diff --git a/.gitattributes b/.gitattributes
index 8fc7545af09e3678ff23245041c701354bab15d7..6b4528a24b72462fe7e43171a2296e92c7b6ca8f 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -246,3 +246,5 @@ data_v7/Town10HD_Opt/trajectory_1777122802/ORI/trajectory.json filter=lfs diff=l
 data_v7/Town10HD_Opt/trajectory_1777122802/aug_001/trajectory.json filter=lfs diff=lfs merge=lfs -text
 data_v7/Town10HD_Opt/trajectory_1777118553/ORI/trajectory.json filter=lfs diff=lfs merge=lfs -text
 data_v7/Town10HD_Opt/trajectory_1777118553/aug_001/trajectory.json filter=lfs diff=lfs merge=lfs -text
+data_v7/Town01_Opt/trajectory_1777166358/ORI/trajectory.json filter=lfs diff=lfs merge=lfs -text
+data_v7/Town01_Opt/trajectory_1777166358/aug_001/trajectory.json filter=lfs diff=lfs merge=lfs -text
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00001/debug.png b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00001/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..97654652fec67969b029f3e2688a53d24492f5e6
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00001/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8e6c86e7305f9a8a95c2c058d2c5bff02fa0848770048bf8f10eae047a1aa66a
+size 1487804
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00001/depth.npy b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00001/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..f7cfa9c4c8ff511bb7ea3a8b7228d97606e9d354
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00001/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a5bd59628428b43d88071da327c92da761c544ceab94c1f1cd338bc68ac8dcb4
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00001/instance.png b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00001/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..5df5797ca50e622536a49e2ea6238233e3e55aed
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00001/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:41a97813cab7ed7132c4241198a405f2512d57a2d03945f26d28fc99c629943c
+size 56411
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00001/rgb.png b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00001/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..093d6f2036b9bbd8ea11b4f696e52b4db3048c31
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00001/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:011ef9a29a7c52a8f63d1eefc0804df0d403ddd70611c224cd9bc7ed06323c72
+size 1425440
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00004/debug.png b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00004/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..8e1e3d510b7223599c202ebd9edce63cf2ad0f78
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00004/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1262c483ac77ab9c60ca5331135a6f51e693a6e5136a30620fb2104d0c97a01f
+size 1505906
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00004/depth.npy b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00004/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..a007f32626cd379adb4a17c28f347bd186493dc0
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00004/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b8d291b3b33d3024910e9a2d6490dc7b47e1ccb96f6d1efeeff1595bdbe4c645
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00004/instance.png b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00004/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..21da257584798ec4c85e956ab1479cf6c8af3b82
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00004/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:38bab2bc987ea731b7780ace7e6b7c8406577415a413305fb4b50912fb7253b4
+size 61201
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00004/rgb.png b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00004/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..94550e14c28a635cad91fc7111634881a7f8f2ea
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00004/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:448b08621f6a4f9d912b7e2c15a126d28f38e3f09160d5ee4c8ecc784fe728a2
+size 1417321
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00005/debug.png b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00005/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..e266e830e69dc077ffd4fbe4378c682e6a99d2b9
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00005/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:461a432837850d6aae789f9e7a74a14780cfafa15188443850c32c0ea861105e
+size 1502018
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00005/depth.npy b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00005/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..1704e7fbf0435604e8cf813c74c167ae22e7928a
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00005/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:69f5080cc6bff0d9789900c9f1c8fdf5d2a064f061f5f29046e4437667dfd9f5
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00005/instance.png b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00005/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..50432d9c82744622f24feb44811032508d34f8a1
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00005/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d4bd27c0b76ee7323b145252c9f7189477414e7609e012a1918d4ecef3bc98f7
+size 64978
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00005/rgb.png b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00005/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..9a3e3ffde2e715397a2b1d69928c40afcc7a9b58
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00005/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3f5f498d6de7f828b8b29ce750926639393ffa6f7e18332b447670ecc9c8e876
+size 1417032
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00008/debug.png b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00008/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..5faa96e4f364127f7e0887e81cf81cf29c6d5a33
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00008/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0eaf350de727de053b37267d5377954601c897fe3f889a06fdeda41535a07099
+size 1521391
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00008/depth.npy b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00008/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..011f18328c13c4d38bb7e56130ac7200298329fd
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00008/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d110d68903067299684ce2981c4c9f2078bd41d0e32aa6cb3758ff73f2d3ef32
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00008/instance.png b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00008/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..d5b6697fc23bac85b89c5abce40964039650e6da
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00008/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3851b5eaaa9e3a02a261c37223349a654296b809a52d2ee2452dd52e329383a2
+size 66946
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00008/rgb.png b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00008/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..38c0b50d9b9aea08e964632822a43499435a0124
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00008/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9e99b58a029332dd5afa25be5cb0b7c11c62c7e35c56278df33a31eed4e4c641
+size 1423069
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00009/debug.png b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00009/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..e4d8e5d48e7d560770b02635a522b70eac6c6d4d
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00009/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2ad7f328bb5a669faaad5625ffbc773baafae7aa57620c2eca3ecaa8462fa0c8
+size 1487812
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00009/depth.npy b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00009/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..9353e9c79fcc74cdb1a3ffceeee9c23eb96db0bf
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00009/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f4e68ef35e065b878e3390f47af3c2855a303ec3a427a829fa54b7745dc24c34
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00009/instance.png b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00009/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..307b4e15afc98fbaa7349878d97455fcf4f54e7a
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00009/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:07a9d4fc15f7b16d02efc60b5470b28398d8ef8153726be9c9c909f731aee12c
+size 68278
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00009/rgb.png b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00009/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..7b17dfba00c5a1cd84e0dc327c3988df4ae44c41
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00009/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f74d399dab594e8fd0df71a2ccd703bbd42ba09702fb889efabc342e1be0feb7
+size 1398472
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00017/debug.png b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00017/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..edd5d6f6a44569b36f4cd9ae323c6eb9270a1d94
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00017/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7d035fdcb72b669080342e98dc796c7649cc39bf42b15d4ed337c6a3ec258f91
+size 1463197
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00017/depth.npy b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00017/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..16b4bd7f44fbbe3aebc810a0e2548f35ba473b93
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00017/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b8ba5df11a4de2ecccd8d87f025ea9e2fb708bd4c0dccc72d5c4601c2f3aa39c
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00017/instance.png b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00017/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..1b76bf868021c8ad119916dc3f9266dc15a255b0
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00017/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e00d6d1b8599922faa337d45e86039c602976e01f5aaa0807af861369e331fe6
+size 69917
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00017/rgb.png b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00017/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..302d9ede81732463dff9972e26ae29cf3f2136f9
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00017/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b75f123288ae7a87b936de27b7a755d7783417658c2d655f9511a5a469d73f14
+size 1410156
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00021/debug.png b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00021/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..53a3cb6d5228f1cac3e5eec85f5f83ef1b4a7f61
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00021/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7a441f53cda0d1fff5c189584c8566ea6d4b42b4059af311e70bdc4b1d497fb7
+size 1459985
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00021/depth.npy b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00021/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..7e856343aa2b69a8cb60bb7486f2275300c49ea7
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00021/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e388cd85e81e71a5589c57b5b505965b50b047df7d8464202a26db03c40c0b22
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00021/instance.png b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00021/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..396bd1899e616f4ea0101addbfbd5dfd46c19315
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00021/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:24dd6892bacb3c5fa35728e26541203378ed09aa2aea1f2e6671f3f832fb5d02
+size 64704
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00021/rgb.png b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00021/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..503a7949a715c507406bc722159baf86593bca8f
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00021/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:81f1d7c6761646fc0a2b8b096949f89ef3d9b1df2c13ba6823602661581a00e6
+size 1405882
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00022/debug.png b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00022/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..80fb3dac39fe1dbcc81be85c6798e83e83e67a5e
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00022/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0bd08dccfe7cc1215100afb53dad08fd6723d9ca64f1f172b9db4b92a8249bd4
+size 1483588
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00022/depth.npy b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00022/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..d0c5476f07a684af1f06b6469e939868031efc51
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00022/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8e01ee8107f7af99c3b79b7ac8029ad2d7a3b59c99229a6453d049de3d9d8181
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00022/instance.png b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00022/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..bacfd7abe1eb0bd13ebdd1c474e76068bdae798b
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00022/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e68ed1eadbdae8e73f5617f9bb72ffcfaae64e51841127d2cccc9da0513c8625
+size 63864
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00022/rgb.png b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00022/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..8d70557d82763be9986a489b3ebdf55bbe3c1f31
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00022/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1d62ec582dd7592eba1a23d92c9baaa4446649316d6ec14750cdd41465976c0c
+size 1426430
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00032/debug.png b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00032/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..8159e031fbec322506bdcc64ffa0aed08a449acb
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00032/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6ed0bbb9c90f6c38063ec2187e8bd24c91cda20e4b8e480442d6facb79e07f5f
+size 1496289
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00032/depth.npy b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00032/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..7959bac7edc891d4470ab39f474a8ce9a25b1058
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00032/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5da93ec3ea5315399959f68f23d0a5908d1a163d4f5b29ba360755764e1a25db
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00032/instance.png b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00032/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..8d2ebe5378a37fb49491d0f9a9c396a3b06b4595
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00032/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:931cb42f901439f5e03f5f1afb2763166443c68a385925473bfca14737f9d820
+size 68678
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00032/rgb.png b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00032/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..95bfa15dcab4cf3d4495da27634ccf0027a134a0
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00032/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:01785517d8ddb3ca86666ae83a18e50d67f2f4f2aa986e7d65b4e87ac6a117bb
+size 1423428
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00034/debug.png b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00034/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..1bc6ad0b8c4e8098e12c24ec7183ef48fce9e34d
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00034/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:11e622a7c72c85b9af4d6bee9698e05001a0973edca6f9896a1bafeacf987f63
+size 1479850
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00034/depth.npy b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00034/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..cdad6a47dad6928d58a5d649788905e2a62603fe
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00034/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7a481d552bf689d1df08b8f20e45df1dd370687099b834cbb091321293e65c10
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00034/instance.png b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00034/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..f2ad2ca3ce1c8a84ca032152dccd713617c1e6e0
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00034/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ca366220e0b6c9932415517b6a9eed24668498f0a90d9f383e3541c39c832413
+size 71696
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00034/rgb.png b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00034/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..d3cb77e01bd6d14d0062c47ea5f967b2a67799ba
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00034/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8e73590109a783aa506a0b45611107ed7a03a4485e2fdb260a3cb8e4f7155a98
+size 1416634
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00041/debug.png b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00041/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..10142e5f8c857a40c54c3dab55b595cd711add94
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00041/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a2284091865443b4bed3eccf6e2bdf08ecbcadebdc7ffd6eb6d1875255a317ab
+size 1447452
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00041/depth.npy b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00041/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..592a17eeb95d46f3fee0665a68aaadb0bf52c880
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00041/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:214ddbbc770f064a183463939e0179612f64a1ddc77655cd01bd5c0322c808cf
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00041/instance.png b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00041/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..30cf789144a7e8bb669e370a05bb315154b4b7c1
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00041/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:090b2d066751c3602e76d155af5e93f50fe5462f2dd99f77157f43027cdb5923
+size 57528
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00041/rgb.png b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00041/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..ccc396bca88c79b89fad638665dfaf9cc8e6fb23
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00041/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eaf668b2151bcf18e0f1af1e68a12d653020a4ad57b9dc5778b0834a7078410f
+size 1390130
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00046/debug.png b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00046/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..c500af4328d4d21bb3e6859622cda33b0ee51768
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00046/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:49f3f9a5d8239e274c69da13bcc40cab89ebf5c59a4f03cb879a58a06463cb2c
+size 1416484
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00046/depth.npy b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00046/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..d06d1464d162e82fe0c4029242bc57f8da32976a
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00046/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ef6f7bf1c1e025b33d7a26fa7d4a2ea37d907cf70c6d45c3a58aec308ca4a845
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00046/instance.png b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00046/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..76f1246d00e704d1101ad3fe5773afc38388006a
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00046/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f521b47a5f762b70b3487cd48cd89ac6d51273a2364acb817ae9183ba7b37d77
+size 52338
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00046/rgb.png b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00046/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..e816f1e9a58a3ddee93fa7b773412d16bd3c74d0
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00046/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9b2ec296bff90aa028516c7a0a91c808c1816b892945abe5f623462b17f76ef3
+size 1360134
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00047/debug.png b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00047/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..4a94b009a433a6fb3439b7c1c6fb7822dcbc082e
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00047/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bfdc02e2b3906bebafdfe8423e45180185d8f529ad4512d573826d4eebeb40f9
+size 1437878
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00047/depth.npy b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00047/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..3a2bac65e70bebbbb6646eb1eca97656200eee94
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00047/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:531efa1d9df4082d059e7e5af9bfcba7dd3c30da2eec2799fbd619f1d0764831
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00047/instance.png b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00047/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..c2d8b123c184b7136679ecdf53a9a7fe498c15fe
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00047/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cf5780f2d69d9069655035eb7465fbb5e74c2e2ae0b483c94464cc429763d29a
+size 51217
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00047/rgb.png b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00047/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..317637e281d59ac23cde85014622c8e00b609fac
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00047/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b5900456e84b4c47be5917313fbfcf1c28ebc1a0ee5537c3c480a56b1bc89e11
+size 1384085
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00051/debug.png b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00051/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..53eead0ba14827c7d383f6696d10e1c96082c5d6
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00051/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bbedb1314062e4e29b21b7beb687bb0d1a8d2e51e9d85f02ad9339271eb4b8fa
+size 1433303
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00051/depth.npy b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00051/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..57ecba41dc3cfe464c091139a57818af4224dbe0
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00051/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3d392a75b5fdcb9366b3cb825f74ba4590bc37e50b8bd43a7e122205a581baee
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00051/instance.png b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00051/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..2a437dd3856b619106d07cfd2e2da98480b78168
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00051/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:386610a801aa26fbd7d9d432e42c8d5de96e7e5748ef1581eb3e2242a17278f3
+size 50416
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00051/rgb.png b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00051/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..556dafcb5968f1091cd34a8e5452df3b5b66f419
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00051/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4d6f567d25cc56d5460c9754b67dba72092e683916abfaea40c1a89020ebab2e
+size 1370713
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00053/debug.png b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00053/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..a8929080fb6825d1e1255a3c2fe81b44e1686180
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00053/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:11439c6b379cb4fef4085e687885449825fc304220d709e9db8f51cf94e97154
+size 1416151
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00053/depth.npy b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00053/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..90650c93cbdd956289b02c6f0fed1cd76b90da9c
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00053/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:de39b736775a1ab014072bfea8baf7ad4a358d9fb108b6263a89e07415b1b825
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00053/instance.png b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00053/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..a614d9f7ad62da546f70549ec62515f13344643e
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00053/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3e0cdbeb05480dd6ad49913a3097cfbbc8f23782328a82ad37b9ddcff36d8e45
+size 51229
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00053/rgb.png b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00053/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..643c3ca0e4c7fda606a3a9a0ba48f766c9f6ac38
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00053/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2149a5ed48e9ac629becdc45f31806ac9f2e188ee8c678d06f89c090dca3d400
+size 1360798
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00056/debug.png b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00056/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..f54a24481ba1b6bf6f56b3a11d9acbe1feac027e
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00056/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ccc22b330c0684b84f1054ac47b3fdfc61caf79705b5565520f34ef7f883e629
+size 1415936
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00056/depth.npy b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00056/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..ddf4a360cd1796f58efab4f2aa207f0b8a10a21f
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00056/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:534a7185af144e6ee5f5b11a51508b45591ef65511a3f02aca979ec9e94b3fea
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00056/instance.png b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00056/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..a66ef519ef63579242317eb1e672e67d02057063
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00056/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:48f4945b07c5ab44ec22d804e0f3b2c92b237b9a76166b7fbd1466e908af49b5
+size 52826
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00056/rgb.png b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00056/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..71f80cea31f048751eb31c2eaf7bacebc82bec4b
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00056/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fd5611ad6d3b99ddd4323fa36d4ac6b5f094fc0ef41b543637c6fb41a4c967e1
+size 1364801
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00058/debug.png b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00058/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..6fc7456c4009b663ffa56c73e7b5c872fe76641d
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00058/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:22ca93eb339daaa74004cfc15b57511470439cb31d4ef330dfcf5ae635c17846
+size 1424766
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00058/depth.npy b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00058/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..795068d26dca7c8c259e06076f2bcb23eefbc6c2
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00058/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1aa024253f038bd31a8f730bbd3cad25ab3bbcc609e4856fb3f06f128b14dd08
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00058/instance.png b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00058/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..81feff0c6d32416971276318fdefb4b2189ae9e8
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00058/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5323b03c925d645e4910b32fadeaa9bf8c68e05ade003f24f70849fae3671051
+size 54112
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00058/rgb.png b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00058/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..ef695a49cef0f383105cad509724baad17f7fd54
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00058/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d531ede3e390ccb688b5b3308e15adf6f2f449bb1dd817f244ee7e83d98b4a16
+size 1369816
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00059/debug.png b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00059/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..9fc7505fd09ce379c080ef0b70a2ffcbe317d466
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00059/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2bf024d35d75b4db079beeca7b889847b4488e96fa7bc2a52ff085e95e3b20ae
+size 1423134
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00059/depth.npy b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00059/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..07f0b9b28dbfc20e3d84b549baf2c5aba5441e1d
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00059/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c111f5bd9ba6cdc65c545888c97bfb55644877c63394d0e3b5ae813ac310c636
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00059/instance.png b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00059/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..9ca2d0f74efb7acd957be899a53820ad910dbeff
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00059/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:700c8f05b71332415fc5cb5aef386b4cb337367b5c73c43f2c7dfbdf7238d097
+size 54435
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00059/rgb.png b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00059/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..79cb56bf85937b33552b6ecd6894bd9e959d2aa9
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00059/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:99e9dabcc764387a11dac9cc037d5bc32622a36086a3ba2c8450d2965559ab4a
+size 1358486
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00062/debug.png b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00062/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..fcc22231853db9f7cc535727556dfde5204a703b
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00062/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0a74f5eb64648c8f02a796f0188e9335482cbb4269ac00d05e7d2adddc1b9787
+size 1428911
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00062/depth.npy b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00062/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..61d294bd695f29cf6e82d09f268c4433adca1de6
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00062/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4815a7ca643633f63540083c84e761de43d5801be013b5116b92de1e9c9f280f
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00062/instance.png b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00062/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..286863d1bf8f61dab72bc3cf0a7839f67be43fd9
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00062/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9a0887edce8114a465e93600ecc7e60c2f4887233f12e1de56888eeaa206f228
+size 54933
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00062/rgb.png b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00062/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..efffe822d0b7b4520339eebc242435766f1b6590
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00062/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a66d7e50c47c281ed8fc5f1f2c4b50b62a1c9191477bcc6035eb8b660f762c2a
+size 1373320
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00063/debug.png b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00063/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..50e954c5cd235a95eaa34e1e147638fe4ebba9c2
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00063/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a24b1ad8e619b93ae4dabfba6bff528af8dc964389cf2beebcc33c38e0edc1e3
+size 1447833
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00063/depth.npy b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00063/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..7c137956ca4ea7824a1d7b11b71937235076a209
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00063/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:359877f28eb57652d9af7e91378e49db5aeeba3b38d4c6760141f6047ad49663
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00063/instance.png b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00063/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..ccf9552671e9d2ef0e10f3f75cdb796d222ef4b4
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00063/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:01d6fd37db9b0a27641febbbd3cf86cde1c710b3b8ac69c442d9f05bff82445d
+size 55086
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00063/rgb.png b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00063/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..50bc22a7f28446baff40f0009cd519330d5c93ac
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00063/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5f4a6dd65ed435a86926942ed41e8176e39f9d99ce5c67852a286cced1d4b59a
+size 1386416
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00067/debug.png b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00067/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..a004c25bf6d01908898855116283be8dfb6ae251
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00067/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4234ac0a20cd611ee8cf18592993b5b019e7ad68bef061bb5d51230d70196107
+size 1439142
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00067/depth.npy b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00067/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..b97aba168bd3927405e5c8b5ca1869dd325f8d50
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00067/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e2a90301db2ea11f83f5f9508565b9e4f125fc8df50aa75ff63c6c27e368a6ea
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00067/instance.png b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00067/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..315f4178c8b2d1b5f8ec64ec320524e43e3e9158
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00067/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cbff20544b036675100594a7ed97b413b872831f53357a16a98ac4b847e2efdf
+size 54756
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00067/rgb.png b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00067/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..9d1f137d69bafbb02f262e9f03fda3385538820f
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00067/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:71c75dc0debcee1cbbd61bf5fa9f2b38d789c1f30f4fd30573456b8746b2028b
+size 1379627
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00073/debug.png b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00073/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..f7315dad44886bef3d083884f7d6e28a4b105d22
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00073/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3f821411f47f92dfac7ea861e8833fe1670b02d6f527fb6e243c3c1f546fe946
+size 1422959
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00073/depth.npy b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00073/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..d7332edddcc55d38258b0b1b733756b5fd968b2c
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00073/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a4f2e6222ac521c036979a030935182e3de99f530e2e5f7e2fb6367396fc27ae
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00073/instance.png b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00073/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..04469cf3e9980abaebbc593cebabb65458d3e06a
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00073/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0bb3ab2e4dbe0bbeec3d6039badb2554c8a3c371fe5bdb1a457cdd37c484aa83
+size 55652
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00073/rgb.png b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00073/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..ec632bac4f5a629adf4d8663d2552cc939f64f22
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00073/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f1609676653ef56e5694db3541cc51ee9846def651e548a10cd043655da0d449
+size 1370532
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00082/debug.png b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00082/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..e67202a10115b0911dcfbfefee89373ee326cb59
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00082/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:919b7794d5fd5037e4f8b6c2a6efe9b47985fe7b281d2bb722e2e49292d6c480
+size 1432390
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00082/depth.npy b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00082/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..4578650b4b185058cb1be9d71e068e21065e5323
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00082/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:432f820980bcadab6e31dd5c15dae3b632becc85f8c73dd3934456897e6c1bac
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00082/instance.png b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00082/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..f383b01bc79b86f54cc70e0a4ef664a493add653
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00082/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4e7a6a607fc93733820d4d69ea4446a79dab5d9ac34ffae663b9f0210d6fa545
+size 56556
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00082/rgb.png b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00082/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..699d208fe8bacb836b5e56a0fb744e32c6dcef80
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00082/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8537d9f43899816acae18482a7c85f8fd7b6a0573025dfe2ab247ae758d677b5
+size 1379184
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00085/debug.png b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00085/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..91c421f71cab916a05621c350cb35f7f726c50e5
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00085/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:94b2443b1350f2bcb9195d6f0774d46233d1f43395cd664dd45000c719d81a0c
+size 1422483
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00085/depth.npy b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00085/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..a22c7cdd0dbe52dcf902a3b3b41e12010bb4b090
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00085/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:835a30a083e4b984a9791e371b18df9fc2907720facf98ae1038d9075ef510a2
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00085/instance.png b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00085/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..e6f747fcba6d3788896e774c1c6bdf8a866f3aa5
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00085/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5b8622d579efd53514a3f5d804ab176b93ec268ea73aea7475168a99230fed01
+size 58544
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00085/rgb.png b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00085/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..b43c7e6d84b9b67a250cc310c543f0c04697409b
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00085/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f77b29d250c6d67e9c8e25323dbb38487df32dd7ab74c13daf365094d9e6ea88
+size 1370835
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00087/debug.png b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00087/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..638aa668d5014e4a1a49f618d4efef2ad65bb9e7
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00087/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4f8b47e87bf46f4a699efcd9b8a590368e5ba9bbe3e5503d0efe2c918f20fb4b
+size 1426635
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00087/depth.npy b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00087/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..8ab24972e69b452281704c1084a24c66b2f76cdd
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00087/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:424cf6f4a792f9ed864d87214cd864a62d8f1dc975c2184e8307dac24d10bbcc
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00087/instance.png b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00087/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..56d91397dd07edb81d5f83801e3affc1688fd588
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00087/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c9f87e9f912fd627aa3b1c2d70b39ccd54586eb479f04b38a2d07158af76657d
+size 58737
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00087/rgb.png b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00087/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..9e062845980641cc073c319951d357aa24474797
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00087/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:826aa39d3ec30c6ace0e14c2044cf175710b29978f43e2ebd201651fc89a856a
+size 1364236
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00089/debug.png b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00089/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..4831db3718a9a0a5899282cd581d05090bf1c6b9
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00089/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c4c552c209192eca20f53ae30238d5a23b9e32ab2caef10f50fb211f5af50a63
+size 1434764
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00089/depth.npy b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00089/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..703023f5315256b9b37da6902274892e32bb97aa
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00089/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4d1a8b76300616711b13e6c6b9fdc06a715b976dfaa514201102ae62adb0f79b
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00089/instance.png b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00089/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..49e57f1bb9e1e2551b3f70496b288e5542313bac
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00089/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2f1dc99df6658d906f470b005eb12d4e964dbd2cb7b66eed58d0d1c50646fad8
+size 60509
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00089/rgb.png b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00089/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..b57446d7c7fee6866151eac51e14ec8232ad87b9
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00089/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e65d5499636c2f879589d1d6443d98abc65f755ea89c4130ae694d562a2b8b75
+size 1363437
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00090/debug.png b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00090/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..375ad45df72cda52d54e984bc74f5b44ca8b5250
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00090/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:45bfb2ad831ca78c4841b959bbb4c09821f879968c234f17de630ca02a0b2d64
+size 1418731
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00090/depth.npy b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00090/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..e26970c83f5fb27ed7e105eb22c21efe6c3fcde0
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00090/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:57f556da8608909f8c52dc5ba82d74d75b2dac92f96af2b36dd3b66b5768a275
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00090/instance.png b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00090/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..3a17a9b14977eede5478edfaf4ef21faa26569fe
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00090/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:16f3caef585fdc14325bf5ecd383c41d40acff0eb0cca3932b85f810bfac64f6
+size 60144
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00090/rgb.png b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00090/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..d06cbab567f926e0b86dcb7bcd8e174b856cfc50
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00090/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8239993008ab34cd364d9225747db554523c1d3a1340bf02c0447d52e8efcb8b
+size 1345742
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00091/debug.png b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00091/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..441260f69ac2747712456d02e8e345a0684717fe
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00091/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f58882dfc5180c82a16b3ff8b3b02f14de93a049ac0a2eab9e5d576d6b2807f7
+size 1403837
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00091/depth.npy b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00091/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..916a00e593c256e362bbe45d7b6ac7b254ef3207
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00091/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9f008c24a393b8bf3b3230bb51c2a4e3632e49b3c0dd91f49d497ec2d68c99a1
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00091/instance.png b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00091/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..8166d7bd383ae51b02e5e5bbbe2e3257583f3c75
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00091/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4c2424166f7d8c855966ba6f12ad0b3b63f1e4aa280332219b718d6085372bd1
+size 60204
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00091/rgb.png b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00091/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..9be960f24c4e443c6899329ed4c9a31fc99dd847
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00091/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a5214a3b14ac146062780f462785ce829d1e485107b51ab474cc71942479155a
+size 1330522
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00093/debug.png b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00093/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..1faf01dad674a60b36b8eda0052d8770f9cb3f7c
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00093/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6411e2a0eb9eac6e5316ebdd35b7f6bcaea9181000b1e36c028690ac9865edd8
+size 1427695
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00093/depth.npy b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00093/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..a58fcb9ba7943a6d5794fc30eb609b12617e6505
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00093/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b913a4a0385eda3e91f3fced0959d2274d25f59ed0f970dc9085d1e26200d708
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00093/instance.png b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00093/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..9ac5d987beb2aed8b2cd68c388b306202113fa42
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00093/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:179ddd952478512bcd2d2fc3001532225ab78293f15b100b4d25ac488994a4c9
+size 60328
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00093/rgb.png b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00093/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..8f2dd6b1e23a6dfcb5f87cc014f2319b3c7acb6e
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00093/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c0a83d19d43def7f8f7f28c303a9a52474b148f8371383ec375236127c6cbcc0
+size 1343825
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00097/debug.png b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00097/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..3af345efd40f21e12a90dcaeeb168e045df28ab4
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00097/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:57ad35137c985d616a6570eb632839cc23d5bb34f6e2ce10b8d4752c443b23c1
+size 1402040
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00097/depth.npy b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00097/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..84be6beb5174233ae49fe467b28b65325dd0a99a
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00097/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bac055c4e84d51b2affaae69af748e80b6d02aaba2542024aac816e0ac09a9f1
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00097/instance.png b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00097/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..0374f44c27385a8b354dfc706a52230ee556daea
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00097/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e3e9a1041c585163cc0b4df1dfeff402c7bbf06e7134f115044928392a7a992f
+size 60814
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00097/rgb.png b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00097/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..327ed83f0247f3de9de8b7cfa164a79b5fee1936
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00097/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c1293bc989c204cede9a947545b5a02f49cf1c0f419342cfb78168b83f4603c0
+size 1322211
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00098/debug.png b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00098/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..67dee77c775b3934b6697fae25b1c91e8de95949
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00098/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b18b353b07ebba25ad0ee2872614ae66698d9f5b67d5356b1461b2e780828f6b
+size 1365546
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00098/depth.npy b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00098/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..df7fb4e39c2e8cc813b0c705e2af8cf16174eb40
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00098/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:233685db1c4af6f5f07a2292623694f4cea2177d303e35e26fd2e5f870b0287c
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00098/instance.png b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00098/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..a417019a59836b94afc113908fa382519c5de154
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00098/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:22e09dc4b871a38361f68f9157a344582b4a9c9fd56aeeab5a1d5a89a7a7b30a
+size 60745
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00098/rgb.png b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00098/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..d0d559ebc268c6851d06390529fe58da6b65878d
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00098/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:328a81d2d2dda3ba680637121c8356a7f2c3148ec68b58e02e5ea820b74bb5b4
+size 1296484
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00111/debug.png b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00111/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..ab9b1f91798f2138f622cc089b798c5b6c0de36c
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00111/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f3aa979d85bb16ccb8af328c0081a8a25b4a351ee58a0a857b39ca9171215e77
+size 1339376
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00111/depth.npy b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00111/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..bc8d456e6a3a635f389860f783caa87e7d34de6d
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00111/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7bdbff503e22e95432867829be9e15deab32a0088b62d811d871ba702d09c739
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00111/instance.png b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00111/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..d759cae9639e3c09809cad43ad9dacce1928df2b
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00111/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b793c088cc63ed56ec5b4b7f330f25c66b5b2cb4749d3d274eed3eb1ac89948e
+size 53610
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00111/rgb.png b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00111/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..cb2576a470bf87bc7603c21dacab3e19573b14bd
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00111/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e6b4c29a7572eb2ef4adf8a33941f1756ef84a9133c0140ae13b4b8970a9b4eb
+size 1289599
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00112/debug.png b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00112/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..5370b816a4c8abb8b43932d541d0d1ee471a572b
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00112/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c39a2afdacec777ced55b0a2e0641ea882d47770bece7c7bbe9ad579f362052b
+size 1342627
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00112/depth.npy b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00112/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..e095a8d74524358c997ea174a04d92d53eae1b92
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00112/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4f79832e703dd966f00e5e038e6bffe4942606285490dd27811ce76ac4dffe8b
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00112/instance.png b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00112/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..6509573997af7eab4e56ab0f0cca09dd0f8e0695
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00112/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dc25b8501ab95681366108470707038164f4df9ed42e45861e296c3b923ee8c4
+size 53267
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00112/rgb.png b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00112/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..160e73bd0922fad66e78311d8b25c603e6b9b929
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00112/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:33c29ea3f9f84b18dcd1075b89e6217082a807ece0085d0ce24ddbbd52b99424
+size 1299860
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00116/debug.png b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00116/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..e7f005bd0d61cf5ea98b240146e31783556fb828
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00116/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d54e9716350fa6aade7e1ec4e69757559eeecad82c05677066ef146bde368560
+size 1316670
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00116/depth.npy b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00116/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..e2dbe97ce18ba5253164aa5f4e49d792c5e57982
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00116/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6d8cb8c0e14e159db08e8090b6d133fdda5bdf7eaeac404d5fae63eef323ef89
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00116/instance.png b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00116/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..7b7baa2280d46f08a231955f82af46af0fb6224c
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00116/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8720fd8395c0a03f4b01fa9f9549bb30d0a1ffeb001c29df16f5eab3472a8470
+size 51254
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00116/rgb.png b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00116/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..8ba8ca8f34de09b6a1a1e21326d007bb0a4b99dd
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00116/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:21d1ff5873b9cfbaa89f69a8f8934358134ae82f34c659201b420442454d5827
+size 1293610
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00120/debug.png b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00120/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..845925a1a14f506d62dc1dc756bc5681dd1aeb6f
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00120/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dad0a0625cfd87e1f30e87b87b3816c7c88bc19a45f41dac4fc077cca7d76c13
+size 1319229
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00120/depth.npy b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00120/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..329a725e22b74f7f01ae244087c705e90319bc4d
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00120/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1cc7e986663ea25828de253c41a05bbf43203b0f84a0c56fcd23ef092024f617
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00120/instance.png b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00120/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..4bfbf51691d4db041a6a71feecbfefc024ca406d
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00120/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4240d135d0dd70d053dfa1946fea8f48f0296f4dcc7ddceb1ffb7b6668ea96a3
+size 52342
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00120/rgb.png b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00120/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..0885928eecbf66ac43a5572980d6102116ef3e10
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00120/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:925c49ce69cb8b929d91f96bf8c45cca375ab19e1371bbf6823b480853a51acf
+size 1292153
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00122/debug.png b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00122/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..057847f0b29b8abf50ed67da38563e2c9907a19e
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00122/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:25b8964465f4a80e4ac135dc5c4859e3797f63460a0d1af5f3947f4f90f784f1
+size 1343954
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00122/depth.npy b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00122/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..8fae0a42fe733c4c15404351e3c96dc2d91ac114
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00122/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:136198885f6b10986fe873fae1cc351d5d7dea32f06b778b24fd49c2df963891
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00122/instance.png b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00122/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..0e5817b2e01ddfbeb9ebcdc047629f5e3ff284a6
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00122/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:13ce9965d922ed7ac12e73b32882e27d4cb86ea7337f05fdd95a34696d8c6955
+size 52914
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00122/rgb.png b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00122/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..6d4563e26eefc0270eeabbf6c22b41643e8da7d1
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00122/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:90ed080d49d8a6d009e634fb9b102064fd0339a89f429974f38440114267a78a
+size 1313162
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00123/debug.png b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00123/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..8b6fd8f67f4710ea3db874808f2ff3be639e3017
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00123/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5e9a427d38036a0ccacbd1db0c18557b646a5908577ae0d603d3094c42e165ff
+size 1329119
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00123/depth.npy b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00123/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..d76ba61dbf7981e6e28111478abf0d5c6901678d
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00123/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6b27c45cc4bd79012ba7a39cbd60692964b9e2cd50336efa06335c8f0ab074ff
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00123/instance.png b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00123/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..328432af658530969e1c0e258e5a7262f53213ae
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00123/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:84a279394adb0474ad41178de1f78291cae6c66d5d6ab201ca7047711ab24f58
+size 52928
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00123/rgb.png b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00123/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..86ef94e336c9552b6ec871d192ba423a688e7f5f
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00123/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:31b5483a4fa7baa57fa587b9ea8057c81dee8620ad06a37c1d1066044b271c78
+size 1315053
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00125/debug.png b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00125/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..a0234a6548e70f76474e957fc96d2c32017a6305
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00125/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b02e25b24f743965cebdad61f475b0d7fc568e87c9d30f37bb5a0b0ccd75eef3
+size 1322810
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00125/depth.npy b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00125/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..77479eb18575a17bc5a477ccce616914009bebca
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00125/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8b0f434718e31360ccde14237f51c09a219737cc7e89734a257708580b5403bd
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00125/instance.png b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00125/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..2d3ba441b8e7247f0fb608e7f5787673d514dac0
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00125/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:079e6bfd07a65009d6d5d725aba57c3d8c7ef4fb06e5160bf2844c2720b9c833
+size 49758
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00125/rgb.png b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00125/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..4e58f320fbdf5ad2fe1f7a19deeebdf6f430af74
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00125/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:974fe233c3b129661b7aa5d61b6dfe6c061ce3e28e6856b32f62916f65839435
+size 1318579
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00129/debug.png b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00129/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..b8e35a9d3626723df5e1e027aba9076d58e0b238
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00129/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:61fc9df9b92071787ae02af4f11871621bfd21fee3b289cab56a3e18cd5b965b
+size 1293746
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00129/depth.npy b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00129/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..b842f76e5b8921a7982f2831a1979f42724a66ab
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00129/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f6450666d849af549eda9272de724f51791f286d302fbdaa0208a07716c93e99
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00129/instance.png b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00129/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..4c77ec4ceeb16f0671fc1835a8536c452b43c074
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00129/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:81abe00a8cd3001625463557ff0ca7ea9021276f99861e600b6de37c0281b43e
+size 40730
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00129/rgb.png b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00129/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..d52457261d8358da548015d3456a787774fe432e
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00129/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:67383ec727c68d39efb0c44ab5c9f9f72c5495843057567c672a5d0692588200
+size 1305594
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00130/debug.png b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00130/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..dd3cf743508493c776099683a3a913195dd3de57
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00130/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d456e05e25861a1da2df408d69bfa8ce6b5d9199a8181b044217745452690d66
+size 1270469
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00130/depth.npy b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00130/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..f83444e8b1e2e7ccfa188ac77ad10a52062a77d5
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00130/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7e9016cb4e0231605cc8cd29b240b3708f47e6acb64b014095b9f1c687fa4a0f
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00130/instance.png b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00130/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..0ac7286dad73e68455b6c10033b0f0b5318c0429
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00130/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:55f57f263cfafcba3a7a8802eb7f2a2e56ed6cfd3990eec22853ab3443d27073
+size 39078
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00130/rgb.png b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00130/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..ffbd99695feb3d66acf3131cd70f25ed3885c063
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00130/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e5f3db8a575290a3edb55dbdb8a489305f9ad781415cb9b3f45bf389ecf467fe
+size 1283456
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00133/debug.png b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00133/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..cea293820d576409878f5a0b2d8263ef35a76c6b
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00133/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:941b8168d2f58d315e65283e8e83890b049667b961bb46a7ccd16bb80de8ef00
+size 1262705
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00133/depth.npy b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00133/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..ee36aab0504c5731bc2300f0f366695f30d28707
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00133/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e8472243cad6995a788bc31ce57fbf63157c9e3e6985dd3c627a2914b1d1d3e1
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00133/instance.png b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00133/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..4a6bc460bb03593b368db494cfe7d30f2f5fb3d6
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00133/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:575e7d06f13c9c163a8a10cfee982ae4033a39005db662beca5122a7579b0017
+size 33964
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00133/rgb.png b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00133/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..d242b1865321499288302123b849be371d4c8b14
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00133/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ed844192696fea618050e134278c4a256321b728a26789788a987e152e339789
+size 1280320
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00137/debug.png b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00137/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..7b79d39a2544e6d21f8d65db9667d4ae4f721f01
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00137/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d2fe51a3d5a94fa8dff85ac3efc863e3d3a67cccd6571b38b0f88d349f8eec16
+size 1269761
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00137/depth.npy b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00137/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..be189f19bc85782ecc32c0a51f46e883c3130788
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00137/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:759f2402391c472d7cb9b2a197fda8ff210ccd6b48c4f12974c4c0dcea1aab41
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00137/instance.png b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00137/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..8cfce5b4e64e174f36f9eba022e2c90e2a39a7cc
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00137/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6669c0db80dd37ff89d6c3ba6214ce76c96b8e48ae9f6ccc00494620ed5ff230
+size 31775
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00137/rgb.png b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00137/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..0ba2a9f96593a87c5bf9b6796f0f470461464975
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00137/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:468dae2b2044fa40d563cc550261c5eed18a93708277537a5e2d44f46de30b93
+size 1265704
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00144/debug.png b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00144/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..228885aaa26751bae0337f4fa9ebe4ea993fe72d
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00144/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:43c179433fde875a24d8a6863951d9689dc6bc823476579c6576a394b539f52f
+size 1269201
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00144/depth.npy b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00144/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..52f67fd374f4c2c9d55c87bf12f57f692d64bbd3
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00144/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:96ff2170bc61a6ad32b638d96fea5526c8e79705b4ebb58d2207a98ad4f35aa6
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00144/instance.png b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00144/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..6c5cabc950fda2f4a02774e4030a4bbde54557d2
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00144/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:581d25749c635f2ff3492646a08a9d662672c45ba04caa801345b6dc53285d35
+size 31048
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00144/rgb.png b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00144/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..e9dbfe38f63af67bd88753a68a5a6943c5827e59
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00144/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:884d2e7531cfa9d3d8ae1bee6ca285399c01beb674ce8300aedb9212f925c0d7
+size 1263005
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00156/debug.png b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00156/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..49889e40a9d216b45df29baa723bcaf17748b276
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00156/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:12005455af8452cec5944df42121c06e3da5002e012c0fe0436b2505d34f4613
+size 1284349
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00156/depth.npy b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00156/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..a262c8df0b0962c373f501ea7e2c7386cdaea06d
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00156/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:794d38097a06b7ab937ca540f100f155cd8ca2d00f760005c39b34212770f4fe
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00156/instance.png b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00156/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..5635190134d3a832f15bcb45cc1469bd3f4e1b98
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00156/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f298624d0e0e6b31ee7cb81edd6d9bb7ff5ef303ad2a1211d5e4fb9e493781e5
+size 33876
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00156/rgb.png b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00156/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..efafe26f6ad252a929f37dbaaee9b004706e17b7
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00156/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:79547a1b7d957a1ea965007118cdc4db4113cc1aa8e96906aab1279e2b99d53f
+size 1283638
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00158/debug.png b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00158/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..a213e20c4803035ed70624211113dff71804ab27
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00158/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bb1ba5da094ba754e298be21a85626a73fe6f732cfffbfad0befc8013d13667e
+size 1281040
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00158/depth.npy b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00158/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..93012b3383fdb36a1b20cd18dcd4da226f2528c5
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00158/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:13a2f57631a61ec3f7d0f5c922ebd0ce23cb1f8c477e2d6a2c3c0cb8000e1a64
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00158/instance.png b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00158/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..5d3304365addf50b15be8c73d7ab31619298d516
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00158/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c3e92344a99f766cd25d38e49a3ac5cf29d89de05fbab0470972c3e6b435bd3c
+size 33463
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00158/rgb.png b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00158/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..62f4a4085957a3d2a8960501a20f576843efe820
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00158/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a0d68b8a49079ed8e11c43c58ef952cd531b6023e8d550c51cdccdf694cd9de1
+size 1267981
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00163/debug.png b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00163/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..94e80b8875e15369ada5f8b7ab15749edca9331f
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00163/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c761d663248893bec79768385932fe1a3246638201504d3b2bb43adb9fa649a6
+size 1297294
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00163/depth.npy b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00163/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..2b1b05cb9cdee8b7b6adec8ac085d173ebb0efb2
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00163/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2886d2cf6eb3ef6e3dc3075c34dd08b1188f73d95f1492808edee1133f5053ac
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00163/instance.png b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00163/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..16eab25b66c94ecb351e286dc15b1e1815229f2b
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00163/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f33ea413efe0fd7f2a7e9004b1812512a60f319f317a534e3fe10415d4979f90
+size 39783
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00163/rgb.png b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00163/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..dd24c466e483f866e77a18ae603f2bdd5c665388
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00163/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f3ae55f9b68ce360c25bdca5ef218643c733b96957fe56f502fb0394de7c3173
+size 1290110
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00168/debug.png b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00168/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..f6f35016c5cf3e7711dfa9b26526202c38bfbdfa
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00168/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:32f2571b257aa6bc8ad5b9fd049fcee05ef898be9a0577da16b7fbff43c241b0
+size 1277906
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00168/depth.npy b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00168/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..2cd741b26e9e9383769b48c90a4322cebb71710a
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00168/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fa0409e50d03732d8b7002b59274cc2faaf5153be7fc1b656f97a176ca1dd931
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00168/instance.png b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00168/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..ccf0f375baeaab55a2e6706638ebddf4cacbd0ff
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00168/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:65d16fa929bf1c55ece15c1dcd99682ecd4c44f5c63463fcc322870158491fef
+size 41927
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00168/rgb.png b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00168/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..48d8b8301fa42fe501c51c55479ebefaf2f53a2f
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00168/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6213695376f0410f446c153de43599dca585ef44c928a6e47126376e3cea7c7f
+size 1276830
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00170/debug.png b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00170/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..0d91d9211e5848a20d6cbf8c4f8db15d328b8ea4
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00170/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ed1ad795edf706e4bee3f56c70874891ea707ee340a056540ef5444e7f70783e
+size 1278442
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00170/depth.npy b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00170/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..2906e9881e86dc47b806b8cf77148005ef3dfeac
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00170/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:08ae7afcc82e3e1bf304ca324702a429f3f373063ba6019c51acf60ab9cd5dcd
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00170/instance.png b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00170/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..956e15a3dd2b131a95c6a4c9939b7aaddd4c18bf
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00170/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dca739b212dc5227f14f5058ef5f0d06ef053e7f0e4c80be4fc01b8b8ced31db
+size 42697
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00170/rgb.png b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00170/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..492af402571da61fea7ab35c3b3f320db2a2c450
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00170/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9d6acfcbaa8cb8badd0f663f0861c1e009b324aa0b7f312b15cc99686a52785e
+size 1290439
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00172/debug.png b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00172/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..e1beb1a0139f1bbe8fd512f84bea6cf9fc411553
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00172/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8ad9f4c3b199fc84d07265e5281ff53fc603a33cec476b873c6193c4d33c5291
+size 1300555
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00172/depth.npy b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00172/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..65f9da8c1d220674db5ca6af11de97aeb430e79c
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00172/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:be646a9dafb2f3393d32c9e5bf67cc17c72d047783a37e19b53360586c54334f
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00172/instance.png b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00172/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..faa28ec59f9d79071e1df258ff6aa4c7504f3ada
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00172/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0e927c90b12c9feca947514c7fb3a8125a631e2f47385a80feb6bdbe197ebcf5
+size 43470
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00172/rgb.png b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00172/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..22ab2e64cda70c25af54c6d9b15f3bda5622df15
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00172/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a4d9e97f2bf665ee353831faa4e2a9ce20d54050f2dc08f831edfdb5e93c2ef0
+size 1300126
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00173/debug.png b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00173/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..38ee2851126aed10ff569842bbfc7c5de1af4ca5
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00173/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1ab3fb02a3024c94d87858e111c83859b5cb45d9697a6fd89bc38a1a071d7eef
+size 1285718
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00173/depth.npy b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00173/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..ae25eb6c2a1892704730cc688cbb788ea639d619
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00173/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e6bdd0153c8cb5127f8740371f2e5b7ca084a506467ec5a27161a7dc61a53520
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00173/instance.png b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00173/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..5ca723313d91d51d2b42e38460199757b3e04c57
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00173/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:175ba256db513030f973b79b5a21c1db17e72626884783557abc590d2d19897c
+size 43590
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00173/rgb.png b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00173/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..d56f6851c27daf85d8331ca81ecbf38d8ff8c573
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00173/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6b56590ae5adaacddefc53b58526bd2dc7777c1ab930b6c94365a10056e0a188
+size 1289783
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00175/debug.png b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00175/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..efbf571c0bc63554ec7b5f059f14bc0909fa55c1
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00175/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3810f02999e98dd47543dc48225d4649621fb972cf68179ef238c3447fc54b06
+size 1290569
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00175/depth.npy b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00175/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..b2856200b01d5b896e37514443bd83563d2e5fc7
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00175/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dfdcd7f728d4ffa53edcddb8ec3c8882d7e967309c22115a2f4a5fe487a02f7b
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00175/instance.png b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00175/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..7736167abc271fa6b3d600634b60a70809bb8d1f
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00175/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bf6cd7e51a6a8866e802d11774c7d4522a4b5019bc5a6c4810643e63516c50c0
+size 44658
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00175/rgb.png b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00175/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..a22d84237cf9a34c4e52f6d1a8d95b6c5447f372
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/frames_playback/frame_00175/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:686924fa276888268315c7763353b62c8b9a2cdc6e535c3374d6b18408b6776f
+size 1302883
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/perturbation_visualization.png b/data_v7/Town01_Opt/trajectory_1777166358/ORI/perturbation_visualization.png
new file mode 100644
index 0000000000000000000000000000000000000000..dfaa46112796b87f2e44f7fb782e3df1a0b4aa26
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/perturbation_visualization.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d75fc16e77b27b339794a2ec4beb5c4d8655bc98a33f8095bf6871066655e68c
+size 8627
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/ORI/trajectory.json b/data_v7/Town01_Opt/trajectory_1777166358/ORI/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..e15f71815f14f81ca7a75a573ae57ff26b44adbb
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/ORI/trajectory.json
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c7aa0a9b5eba886a75f43a007210fd000d31c3f9d0c18be0ac61f57d4c779872
+size 11478845
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/aug_001/perturbation_visualization.png b/data_v7/Town01_Opt/trajectory_1777166358/aug_001/perturbation_visualization.png
new file mode 100644
index 0000000000000000000000000000000000000000..118358f313bc355b040c49f6cbf3546b5c5a6b08
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/aug_001/perturbation_visualization.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bea587f300d97311a294426c645a40a0f397cc32eabbd28587ef2793d7689d5a
+size 202002
diff --git a/data_v7/Town01_Opt/trajectory_1777166358/aug_001/trajectory.json b/data_v7/Town01_Opt/trajectory_1777166358/aug_001/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..fd09f659de837ebd1ca1de50c760fa4e33baea29
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777166358/aug_001/trajectory.json
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1c73d646139cd3d25db01791619ba8551a278e0a802ccff2e87a5ebaa2b8b208
+size 11368332
diff --git a/data_v7/Town10HD_Opt/trajectory_1777118553/aug_001/frames_playback/frame_00020/debug.png b/data_v7/Town10HD_Opt/trajectory_1777118553/aug_001/frames_playback/frame_00020/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..a979c33b6f934c4fd4ff6fe7ea98d32f2da1a6fd
--- /dev/null
+++ b/data_v7/Town10HD_Opt/trajectory_1777118553/aug_001/frames_playback/frame_00020/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9c08b2237000704be8c7d9063942be711ef3aeed9ad15b3a8068b9197be2aa5b
+size 1827535
diff --git a/data_v7/Town10HD_Opt/trajectory_1777118553/aug_001/frames_playback/frame_00020/depth.npy b/data_v7/Town10HD_Opt/trajectory_1777118553/aug_001/frames_playback/frame_00020/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..c6c64cefbbaba3807abd105233f83b004dd1eb4d
--- /dev/null
+++ b/data_v7/Town10HD_Opt/trajectory_1777118553/aug_001/frames_playback/frame_00020/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b67ff281f4189860aded06508313dbf347f7d5e2a64a2ac9310cc38fe0573f21
+size 3686528
diff --git a/data_v7/Town10HD_Opt/trajectory_1777118553/aug_001/frames_playback/frame_00020/instance.png b/data_v7/Town10HD_Opt/trajectory_1777118553/aug_001/frames_playback/frame_00020/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..bbd8a256dc63db1c9eeabba798d8322f6d9af01d
--- /dev/null
+++ b/data_v7/Town10HD_Opt/trajectory_1777118553/aug_001/frames_playback/frame_00020/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e5f6c3dff494047794edd02a43139f396bb4e5c0429b40f44ec5063981849f52
+size 49646
diff --git a/data_v7/Town10HD_Opt/trajectory_1777118553/aug_001/frames_playback/frame_00020/rgb.png b/data_v7/Town10HD_Opt/trajectory_1777118553/aug_001/frames_playback/frame_00020/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..3c33908e977d3c0052c40ed7fa1bf6b057bf2e47
--- /dev/null
+++ b/data_v7/Town10HD_Opt/trajectory_1777118553/aug_001/frames_playback/frame_00020/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:545071ccd9578622f509afe20ede73986369373ff639adf47752157cb1e948b3
+size 1804612
diff --git a/data_v7/Town10HD_Opt/trajectory_1777118553/aug_001/frames_playback/frame_00023/debug.png b/data_v7/Town10HD_Opt/trajectory_1777118553/aug_001/frames_playback/frame_00023/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..ead39438bba058e9c9db77b8c562d23629eb7265
--- /dev/null
+++ b/data_v7/Town10HD_Opt/trajectory_1777118553/aug_001/frames_playback/frame_00023/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8d4aad25909a5e696cc46d203e7c5a678d5e24d93c12c3b375e6bd7956eb2b14
+size 1841720
diff --git a/data_v7/Town10HD_Opt/trajectory_1777118553/aug_001/frames_playback/frame_00023/depth.npy b/data_v7/Town10HD_Opt/trajectory_1777118553/aug_001/frames_playback/frame_00023/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..05eefcde8c88bff7937c9fcf8deb6336da7dcae3
--- /dev/null
+++ b/data_v7/Town10HD_Opt/trajectory_1777118553/aug_001/frames_playback/frame_00023/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:89298782135e368ee6dc1d6586960ecf97a3cbce826502007051d842317c2a86
+size 3686528
diff --git a/data_v7/Town10HD_Opt/trajectory_1777118553/aug_001/frames_playback/frame_00023/instance.png b/data_v7/Town10HD_Opt/trajectory_1777118553/aug_001/frames_playback/frame_00023/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..3e610604b71db66fd48643c7a24eeadd49d93c41
--- /dev/null
+++ b/data_v7/Town10HD_Opt/trajectory_1777118553/aug_001/frames_playback/frame_00023/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c7c2283ed6cc4a68d95fb01dd9400a60f844625f04b8828d4a6a74bd33ed47e3
+size 40858
diff --git a/data_v7/Town10HD_Opt/trajectory_1777118553/aug_001/frames_playback/frame_00023/rgb.png b/data_v7/Town10HD_Opt/trajectory_1777118553/aug_001/frames_playback/frame_00023/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..6d62d6495aab3d784474f13a7d0adafc5c362eb1
--- /dev/null
+++ b/data_v7/Town10HD_Opt/trajectory_1777118553/aug_001/frames_playback/frame_00023/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:889560a986272d83ef28ac5969e0f74b8decc74cb4c22f04d4c6f41ee91f8be8
+size 1796310
diff --git a/data_v7/Town10HD_Opt/trajectory_1777118553/aug_001/frames_playback/frame_00026/debug.png b/data_v7/Town10HD_Opt/trajectory_1777118553/aug_001/frames_playback/frame_00026/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..f7c25a3d205176381b6335e232af6d74c6916a9a
--- /dev/null
+++ b/data_v7/Town10HD_Opt/trajectory_1777118553/aug_001/frames_playback/frame_00026/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d5b65477bcbf26bbe9b511592cb578fc0fc5a177b86959077b4abbdbf15107ad
+size 1825372
diff --git a/data_v7/Town10HD_Opt/trajectory_1777118553/aug_001/frames_playback/frame_00026/depth.npy b/data_v7/Town10HD_Opt/trajectory_1777118553/aug_001/frames_playback/frame_00026/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..dca84adf072c4a064897c04968c5b24abda9ee52
--- /dev/null
+++ b/data_v7/Town10HD_Opt/trajectory_1777118553/aug_001/frames_playback/frame_00026/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5faadc94d076c39864e19f4c43770f3917d809f8c292755b69e4c852b2331bd2
+size 3686528
diff --git a/data_v7/Town10HD_Opt/trajectory_1777118553/aug_001/frames_playback/frame_00026/instance.png b/data_v7/Town10HD_Opt/trajectory_1777118553/aug_001/frames_playback/frame_00026/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..f2c6ec6613a9769a656f4f519e964b6dad294d31
--- /dev/null
+++ b/data_v7/Town10HD_Opt/trajectory_1777118553/aug_001/frames_playback/frame_00026/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fbb81aeede07846f100f6a8451efb86bde988a998784bb0ddfe634638dc85c6a
+size 60371
diff --git a/data_v7/Town10HD_Opt/trajectory_1777118553/aug_001/frames_playback/frame_00026/rgb.png b/data_v7/Town10HD_Opt/trajectory_1777118553/aug_001/frames_playback/frame_00026/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..e878e5b658cc6e7c82c10beb7912597574af6200
--- /dev/null
+++ b/data_v7/Town10HD_Opt/trajectory_1777118553/aug_001/frames_playback/frame_00026/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a50ae9211b8cc42357fc08ffe21f47da7ff68d136a9e9e8fd07309187a836c49
+size 1794054
diff --git a/data_v7/Town10HD_Opt/trajectory_1777118553/aug_001/frames_playback/frame_00039/debug.png b/data_v7/Town10HD_Opt/trajectory_1777118553/aug_001/frames_playback/frame_00039/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..8df4dfde3880105140901f4af97e5cabb1809b5a
--- /dev/null
+++ b/data_v7/Town10HD_Opt/trajectory_1777118553/aug_001/frames_playback/frame_00039/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6886e6291398bd539600cfa71d22bf572df60308caa0ec88576d9890fdbc5183
+size 1775506
diff --git a/data_v7/Town10HD_Opt/trajectory_1777118553/aug_001/frames_playback/frame_00039/depth.npy b/data_v7/Town10HD_Opt/trajectory_1777118553/aug_001/frames_playback/frame_00039/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..f85e4323b763e27cb50983eb3e3e5d58f84c8c8a
--- /dev/null
+++ b/data_v7/Town10HD_Opt/trajectory_1777118553/aug_001/frames_playback/frame_00039/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d2caaabd2162bd4ee04006584324e06472299b0b72b5867ba80d6ce039d110a8
+size 3686528
diff --git a/data_v7/Town10HD_Opt/trajectory_1777118553/aug_001/frames_playback/frame_00039/instance.png b/data_v7/Town10HD_Opt/trajectory_1777118553/aug_001/frames_playback/frame_00039/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..c04d32058c7f513cf857a3ca0570da6501c56b9b
--- /dev/null
+++ b/data_v7/Town10HD_Opt/trajectory_1777118553/aug_001/frames_playback/frame_00039/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:376602c7e7e4eac39dcec8789b214673fb1cc04fac7ee3ee6fb46e8ea6d88396
+size 55733
diff --git a/data_v7/Town10HD_Opt/trajectory_1777118553/aug_001/frames_playback/frame_00039/rgb.png b/data_v7/Town10HD_Opt/trajectory_1777118553/aug_001/frames_playback/frame_00039/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..4c958e215418b9bd089960b6f080358f910139e9
--- /dev/null
+++ b/data_v7/Town10HD_Opt/trajectory_1777118553/aug_001/frames_playback/frame_00039/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:571eb7c54bb0be837f97a84d1a8f7d5908c82babb29aa87acb076efe7ef7c923
+size 1720464
diff --git a/data_v7/Town10HD_Opt/trajectory_1777118553/aug_001/frames_playback/frame_00045/debug.png b/data_v7/Town10HD_Opt/trajectory_1777118553/aug_001/frames_playback/frame_00045/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..f9791789e03f8e67927223309d209d051c64611a
--- /dev/null
+++ b/data_v7/Town10HD_Opt/trajectory_1777118553/aug_001/frames_playback/frame_00045/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9e62a0d0e8d834606f004447f8ffd6286ddb47c3cfc8c2ebda7ed3e75be2602b
+size 1788982
diff --git a/data_v7/Town10HD_Opt/trajectory_1777118553/aug_001/frames_playback/frame_00045/depth.npy b/data_v7/Town10HD_Opt/trajectory_1777118553/aug_001/frames_playback/frame_00045/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..e9449b9741d7799fcac51b93cdd41e2bffbcea48
--- /dev/null
+++ b/data_v7/Town10HD_Opt/trajectory_1777118553/aug_001/frames_playback/frame_00045/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7a22e3630694b48807a0e9f14b19e634e0030778012a2264f605d461bbc5d6c0
+size 3686528
diff --git a/data_v7/Town10HD_Opt/trajectory_1777118553/aug_001/frames_playback/frame_00045/instance.png b/data_v7/Town10HD_Opt/trajectory_1777118553/aug_001/frames_playback/frame_00045/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..e701242a6f12c5480051204a8baa76493a5fbb98
--- /dev/null
+++ b/data_v7/Town10HD_Opt/trajectory_1777118553/aug_001/frames_playback/frame_00045/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c06ec9b1599e72d2b81908b60036c2bbc4e605957e147d5d62b06afab7256ee5
+size 64638
diff --git a/data_v7/Town10HD_Opt/trajectory_1777118553/aug_001/frames_playback/frame_00045/rgb.png b/data_v7/Town10HD_Opt/trajectory_1777118553/aug_001/frames_playback/frame_00045/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..8ef7cb12b8b20de4654f7781548af7a94511f5bf
--- /dev/null
+++ b/data_v7/Town10HD_Opt/trajectory_1777118553/aug_001/frames_playback/frame_00045/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:028f7e3dc628a70dbca45a3c20acf178cd8b0e51834ed379bd9ca42dfc3a0493
+size 1731749
diff --git a/data_v7/Town10HD_Opt/trajectory_1777118553/aug_001/frames_playback/frame_00048/debug.png b/data_v7/Town10HD_Opt/trajectory_1777118553/aug_001/frames_playback/frame_00048/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..863b4aaf3b4fea6eab98ac6c839757d630a31bdd
--- /dev/null
+++ b/data_v7/Town10HD_Opt/trajectory_1777118553/aug_001/frames_playback/frame_00048/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:39c5c14f0ff9f6b56c5dd56648006781bd81271d04837517e914a367540a17a3
+size 1749485
diff --git a/data_v7/Town10HD_Opt/trajectory_1777118553/aug_001/frames_playback/frame_00048/depth.npy b/data_v7/Town10HD_Opt/trajectory_1777118553/aug_001/frames_playback/frame_00048/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..876dca32d61839e64161cbb5d9b281b21844cf59
--- /dev/null
+++ b/data_v7/Town10HD_Opt/trajectory_1777118553/aug_001/frames_playback/frame_00048/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9555aff46b6b2c3b6d6f9a78c6ffe730c70def28efbab08a24fafcd479883ea8
+size 3686528
diff --git a/data_v7/Town10HD_Opt/trajectory_1777118553/aug_001/frames_playback/frame_00048/instance.png b/data_v7/Town10HD_Opt/trajectory_1777118553/aug_001/frames_playback/frame_00048/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..ed0a91c4f9b784f5e502cb3e2c2b5aac5b7cf9fc
--- /dev/null
+++ b/data_v7/Town10HD_Opt/trajectory_1777118553/aug_001/frames_playback/frame_00048/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6c615ad8ed00e8613a6cdd4f23e7a296c6483621180377bccef4bc942096ca1a
+size 39944
diff --git a/data_v7/Town10HD_Opt/trajectory_1777118553/aug_001/frames_playback/frame_00048/rgb.png b/data_v7/Town10HD_Opt/trajectory_1777118553/aug_001/frames_playback/frame_00048/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..60dfdbd11e0570b5973f4d8dfa0d33b61dad4284
--- /dev/null
+++ b/data_v7/Town10HD_Opt/trajectory_1777118553/aug_001/frames_playback/frame_00048/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f81374a1868f84c49b2444b2ede112ee226f0bfadf344506e4ac0f859434e9e2
+size 1702654
diff --git a/data_v7/Town10HD_Opt/trajectory_1777118553/aug_001/frames_playback/frame_00052/debug.png b/data_v7/Town10HD_Opt/trajectory_1777118553/aug_001/frames_playback/frame_00052/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..bc70c420752501bc5fee22ece95a99ef435bdafa
--- /dev/null
+++ b/data_v7/Town10HD_Opt/trajectory_1777118553/aug_001/frames_playback/frame_00052/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:856d1850cef1b55f7ab73ff689a036ae13395a98f33de69334ccd09228ad71fb
+size 1748948
diff --git a/data_v7/Town10HD_Opt/trajectory_1777118553/aug_001/frames_playback/frame_00052/depth.npy b/data_v7/Town10HD_Opt/trajectory_1777118553/aug_001/frames_playback/frame_00052/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..ecf0e223c51528ec6a2eb5054fe9a97289288d7d
--- /dev/null
+++ b/data_v7/Town10HD_Opt/trajectory_1777118553/aug_001/frames_playback/frame_00052/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:09ea098b2ad45ad2c1805717ec5eb813b5c7a998f0255e15067e0a6792cc36fc
+size 3686528
diff --git a/data_v7/Town10HD_Opt/trajectory_1777118553/aug_001/frames_playback/frame_00052/instance.png b/data_v7/Town10HD_Opt/trajectory_1777118553/aug_001/frames_playback/frame_00052/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..e5a313ef0e070197668c008ae80048eb193e1929
--- /dev/null
+++ b/data_v7/Town10HD_Opt/trajectory_1777118553/aug_001/frames_playback/frame_00052/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9832c4616302d718d61f5b354eb17aaaa545cc42683192074300e47076478cd3
+size 54433
diff --git a/data_v7/Town10HD_Opt/trajectory_1777118553/aug_001/frames_playback/frame_00052/rgb.png b/data_v7/Town10HD_Opt/trajectory_1777118553/aug_001/frames_playback/frame_00052/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..72149b20676034abe268b19a4ff55ab32544683e
--- /dev/null
+++ b/data_v7/Town10HD_Opt/trajectory_1777118553/aug_001/frames_playback/frame_00052/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:34172e471a03bc3e01fbcc2216565b24c0641cc920bddce9f114a67a515c9b0a
+size 1694146
diff --git a/data_v7/Town10HD_Opt/trajectory_1777118553/aug_001/frames_playback/frame_00069/debug.png b/data_v7/Town10HD_Opt/trajectory_1777118553/aug_001/frames_playback/frame_00069/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..36a3a0d793aa1c29ee5aae36fdc2ef076ffa370d
--- /dev/null
+++ b/data_v7/Town10HD_Opt/trajectory_1777118553/aug_001/frames_playback/frame_00069/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:680eddd1a0e602ec093d18533053ae4201db3d7168a6abdee5c9984870324a00
+size 1683529
diff --git a/data_v7/Town10HD_Opt/trajectory_1777118553/aug_001/frames_playback/frame_00069/depth.npy b/data_v7/Town10HD_Opt/trajectory_1777118553/aug_001/frames_playback/frame_00069/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..e92f493151728da5f4a332ee4316474882d8c969
--- /dev/null
+++ b/data_v7/Town10HD_Opt/trajectory_1777118553/aug_001/frames_playback/frame_00069/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:21911748cb69f71d6ae43afdb27f97b2a25004823cea9af743f3e61e8732254e
+size 3686528
diff --git a/data_v7/Town10HD_Opt/trajectory_1777118553/aug_001/frames_playback/frame_00069/instance.png b/data_v7/Town10HD_Opt/trajectory_1777118553/aug_001/frames_playback/frame_00069/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..28cb17d702d5d7bfaeb275278dfdbc8f3d4e2b3e
--- /dev/null
+++ b/data_v7/Town10HD_Opt/trajectory_1777118553/aug_001/frames_playback/frame_00069/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7dbd2d185542bb453fa3fa91ed3c50ec37ffb489506c0418f6246ef89269e983
+size 37440
diff --git a/data_v7/Town10HD_Opt/trajectory_1777118553/aug_001/frames_playback/frame_00069/rgb.png b/data_v7/Town10HD_Opt/trajectory_1777118553/aug_001/frames_playback/frame_00069/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..881a235284c0f98834478f29228a5b3b40030c25
--- /dev/null
+++ b/data_v7/Town10HD_Opt/trajectory_1777118553/aug_001/frames_playback/frame_00069/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9f65c2a919c11e0f88435a2b542fb0f11a5c7bb38bb5fb6f25d912f50bd5f890
+size 1622569
diff --git a/data_v7/Town10HD_Opt/trajectory_1777118553/aug_001/frames_playback/frame_00094/debug.png b/data_v7/Town10HD_Opt/trajectory_1777118553/aug_001/frames_playback/frame_00094/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..9ab77314d45d8f855696d5b5903397333a490bbd
--- /dev/null
+++ b/data_v7/Town10HD_Opt/trajectory_1777118553/aug_001/frames_playback/frame_00094/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:10a5cb7a5327906afd4a53f4406de33080d42f78d24fedd18130ed3a337bf775
+size 1814886
diff --git a/data_v7/Town10HD_Opt/trajectory_1777118553/aug_001/frames_playback/frame_00094/depth.npy b/data_v7/Town10HD_Opt/trajectory_1777118553/aug_001/frames_playback/frame_00094/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..123feb75db38858e8e99a756412d4aa18233414a
--- /dev/null
+++ b/data_v7/Town10HD_Opt/trajectory_1777118553/aug_001/frames_playback/frame_00094/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8a48e3c40a283fb61442695ed0b600a24781952060df45f2f22e0562ad9203d9
+size 3686528
diff --git a/data_v7/Town10HD_Opt/trajectory_1777118553/aug_001/frames_playback/frame_00094/instance.png b/data_v7/Town10HD_Opt/trajectory_1777118553/aug_001/frames_playback/frame_00094/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..fb33c0a2ea6176b9acc66290622b2c8e2299c7af
--- /dev/null
+++ b/data_v7/Town10HD_Opt/trajectory_1777118553/aug_001/frames_playback/frame_00094/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8e9580538cfeb29deb4b24385b7d82ffa42606cc129e597efcb159d323f60b35
+size 85106
diff --git a/data_v7/Town10HD_Opt/trajectory_1777118553/aug_001/frames_playback/frame_00094/rgb.png b/data_v7/Town10HD_Opt/trajectory_1777118553/aug_001/frames_playback/frame_00094/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..1948a5ac09da291a058ed9acdbfe8dc99f8e51f0
--- /dev/null
+++ b/data_v7/Town10HD_Opt/trajectory_1777118553/aug_001/frames_playback/frame_00094/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:70a06c2670efaf50069b2c0eabf53043a10deba7bc0753fae2a29fb74da5fd82
+size 1749612
diff --git a/data_v7/Town10HD_Opt/trajectory_1777118553/aug_001/frames_playback/frame_00107/debug.png b/data_v7/Town10HD_Opt/trajectory_1777118553/aug_001/frames_playback/frame_00107/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..21ebe21f41fd6f799e7b90287d69150135a8b584
--- /dev/null
+++ b/data_v7/Town10HD_Opt/trajectory_1777118553/aug_001/frames_playback/frame_00107/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:190b9fc63e7cb4e63bf8756ec1e4b702a3d4e9ce46ae9cb9a841cdad7784867d
+size 1819420
diff --git a/data_v7/Town10HD_Opt/trajectory_1777118553/aug_001/frames_playback/frame_00107/depth.npy b/data_v7/Town10HD_Opt/trajectory_1777118553/aug_001/frames_playback/frame_00107/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..609502a525a16d76a4e808c80b8eaaf3b6e8274f
--- /dev/null
+++ b/data_v7/Town10HD_Opt/trajectory_1777118553/aug_001/frames_playback/frame_00107/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8ea2635c1618c12cf92b862aa23be5221891129a39cf7be5cd78cc3c5db712e3
+size 3686528
diff --git a/data_v7/Town10HD_Opt/trajectory_1777118553/aug_001/frames_playback/frame_00107/instance.png b/data_v7/Town10HD_Opt/trajectory_1777118553/aug_001/frames_playback/frame_00107/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..6ae5cdf3172b8086d3a059e405319aa4a62d670e
--- /dev/null
+++ b/data_v7/Town10HD_Opt/trajectory_1777118553/aug_001/frames_playback/frame_00107/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c17d67a5b9ea1143cb08f37222045a57f5f795214798a17aac34609107dd6212
+size 82111
diff --git a/data_v7/Town10HD_Opt/trajectory_1777118553/aug_001/frames_playback/frame_00107/rgb.png b/data_v7/Town10HD_Opt/trajectory_1777118553/aug_001/frames_playback/frame_00107/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..1200265253b23ad5f04888bbc1b97757a66b9a27
--- /dev/null
+++ b/data_v7/Town10HD_Opt/trajectory_1777118553/aug_001/frames_playback/frame_00107/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ab63ce6fb2c270cc8e7c7fe4f0f15af74d5bb13e99755f30fc899ce5aa40a3ce
+size 1710225
diff --git a/data_v7/Town10HD_Opt/trajectory_1777118553/aug_001/frames_playback/frame_00117/debug.png b/data_v7/Town10HD_Opt/trajectory_1777118553/aug_001/frames_playback/frame_00117/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..411e8f90c1d2a6ad61d1c7b54bd7b709daeec6e2
--- /dev/null
+++ b/data_v7/Town10HD_Opt/trajectory_1777118553/aug_001/frames_playback/frame_00117/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b1c1cca783e62615e9f295738324fdb3fcaafa526e6eeae8226c2a99eb4a9c49
+size 2003948
diff --git a/data_v7/Town10HD_Opt/trajectory_1777118553/aug_001/frames_playback/frame_00117/depth.npy b/data_v7/Town10HD_Opt/trajectory_1777118553/aug_001/frames_playback/frame_00117/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..647312e0bc84f019029a0944fe6b5cfd52472a93
--- /dev/null
+++ b/data_v7/Town10HD_Opt/trajectory_1777118553/aug_001/frames_playback/frame_00117/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9c8b57827d95dae7d23a3003b072c67f9cb45638432b862a9fc95d0becfda1a7
+size 3686528
diff --git a/data_v7/Town10HD_Opt/trajectory_1777118553/aug_001/frames_playback/frame_00117/instance.png b/data_v7/Town10HD_Opt/trajectory_1777118553/aug_001/frames_playback/frame_00117/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..3b29d27fcc5c04b4b8f15d1adb67ef87c46cf534
--- /dev/null
+++ b/data_v7/Town10HD_Opt/trajectory_1777118553/aug_001/frames_playback/frame_00117/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bbd76fec5ced97685e45781d61a2f7ef87104cdb88f434a1da9ed2bdd066a648
+size 153247
diff --git a/data_v7/Town10HD_Opt/trajectory_1777118553/aug_001/frames_playback/frame_00117/rgb.png b/data_v7/Town10HD_Opt/trajectory_1777118553/aug_001/frames_playback/frame_00117/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..99c71989a4f71ad33aa3b175b096a8d2eb8f25b3
--- /dev/null
+++ b/data_v7/Town10HD_Opt/trajectory_1777118553/aug_001/frames_playback/frame_00117/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:95687cc7f2f379222127d4fac412c538c348647ffcb284de02d891689ae3c113
+size 1896397
diff --git a/data_v7/Town10HD_Opt/trajectory_1777118553/aug_001/frames_playback/frame_00121/debug.png b/data_v7/Town10HD_Opt/trajectory_1777118553/aug_001/frames_playback/frame_00121/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..96fd8d81029be271d9b4ba2ffb5992d4e5b36ab8
--- /dev/null
+++ b/data_v7/Town10HD_Opt/trajectory_1777118553/aug_001/frames_playback/frame_00121/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:909bcda6cccce637cca48f3f1176fc026a6494575e29f2b6a67f1f50e1c88d65
+size 1970086
diff --git a/data_v7/Town10HD_Opt/trajectory_1777118553/aug_001/frames_playback/frame_00121/depth.npy b/data_v7/Town10HD_Opt/trajectory_1777118553/aug_001/frames_playback/frame_00121/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..da8c15fce08a34b84edb1725318bd47731798c4e
--- /dev/null
+++ b/data_v7/Town10HD_Opt/trajectory_1777118553/aug_001/frames_playback/frame_00121/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:646c442e273567b48253b14ff905ad759b0008aed67d17c313c09c6a855201d1
+size 3686528
diff --git a/data_v7/Town10HD_Opt/trajectory_1777118553/aug_001/frames_playback/frame_00121/instance.png b/data_v7/Town10HD_Opt/trajectory_1777118553/aug_001/frames_playback/frame_00121/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..fa7138e8b31d8dfbbc65f7a80688231517284aa6
--- /dev/null
+++ b/data_v7/Town10HD_Opt/trajectory_1777118553/aug_001/frames_playback/frame_00121/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6b5d8fc3e9060e9da654bd6d6de6bba3482553f344e8ec0c1e5dbaa799ec2363
+size 137488
diff --git a/data_v7/Town10HD_Opt/trajectory_1777118553/aug_001/frames_playback/frame_00121/rgb.png b/data_v7/Town10HD_Opt/trajectory_1777118553/aug_001/frames_playback/frame_00121/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..4fecc7757ada4fca5ce6e0c94c0e0b127abb1461
--- /dev/null
+++ b/data_v7/Town10HD_Opt/trajectory_1777118553/aug_001/frames_playback/frame_00121/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b531357aa2e51a46eaf0da7c06fd281252f09fbb643c2c51eef2ea241528a440
+size 1866093