12eb48a6769cebb13275b64e6c7b9e9f0f2
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00087/instance.png b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00087/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..b4de9ade71f650b50bfdb7ff9dfcd8da1987a637
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00087/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:28bb2c06ea86d14a2462a580796dbaa5f8d5e5372ea910e198c9d08ce49b4faf
+size 153841
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00087/rgb.png b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00087/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..721f88ffb15532b0eb01520cef6736012c038c41
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00087/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:15bc36a72cc88b9e8a91b1ffd1f7e2f14bb81bc356114ea8a221d120aa20290a
+size 1784264
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00089/debug.png b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00089/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..4030f72bd4fafea312be4ca0e5ce38c40335c225
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00089/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0a7e460556a73fc6c0f8e320ab946191f651bec501a7eb5ad7ee27815134ef8b
+size 1808127
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00089/depth.npy b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00089/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..3cdb219faeb2f0a3a2fa72edf56e11a5503e4e4b
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00089/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f9f192c5ebd0e76ec4202b84e4d151d92fd259ea4f6880444f07aff4b4b70298
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00089/instance.png b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00089/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..01554798df95acce1234c488f8ceb05ac1b6d173
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00089/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e1292c1ee9755b2c60633ef6fdbfb7d8af894ada179a5897826ba3324c738dfe
+size 147194
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00089/rgb.png b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00089/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..6d97a3a5a0ec952139c427e92a180adc6e357acc
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00089/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8f6f365d7732df1e6ae522d0bbe8da433c33e859493dfb309752708c1fa7240c
+size 1792540
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00090/debug.png b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00090/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..40a9785546a460ee4730c10fec2f4bf5453bcd80
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00090/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:09f956b2ba6e6cfefb06b1b8e9eee144e2bb435e996650a89d245a135df8fa39
+size 1819103
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00090/depth.npy b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00090/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..3fa8f51ad0c120b697d92caababde5a5e20e2e6d
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00090/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bf0f33a11204a8b7ff7e2227470013e967c2ac57df3dee19507134baf270e0e1
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00090/instance.png b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00090/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..c7490ff6b1de42ad187825af80bf2b0a15570081
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00090/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d5544bce3141d14559f590b6afbaa0fe6ba39b4a64dc97051a02b9de3cb85991
+size 159762
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00090/rgb.png b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00090/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..d50d072e0facea4542c9def6a713cf09b231259c
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00090/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9be4e928e5a6176a8b7e7b32bce5509bc1ac7e46f5c31ab8cf4771807d37abec
+size 1803470
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00111/debug.png b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00111/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..744ee07e82542a988876b7c06b6d1a4f6f95e09f
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00111/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b3ed8960e19a56154fb683d7e248706c2a1d655da40bf55ca2d9c4f5b03b4f4d
+size 1909566
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00111/depth.npy b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00111/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..6f223328ad1a9752434a42aeb1f5b48394e5a5cd
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00111/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:68eb86e16e2ce8fc26152003df9f79647c3e47363df8ffda289b40e1ec79688a
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00111/instance.png b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00111/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..a4c2f80c4924f7bc9d121ed2c3ab18ff5d1a7fea
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00111/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:75416f51a493cba02e658807e257649947ebd2c74b454f2c2ec52ce5a791509a
+size 187155
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00111/rgb.png b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00111/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..a0ec237dcf0e54de8efa0c9210a9ea68b67e5597
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00111/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1f8d18c20f8930fd66ff8c84aa672b81d1d48a3e88a6ef1032aaff374412661c
+size 1906231
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00112/debug.png b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00112/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..996a152661dbf4a77d031df1e9573d419acf43c3
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00112/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c6b39f720eaaa2ba22aefd34ae77758452f7763a4ecc5a102d7f8dce2a8716d3
+size 1914875
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00112/depth.npy b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00112/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..9ca415693e911cf81c130231d48cfeb0673aee04
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00112/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:37c022ef01dc1faa744de318c2d0effc9d3947afecbd7cce83ff4b26f5ef994a
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00112/instance.png b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00112/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..1f25e53d6a58208364ac2f66a9008cfe1832fb88
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00112/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3e3154472b08ab91b04f87e44b046cd8250412293b84481fd397104dd4d17b19
+size 192871
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00112/rgb.png b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00112/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..b31097355534940c4e6ae889bc4d039e531159b4
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00112/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7987a0ffcb592ea0bb4825443dfcae50d9b88a9b55bd5203fcc6299a70697df0
+size 1913611
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00116/debug.png b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00116/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..cdb9e6528575c1b64416c3e58e0af6b01960d185
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00116/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aba199034117f8e11d5d58ec1d018ca291459bcef4f317a70492b11cb2250cd7
+size 1908200
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00116/depth.npy b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00116/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..af37b3603dd1f131dc6251e051b33d7362ad8f20
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00116/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ba1d2e9951bc4fe135b425691cb67a79eee2df76cfe4f8c657f80d95f58c02ab
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00116/instance.png b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00116/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..43e9203174234742954ed41b811a2565b65164d8
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00116/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0f1576cb16762bdd3da2574076a70004c264bfa9d81a76b02c7a2a2426cfd350
+size 189384
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00116/rgb.png b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00116/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..80db4cdf61c4ae381b3395356f6f2aaf48ebd6fd
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00116/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a8330df3f2d4bca0eeec407b4ec9f711e48c0079a7fc559fafe0bc15a4fec5b1
+size 1909030
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00120/debug.png b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00120/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..05297c2a83f311f6fae05dc2d8e274f4b7884da4
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00120/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f12c4c867347a0a0bcfde6b40a81c6424b9cafcb6c6deac296371f12789a242c
+size 1895976
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00120/depth.npy b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00120/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..26f634b0b05031374b8376ec0388fbf0bb6eef26
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00120/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6a96aeeb17634fe5230ef0c7e5f31bd1373cba2394d96313faadc36eef44ed5a
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00120/instance.png b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00120/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..b014e55698053602f7acc4513c1e672f0363a2b3
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00120/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e469e36f7bf47b2dfcc546833ef8a6efc5f8511adcafbf0f81ed94a8204838e4
+size 178266
diff --git a/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00120/rgb.png b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00120/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..7292caa711c430c46a3ee17bd68f771f1db9090b
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777256977/aug_001/frames_playback/frame_00120/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2f29cf7281d1847ec87b2ec670bc8bd7b72bd059b42e531804f88d4c7e207e4e
+size 1884906