diff --git a/.gitattributes b/.gitattributes
index 360d9ab745b328aa39c665dfac35d9fddb3d5cff..5962bf8b9ca3e981f28f04feccf5c5798209dbf1 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -274,3 +274,4 @@ data_v7/Town02_Opt/trajectory_1777227365/ORI/trajectory.json filter=lfs diff=lfs
 data_v7/Town02_Opt/trajectory_1777227365/aug_001/trajectory.json filter=lfs diff=lfs merge=lfs -text
 data_v7/Town02_Opt/trajectory_1777192757/ORI/trajectory.json filter=lfs diff=lfs merge=lfs -text
 data_v7/Town02_Opt/trajectory_1777192757/aug_001/trajectory.json filter=lfs diff=lfs merge=lfs -text
+data_v7/Town02_Opt/trajectory_1777128245/aug_001/trajectory.json filter=lfs diff=lfs merge=lfs -text
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00001/debug.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00001/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..e9dbbc5876b97eb4c5f9dc6e4bd6cf102bd81091
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00001/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:568726b18db831b6283dff7d801571ab3076a0483cbd234f3fcff6832c03afbf
+size 1657477
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00001/depth.npy b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00001/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..e2d4ee714afb216c74e7d28cb7cfe14efab3dad3
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00001/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a6198805ffbd73f02c0b99987309147861cb0f2abdffcd5d1dec10936703d304
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00001/instance.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00001/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..9ab58619aad535eeb44fecbfd5bd8e26edbf5bc9
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00001/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fada3e06d836f24fa9455c006eadc12ee9a06a9127b25d706c14a65dd94004c8
+size 51547
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00001/rgb.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00001/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..ee7f4408f5ca0f0cf13752b57ce5682a5edd0438
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00001/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f749e0d8ba3414207725e6ebc788198639f2f877508ebd90fbfd9b316801c06d
+size 1502940
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00002/debug.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00002/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..2316e3ff5278846bb8bb6cfc208e144e2758cfd9
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00002/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:629f59fc7926733075d439d2716fcd3368fa7badae699eb79176754b73452998
+size 1681500
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00002/depth.npy b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00002/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..992eaf6dc9abd7dec11a4adc70f2e24e73828ce0
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00002/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5285099d1e34654e27e4246dddaef5392c786586f067fbd33f6ca522080a7e94
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00002/instance.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00002/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..9d742104f6acbcfe6b43f759e1c0f3737e4a7c7f
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00002/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9f1857e9a2769988821992c3789da3d5879cbba6d003de440bfce6d3e5381f86
+size 53513
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00002/rgb.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00002/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..a421ea7e8abad3d7fdb1b4bf622f902999a8620f
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00002/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aea6d123c927d8f923e4f4502addbbd1eb7ba29785358148f69ffa9b4436646c
+size 1530509
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00003/debug.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00003/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..9b62230128103455667e754d0e688c54ae60c435
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00003/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7de50f9aefcd3b39d38b03b70c087b595a0f24fc04f894bffd61c73f9e843bd4
+size 1704941
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00003/depth.npy b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00003/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..c070cb057dd3d8689733f593652ba68a3079b08d
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00003/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:23889e8c5bbfb40cc9ce8fe4b572349d3cc115adec73b9f070a067b1ab6732cb
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00003/instance.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00003/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..da3cabb7368ee766925c7a5263ebf04ff9c97638
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00003/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7f331d7770c3635083d6075ce4b3d98e2506c4c4e3763fc85258e4bbe4e60034
+size 56467
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00003/rgb.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00003/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..7cb4c0b2119032b5e6b34b118bd81e3a39f3c766
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00003/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bcec36c895f4e40300bfcc03517f61831078b3a63dd72116d36c6dde3cadd70f
+size 1564177
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00004/debug.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00004/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..7542671a25768c12c24bfc922ba948ae7514d383
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00004/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:55efb86f4809c2947b1fd75acd421600927ee57388db874bd9d568d12a7ed7dc
+size 1705748
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00004/depth.npy b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00004/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..bc1f0946894280ab2d71dacdd160d450ca37ecbe
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00004/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:163c350ee61316e0e8a63639564ed8a95034e4de5a21598579e749222e09cc77
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00004/instance.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00004/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..663f3693a4e582dd3f6a051d302dd839c1917989
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00004/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a2883fa27befee41433dc0a4392cfcdb10ee5fd524c6a3a558f30b50464a0745
+size 58821
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00004/rgb.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00004/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..c572158c715b373c1d3bea2f7b55d51e729282ce
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00004/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:481138af48dceb92c18ee865cca69d12fe2df64417a32fae5e395762d01c013d
+size 1564566
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00005/debug.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00005/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..ccab137573b9400b4567a08e70c9cfebf0205c9c
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00005/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:37d3ac4fff89ab593775aa7a3a74e8bd50ab78532d173112e8fbd82b8dcab5c6
+size 1702673
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00005/depth.npy b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00005/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..1975f9405d3476c992d8b589a782165e1b872fba
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00005/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7d7a7546f59fc9224d3df1aa03d4839f84b6fce83b3e07bf2a2d45c146609cd4
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00005/instance.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00005/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..cd053aa2b342d4ade868b5c31d276d808b6b9ef0
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00005/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fb9d512e59c6320e4ec723a8357ae09d4b6c7d61a408f5b317fa9b82de49ff07
+size 60921
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00005/rgb.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00005/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..c42eec97d137df039c1083938c017787cf135367
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00005/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2800b34b2c26f41ba54b693b7c61b70067307f32c10feb92fc979ffccc489d57
+size 1564671
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00006/debug.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00006/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..fab77e0f7f355c49df21748463fff1d42485e2ff
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00006/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0b9b80152dc43d5f5ff5ff079981031e4d77667bd5ac2799ce75afa4d713f6af
+size 1685445
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00006/depth.npy b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00006/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..3862c326d08a614772a3ecfc6f1a753c9db7c334
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00006/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6df9bb10393015f8c335dd97dca725b551784be075af7093baeae267c84b852a
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00006/instance.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00006/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..e15749d7838d46f5ab564ab9c0be04c7133018b6
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00006/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0907a1bde1b4f57da1e085b2786812e384d2e1362090f66a6187f36552b9b986
+size 62377
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00006/rgb.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00006/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..00783a4cd49061e6352e1052f9db6e7002074459
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00006/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:985bf1c3c7d46e6591257ed321a8d79ac9798f9b552cace6987e85ab894b7f2f
+size 1570159
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00008/debug.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00008/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..c2b7ce0d24fd0ae03c76a8548ebc3a65ce524d7c
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00008/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:94d1d7840603580d14f0930343b83883317cff3d50a074de66a646385c17db42
+size 1680783
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00008/depth.npy b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00008/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..3871891b44f467d97e3eb4bcbf093395aaa8ddb8
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00008/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5b822c8ce41ae3edbc09e9914ad480125ef11503c231f79459a4d17104df0dd5
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00008/instance.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00008/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..5b130e1f54c37a0def8a93d83d9b5317a6b94cca
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00008/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:36b88cae3a4eec0188663ce432531481a3396dc611b420837db19063aaedf120
+size 67089
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00008/rgb.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00008/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..f9f523088ed8b68ba6d7eb55e7bd4d36de8e735c
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00008/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:52c98663272d2574930ca6f41fbcf931eb0eb4f3c5ac8b6c02162022005cd142
+size 1565419
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00009/debug.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00009/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..2004a5ff58bbdbd75edc065934ed9a60fbb6b379
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00009/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2d97e04dc662970f0c6e79955791fa6c232cf67d06449783aac7cca241d1ffaa
+size 1681757
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00009/depth.npy b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00009/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..10ab29be4f9c1dea94edf77e05082d1d3b1b96bd
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00009/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:14ee723db92dd99027a8cc5b123d56e2bcd9f64760b9c958908f0a03d20b826a
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00009/instance.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00009/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..06c197c98c195b25114a22df1e0611c75112b93b
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00009/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c9ba3163d06fb5db5646af3a2871b6e50411dcc7b1274ae99841f503f2eae427
+size 69852
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00009/rgb.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00009/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..ebbd42b65227bd7e5513684103342248d5c8d98c
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00009/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9dd1396be0d0d487b70f2709050f386c07999f861edee92a5b2852fe144d54e4
+size 1564265
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00011/debug.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00011/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..b7950fc1b7fe0e3823b906e0704b152d807e94ca
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00011/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bab1cbba25c55959d9f3cb250d4a96781f30f2937ffae9adf2be7f952963909d
+size 1646310
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00011/depth.npy b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00011/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..cef361ceb09ac753dfcc8ec64efc0f980a2f8973
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00011/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:68aa974e13406d8e1bf040971c3ff96207627d3bd5232109603c08a5762155d9
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00011/instance.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00011/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..1179cb05120c4e9027694e1177bf6f4f4bdfbb12
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00011/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:153b0af6fe67da1bcfd2176d38956d367ef761b80dc664377ae2115dc2f1b6e7
+size 76892
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00011/rgb.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00011/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..6179fe3c0d95460ead8e298482addf7a9d07a4b6
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00011/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d1fbbc5b8683a5c0aaa26d1c710a96411d9cc042a24a7f0f9838930b2db57097
+size 1554972
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00013/debug.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00013/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..6eedff572ae804fcbae50c9cb367f14f8a7f422d
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00013/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:419bd877f9a4bacf63ca75eb70de3c7e5fe3283db6b502fc71122710a10a02fc
+size 1590548
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00013/depth.npy b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00013/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..c6eb68fc69f5dca068cf6f11dd64a3da91193cfb
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00013/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:43bbdf3bb36f7b3e960d6bd3e8de4920861065bb62046a1964abe2029c8944b8
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00013/instance.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00013/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..c80510568c6d72f98e9080bc9c752642604438f9
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00013/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5f97ea79f8722f3e15e132795ff6db1be1ae9bad929a5aada65074d688e14cdc
+size 75570
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00013/rgb.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00013/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..7dd4de6f0ea66af0e7a3ba254caec6654273c367
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00013/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:08e413b64e3fb7feab1a11e5f0a2bf71807fbbb8d174016a229dc9247941ef9b
+size 1499867
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00014/debug.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00014/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..c171cea13ebbf91f9015de0c5d50aa7bddf5c3d2
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00014/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f71e7600a9f87004f7464e66db5966d49d8a90895d0412c5427474b60c5e4003
+size 1578616
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00014/depth.npy b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00014/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..8c3fca1d90961a99c88a3db84f7ab087af2f4383
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00014/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9b1394196107b42a5421b174ed0293bc4ee443a7bf681ea14cbac6c742f97670
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00014/instance.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00014/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..381b5f14bffc7e114656b6c1cb97311ac440f1c2
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00014/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4c02b87b163c72b269e0e70a7a82672a43d67c3c1f1d70303c764fd7450d6206
+size 73616
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00014/rgb.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00014/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..5e08395e5e8768281a4670e61ae71e7863d54740
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00014/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3d07dc9d0307a9934acd97161c7d895f83b6782c728d9f0c9777835292dcb573
+size 1490848
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00017/debug.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00017/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..a12f146575a41eb84a5215da64170211c8d4bc2f
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00017/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c0721270d9a6d3c098fc66dcc6db7f5602b4f1e61f35ab13e7a25bea9d87d718
+size 1562438
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00017/depth.npy b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00017/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..32bc6b5c988fb8f0e8d75652c70ec3ad398b2198
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00017/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cfd4cfb40fa08ad56a026fc9ff01e3a8581d510cf423eb055e517d286245dbad
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00017/instance.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00017/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..18c5e339cf7b4a55e695f070e0592451bc77511c
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00017/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fa6d2427553f61e51c251e24c3d19231c95317f723453812e8006cec406aaa15
+size 71864
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00017/rgb.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00017/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..588b8655b637e0ead4d411a05aeff7930b289707
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00017/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:70ce533756beb7d650fefe0bdfc1ea94c93379995152c13970d9737049aceca5
+size 1498922
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00018/debug.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00018/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..653ec0d503a88633869f1c2501cc7bf40e9d2a4a
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00018/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9a27a91aa625b18191e058a185a8d28a532adfeff84c0e1237cf9ccaa3395f2a
+size 1567328
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00018/depth.npy b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00018/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..997d7dc900e61e7329ca4acdcb0302fbafdfd2a1
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00018/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c1fc8093a77a00e249f1f06df9c83602cd7375a1cc8ee3685f235d7057922eb5
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00018/instance.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00018/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..6849770f83dc8f4df10d9e92577a0afd7ca3e857
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00018/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0ee85e2dbaef05877260ccf71c695e089ba9cc12dac4daa51c69d66643b2c0fe
+size 71236
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00018/rgb.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00018/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..a4352557a311c56dca3f1b2f216247527e08bf06
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00018/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:be0445acadf9740d9601faefec894ee9a9e2c405f43539738a4185194759976f
+size 1505689
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00019/debug.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00019/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..abadc79835e5451c151398a0e0d84e80d78e4c78
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00019/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1128252226dd1e7379d3ea51ecf06412717f47a7a1509d2fe3d1c33719bce928
+size 1582076
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00019/depth.npy b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00019/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..04a338b799180e2b6feb63e30a0cabb9339f3ec3
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00019/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:155b1fd6f5d4575007711a517ffeddac2d211ac64c2bd4537fcfcf774d369efd
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00019/instance.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00019/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..d9c7ae462a8b3c05d5a0f80ef63749e499fabe48
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00019/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:975fe93d4c69f63f4537f74d3e98984d229e125448b4eb4002428f77b19b9264
+size 71221
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00019/rgb.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00019/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..ce91982332c3d748ef8e19b6683951b09215b768
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00019/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:143b294984ce66a819c16160b72cb851f9a04b8fa1613a0bfc7a74fa99768ec3
+size 1514242
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00021/debug.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00021/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..a9e7596a8e817c5f413ae6e5c0aed94d459e3b3a
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00021/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:111b690464b9657640328b1f3bbc5339e757e954086d796615bf29db11cfaf72
+size 1581587
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00021/depth.npy b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00021/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..58158ba5ff7809c20bc95e3bbcda98b096c6ca2a
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00021/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d598cb15a1ab171028874f23ac2924ce728124bc69d0543dbc31801bcf4ff3b9
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00021/instance.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00021/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..2bffd0c68c9de60c7c82064ecbdbf7c97f8ef796
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00021/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:460d4ee76c88adf4f0a53832c276d8f40f3039aab35fc7051471088f361fb6b8
+size 70886
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00021/rgb.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00021/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..5a91922fd00ef3159708e95983f58cb594b6939e
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00021/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9fc6769f0fb3c28db261f2164dc563fb88f1a71d941eb15c09777d1a3605982a
+size 1522860
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00022/debug.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00022/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..57237c5f04c94cc0db035862e512c0194deb865b
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00022/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1cbd1a40cc7c02c1bccd856fbb667a35655aae81762fb7d1d4ecfc1ae8e2ac96
+size 1603909
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00022/depth.npy b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00022/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..a4c8efca8bcbbfcfb14b2a4d8493fc3543bacca3
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00022/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d9a37803eda759ec3175d80d1434072118db3d2e3948b572b213e6b598e49db1
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00022/instance.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00022/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..0ca37130654f75d233e6cb3cfc2511781905e0ea
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00022/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:938b5cd8bb3d1a065d69bf740508dfe6625ca5503adacbb9904b2601e252b9b5
+size 70905
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00022/rgb.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00022/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..bda591497cf072875c47249db2556cb4aa61152a
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00022/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:869d0800778e4b3ab52a1bbc4bab8dcf95e81dac8ea0bc79a18c9ba882e95f7e
+size 1532645
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00025/debug.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00025/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..146de4b3e4ae08ea7fa109624954418899545841
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00025/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:96999e4fd3b1b0807f9672f939e7e0f8ad0d98942353be08ef2d456154bb2fa1
+size 1632047
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00025/depth.npy b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00025/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..a70f19d6009826fbfa0c5abfaac4ba73a27873b6
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00025/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:91dd88fb46895fe924608148c624bc2dc90e9c3609988ef52c85c3f595f02e91
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00025/instance.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00025/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..86e45919fc4b4bed66c91a30fb7d6d4c54fb9103
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00025/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:02119f7199640c97dc4c7f109b1f252d2f683d2f6fc252fd39897df80d2cefb8
+size 69738
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00025/rgb.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00025/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..29d4a58c8be782310860a203fd3bdd5750768a4b
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00025/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:91c1fe227708b0fe4d7c5320b96f754c579393bcc4dd15c6a1af537f0df52638
+size 1570240
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00029/debug.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00029/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..e2d361f2bad07acb6f2f89bed696b6b79714924b
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00029/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d29f710e347132761dce248b71a98c0d88550815cea0e49eaf2fdae4cc172f38
+size 1670124
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00029/depth.npy b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00029/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..3fb4a3262863d0602fc8d02a449d11836fac7e27
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00029/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1e09938fe6beae10c41fee62bb77a7a2d4d5072bc30071a827d697b891214468
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00029/instance.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00029/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..7c7af3f7f508a72fdae7ecfc06487a6a06d85ed5
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00029/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:86eb61b90276e3070c411bee3b55e545052085b573c8911fffbcc2185058454f
+size 66416
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00029/rgb.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00029/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..70a0a1e6d768d5eb27f1b5e89a05ae7bfe443e32
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00029/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3cd218e6fa8640ade05913b8568e144fe27af8e11d3250e20e88a009998bc279
+size 1601221
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00030/debug.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00030/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..7bcf5acabc800b1d16cc87c99c6a7634d5358862
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00030/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e426f95798f8cc55b23e6724e2f6c7d15747a23805e357c50c06d3a33e0e463f
+size 1649852
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00030/depth.npy b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00030/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..0772089ba389245218e9d4a14145ebf54b7fad00
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00030/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8943d8f2957804e9cb6d696337dcb39524e5e9a3faa62ac6e4bf4e71b63c5ae5
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00030/instance.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00030/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..9671f026ab5cebe59ee920c50c458f5aa76cd22c
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00030/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9bf2791f52ff62a9fd651ed4923fcf65a17907e2f284efcce7874e5d0399db33
+size 65251
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00030/rgb.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00030/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..3e36c61125bb5b232eccd466f64d7db896e4a558
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00030/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9815023ec68cc5a36f578900a59c66333e1338e953685748abcaa6eb3f403d29
+size 1581086
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00031/debug.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00031/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..d2201e89405bc9a6f334df1d63e77aec41f8b710
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00031/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0c184c942b04b18922f2ffa0ef468320dffe04df8071bba53f3c913c3cf440ad
+size 1631194
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00031/depth.npy b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00031/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..cf92a03bbe045a224dd5ed05490f0cd659dcee73
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00031/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2bbdbd9b7a817febec2ac0a8e56c9a8723ea49c3a79be4e98cba476e045dbcdf
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00031/instance.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00031/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..1726da6683af13073477e51dad9b1ab9ee6257b9
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00031/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e7bc50696c4f5c911f3ba099506598e8e2de004379fe8b0017df06ecabebaa01
+size 63984
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00031/rgb.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00031/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..39c08081085b555fef5d33bb898e645f9bc0833f
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00031/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c48d9802d9e7fbbce27dbc621d8f5cf78df5d6133de86d7d5cf5117a18c792be
+size 1570299
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00032/debug.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00032/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..9be163e0475cce5660971fa49c9387cf2665cea4
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00032/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c9c6872e692277960fbd05b68aed63a7780fd047107caad802b181adb2f02641
+size 1627547
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00032/depth.npy b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00032/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..74b79b8e0101cce757b420468d09e361caf6268d
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00032/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:64cf703969fac7eaeac1177bf43c8e1f750f4ae42fcb9ec02188f206e0e7ae52
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00032/instance.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00032/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..c226aef7f9591a970493d0a80d34af95698f9634
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00032/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f576d685ca06c99522c111b084e688c9fa9d985b673f79a9f2a22f7aa4e7394a
+size 60457
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00032/rgb.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00032/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..0898419d3ccf0b75fd3283f314e4326da4cf9e76
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00032/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0bd554e5ff78f6c4750ef963cd6b471311af8c169748375b9bb0e018f0db8df2
+size 1564010
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00033/debug.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00033/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..0d3ed47e215a0b81fd60e2458a52434a191a8d66
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00033/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b1d4e6e4e11917aa4683dd72512a972f66f2dd985ef8da6488234df9e492ac4c
+size 1644321
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00033/depth.npy b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00033/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..a2189f9666f60baf977a47a8c2405f57e79393b5
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00033/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d1220e7e650ceb53fc16969cc6499f185e030a96403a4e2bc08fc2759dc10457
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00033/instance.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00033/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..347476ce26de8da7b88351527361cb189702e27c
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00033/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b4f484bb854334c1bfea07214ad92a94c79a06d464d1c56a5f3c4456696bc368
+size 62815
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00033/rgb.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00033/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..cb7e1ba0fd0fc26d42eb74e17da550ca74e5f26a
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00033/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:976562882829732599e27b0f377be5676f0b8a85189fe9c262cbcebd66a0c636
+size 1567550
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00034/debug.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00034/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..dd2b9baae256dd94c8f4c555973eec0fdfd8635b
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00034/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a6ef67ca60e0d299342be567139913ee43b0a05144f1a0d6ff901d69c89f6c65
+size 1644374
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00034/depth.npy b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00034/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..39ff4a2496f888d10a842f27c49f7e475ebe4b5e
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00034/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a56b43d1cc91395163e84bba398d1b341a14919014d849874db57a47f97bd580
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00034/instance.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00034/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..cbaa61cb12b28fd71f78a768c712776273c0792a
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00034/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:060d4eb4631e92daa140b0177c8ae4038ed0c69a1e6e84e97fba82d1417256ac
+size 64031
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00034/rgb.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00034/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..6b48c6695decd3f6336436bcfe383f7ea334de5f
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00034/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1ebdc12bf58938d98f6fc9e563b650b8bed083c3a299ce2f4f3a790052dd7c0b
+size 1566801
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00035/debug.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00035/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..9222c4c224edc68734e35c530a18c9b6c7412304
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00035/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a380901d2006dbf472df882085c485f88a31f6ee6d44583e3486cc1db47da101
+size 1649116
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00035/depth.npy b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00035/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..12155f02c6d6b4a9a716596f68d6d05f8a40269a
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00035/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8a601899e11c346ebcb2344d68f154d40898ee058665d6808accaf05312c40e5
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00035/instance.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00035/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..027dfb1f1a564b7ddba690a6f92fb1bf00594754
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00035/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:451c98af66a7a6fe6d861c5b5ef996b5232ad94f40812570c7887ac78e030006
+size 63609
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00035/rgb.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00035/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..f335e067e81f3493f7f1a319adf1a87551b63baf
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00035/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:701259cd5431541aee419b7ae3d0cce5b2962aadede81baad971edb6f71dbbed
+size 1575513
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00036/debug.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00036/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..3e38a7b699ee0be314d877226d00c5d417b0ae23
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00036/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:db9225c0f96eb2a89f1d5a9f77d43af88750abcbede7522854b798f3d0ec40c5
+size 1632070
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00036/depth.npy b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00036/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..f3cba8f88f06f7c2da1d74d37ea4aff52ccb848c
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00036/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9f419b729ee11c1b8052ed723f4910e55b68a6b86d1769496edf5fb46621e7b8
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00036/instance.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00036/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..94e9dcc018e9cba1f0360145a5f9ecab2ad00580
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00036/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c899b0bc0c945afbfd8dbc5a316b8e7d4d2c8c3fe1c5521a170d2ede61e26eed
+size 62707
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00036/rgb.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00036/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..ffd4037b61de0d1f662529004a0264482fa62fee
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00036/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:004f0474748363fe62f66569561940d6b4c6653a6be0f975112398137a8538de
+size 1553081
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00038/debug.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00038/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..e5d6dc97772565f3254bcab1c10605025efb5d85
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00038/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1f48927146f312b270572979f2d20c6bb3e6b901faef46d86ee4c4e4431f61b7
+size 1631050
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00038/depth.npy b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00038/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..1f5174302e7aab5429fb6091a6db4140e096c1a9
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00038/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:82f799c7cc2ddd772a1eacf72e9c1c099bb526bc2aae39936640b00abd3c56a4
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00038/instance.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00038/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..57f7f1277c6877befe76fbf3bf9c7d1a8a3b9e6c
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00038/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9920d503f7eb70c6cc8e36bbf5f3c4fbb8a261131d1cf8067e333d3713ad6f1f
+size 58800
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00038/rgb.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00038/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..544d28ae38d0c0787895b785f366e9a30c3e59df
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00038/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a2febc00b0425f09566337aab4862ae3d2c1df7a4dee54c74904f3d6e2322dc6
+size 1548318
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00041/debug.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00041/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..ef70d4a08a8719ca8bd7dc738fb5bba0f2a2ba6f
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00041/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eeb1828308e6d586cc3397026012456a9cc80f2c4b397115ff94bceab9b74977
+size 1637325
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00041/depth.npy b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00041/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..735d2bb193c3c6c8d1153e14e90c89fe57048e1a
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00041/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8d94e13262f1cf676c35ef019064bb8c6765326e078b6ae0b3b89cd11b1a8017
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00041/instance.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00041/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..4378391feaefa0b1f08e88cfd70857c22b0d1fa6
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00041/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e8955afcfb0539e7b6b3a1126b4db8e8cf2132384b7904c59b0019a597e1ebf1
+size 57120
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00041/rgb.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00041/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..8f0e5432e22951ab2cb9715c62b16244d12efd8f
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00041/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:530535964ae2199a566e5e2fa7dfddffa9c7168501abcfe7a80a7676a18e9a80
+size 1530462
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00043/debug.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00043/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..cf53b0af2a7f6e8b48ae8a0720c42c81c9c02e0f
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00043/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b72b903c3004ce8c779293f52c116137c50164fa4f4b5594a9c2e35425f45089
+size 1648955
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00043/depth.npy b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00043/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..221f25dc58702afb3f23b477a75724115b374417
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00043/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:02fbd24eea666f0ac5c3d39d81b5e47dd75d73c4886205b1d1537e99cafb4912
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00043/instance.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00043/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..40036a15b5e44b077aa82e8115dac94303dbcfff
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00043/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4a50253e310221f18849dbff465c2283d05f82494f49028262eeaf0c01105d9f
+size 57902
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00043/rgb.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00043/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..66f27709c9401dd9aa0e9ca57aba7950f31adb1a
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00043/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eddd1734a02fdc603a2ace3747ad53883f624324f80f1661cbca7fccbe5223a6
+size 1539738
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00046/debug.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00046/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..32c2c97ea9b18630a691018d1d2c5a2d2811d05a
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00046/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0339bf6e891ee2f94503366730bd7e4ae4acb4b385d8e201c13d677bc0113b9b
+size 1657645
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00046/depth.npy b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00046/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..c401f75ae93466e952f711452ff81677afe3b4f5
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00046/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cdd1cf6bd47c7b185303b881b0595aa6b58f9983a8855234105eb9ae44e5acda
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00046/instance.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00046/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..b3b1ec0890aba4835c296d014ce79523e212d969
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00046/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6ea952b60377ce4718c70a62f4b045e55cebc91973f831c72456dc4db751e3ba
+size 59572
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00046/rgb.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00046/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..1244b5eac83856ac00a733d9afc51bda2d3f6d3b
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00046/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:276e86a3cf9b3ba56b2ffc99a009bc128281f88c04974f8bbddd9f331210955a
+size 1529145
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00047/debug.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00047/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..b2ab0a3cf1c51eaf19c81068763311c172a2d6f5
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00047/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:01c32c5f13c6f4e1c50cbdabedc85231cdc82d7fb8aa2e21080e05bb5b911c21
+size 1652278
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00047/depth.npy b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00047/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..f37c2feac215f571feb298139e02a641bc7bfa22
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00047/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:944718373d2144c77ed261c397496320b5f040eb1982be3b975ec643dca9d3db
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00047/instance.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00047/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..0cb9cc017eab8294c45acb5dceebc66cfaef5b4f
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00047/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8316badf341ce2e90b250cc570f30f8140b68a6e63c4f7f9c7ef45dc30a26b6b
+size 60085
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00047/rgb.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00047/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..e4f5bb6ec958bdd4bc57752823ae55b603af7eb3
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00047/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:be9a28c68d0374d83825f0092c704ef242b21920a83eb227dd7ec303148817e9
+size 1531136
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00050/debug.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00050/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..56870ce4acdf80b5cf39d35825664198ec143484
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00050/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d2e7dda91a8daee43a91d3352e2f512dd661921c9996b0fef312dd98aa3ab90c
+size 1651017
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00050/depth.npy b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00050/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..32533c48690d215b5fd84c20e95b77f7d6511a4e
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00050/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ef3caf09eea8f8969308927c09c897a20603ff488ff910e0e594130a3c3cad94
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00050/instance.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00050/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..3f8ac971b276707438c13e02888cbc5b62bc1b25
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00050/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:72106b1f88f21d9aa8dfa91538e558f148a9e33a5c57983c72ec276335a918ef
+size 60272
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00050/rgb.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00050/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..27b4c051339726f3a3604575dc95bb5517454ea6
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00050/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d2f036434f2ee47b9b8c835ce5941215abf21d31e2aa7d69b2d9f760e37893b9
+size 1534755
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00051/debug.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00051/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..9dd6361631ab521b8b4664777e4eb6e6b9be5fe3
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00051/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e5dcd6415c4bb9fdca5f5bde88671483099f8c6d87b04770d7e6d3d988675370
+size 1656953
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00051/depth.npy b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00051/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..dee4c4b69afdf388982caa33a8d9107502cbfdd2
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00051/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:663a068c4b6708baf71743fbcdfcc311685d43f5224d98a2c5d234e7175caebf
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00051/instance.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00051/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..91e5ba068ba3678e3dca7e04d11c00ada493923d
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00051/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:04468f70b6a2fd3d9bfcb9d9046ce2172bed9335e1ceb4d9c21c1cb4bcebb4cf
+size 60018
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00051/rgb.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00051/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..99730e7b18264056f43e0354f50f47c60431df1d
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00051/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e38d7d045a3ffcc4cd687c7ffd3ab27928e5c5d7fabfe8f0fdcffabdbe4807d1
+size 1533861
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00053/debug.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00053/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..aa2f7be4ba3d80576c482287bc0f14c43c5dd0cc
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00053/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e6869ffeaff32fa9fef24839c9753f4fd163fc1baefadd9b15716d4b4d29866a
+size 1667411
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00053/depth.npy b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00053/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..7edf693c8b89e6d0eb042c386852e2d2c04eb466
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00053/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:881cc4768908de7bd1c917eb2c39f1c298d9b9aabe5c2dedf112db56c01ab840
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00053/instance.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00053/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..b7051037dada0b6679f9e6adac1ff0e02ecaf2a4
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00053/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b8468703dba4b13afd70ec97c0f4991763016e275d2ed81c4fdfe781f4c601ee
+size 60747
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00053/rgb.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00053/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..3ff7076a2449a0fa09bd947d76a848dbe78659d9
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00053/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1378f2fd8cbabe2a82ad4ee93ba235bd43706c53a804a41de023e0512cd45762
+size 1541389
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00056/debug.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00056/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..c9db581d835c99fde17b6f462e804f07dbd41db2
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00056/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5d692acbd4db6110d822d00f7521eaf2433a54761805a0050b1ff76e96bea158
+size 1681012
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00056/depth.npy b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00056/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..f0213dfb8784fdf76a7133e974b218bab488b741
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00056/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:917347d2bd036bad6280848dad02ee22af9badc85af55028c7ab4495312785da
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00056/instance.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00056/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..e2f116a08e890931e2ef124fa0018bbd6547a57f
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00056/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dc56eb7df897c3bd42de08d3474c7d906a463b777ba6f8927cc7b6e52c2f60f8
+size 58806
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00056/rgb.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00056/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..3a03f09ecdb76bdbcefe9a2a153ad9825f12c418
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00056/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b59eab135950b1b33663ca8148d06f14ef6e01778f4a0ab43057a0871be53724
+size 1556881
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00057/debug.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00057/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..98624b92fbd3448c19aae729df0b25e404474f81
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00057/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6d3333f90a0b5b0f8a578a255f836df48ed479923a9052d64831bf980b435ca3
+size 1670176
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00057/depth.npy b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00057/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..ff11edbbbc88571e16280fe94dcb32b6e3e9d2a1
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00057/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4830cb7cd356762b9a1b99f9068dcf6d9d17e7f3593335212c875315b0c129d6
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00057/instance.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00057/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..9d1332e48e77c0e515c6198bf4417e3d66f0ce47
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00057/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6a41b659fa79351b481c03316e5cbb53cb8fe9e3d0e253304e3da9f5847452ad
+size 58682
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00057/rgb.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00057/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..3e4ff049fbc050868e5b1a602a496d9f27caef3d
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00057/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b2c075a14ffbee8b77030c2a061de6b44238dd7387c0148f060d0f0b8730d92b
+size 1549687
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00058/debug.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00058/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..164f9cb45f76f523dee26da621dd88f70c527ea9
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00058/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6db52fa6154dc6465d7ea7595bdbe4ca7f5e6aa368e91874866012f69e3663b0
+size 1673472
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00058/depth.npy b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00058/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..3323032184af0656f3303936974bf5711e0070fd
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00058/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d67d44aea1c3626435ee6e526cb9e85e9826e39d6dbc64bac39493c3b3ef3a05
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00058/instance.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00058/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..504630e91a6677b455540a7d30acf7d7851e8135
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00058/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a99b30bfc2a55b206a0574b169be76ecc7503abc373ea84e6f5715fa4206c3e3
+size 58637
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00058/rgb.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00058/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..6225a287c01107ae99f7b5d84c733530ff5b0b44
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00058/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:056ad84e8a89d8b1a30391a866978278a308375b0f122a03e2a4af8c92086ada
+size 1555232
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00059/debug.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00059/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..4f611fefc45593b3b15ff255366bb7554d930cf7
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00059/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0b59f647bd617ef00226dd717165ed4d044f3f38c8b965794fd6d37548272b52
+size 1675478
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00059/depth.npy b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00059/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..7652cd524ee0e550c7dc88c8046b23006909e1cb
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00059/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:663aa38258682e8096b12824eb90d11616cf42b87f004e9eb01de02d70e400a4
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00059/instance.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00059/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..a6313332049a1860443af01bea89a5a58eaed1cb
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00059/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8c705d8302d2ed1ddfdf3597509022c2baa4bc8e7093e64bd243ad7b891aa7e4
+size 59363
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00059/rgb.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00059/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..f57a7d7dfbfe4a6b55f0fd27cd5cc9334ebc6414
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00059/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9449be6db5b20a8acaa35be08b9d79afd73fee32850d2104ed19787c5f99b373
+size 1557566
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00061/debug.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00061/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..1c67fa6f468e79ce6a212585948832d3f51c52c1
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00061/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f2c0cae4bf29600183e1841c1c2eefbbd32b0691fae5ab76e679a1ad5ed48daf
+size 1691200
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00061/depth.npy b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00061/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..17d500b5f2ee75b678bea6069bf395ef1ad7ab16
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00061/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:883d0321867a56e9d9410d146c2235d788eef92dab78d1a31e4c3b6ce9e386d7
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00061/instance.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00061/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..be0e75646ff5aec6fd6cdeb57d1f82791a0194b0
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00061/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:53b412be30bf431b8b4f52ebe4ac8325871cd57dbaa99fba15bb171771a3db31
+size 61525
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00061/rgb.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00061/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..3be31775e76de32d73a2b3e84b9512a2a9788625
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00061/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3020792cee6644e03eb1286e6f7d7d2645ea86203c6fc3a5d673006ad4c2c11f
+size 1570883
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00062/debug.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00062/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..407bbfcc3607cf7945b07936dc3dd2c8f47a48ec
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00062/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fa72d5a6cac1ad7191025c4bf75f0d1c073e82aef96229d521069949065282d5
+size 1683537
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00062/depth.npy b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00062/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..85e1a96e6a944745f0017471f610ec4c67b5bc12
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00062/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9efdc4bf5792961ab78554bfd7dc49ec15c53fa5be14be1f73ee1285e5ad4a2e
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00062/instance.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00062/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..4734faf5a612addb0dba4cb72f85df81ea067bfc
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00062/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8233461268ca670755137a55233b4dcfb7e8fd6207f08e1ddade9d2927b4a476
+size 62326
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00062/rgb.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00062/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..5ba307b1578185484bb7658f95dd818aef67b1ec
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00062/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b0361f9dfc9eda7aebde73bf36140a8bf30fad52d3e7469b77f0973da7f446ce
+size 1575112
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00063/debug.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00063/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..f6c9a48c72dae25f324b20c8d6fe741e6364802d
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00063/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7dc8fd14d5dd2d60116c5cb736e2eddc8a5524b60ff090bb5277e3a8003be4bf
+size 1678464
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00063/depth.npy b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00063/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..91c5fc19e558a761310c9161ba2696530d4e9eed
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00063/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7900140b61865dab5c0596b063329e579f276571a5bdd644f269b2da1aba189a
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00063/instance.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00063/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..dc1d676bd77d197438bc78f100dc416484c78197
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00063/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:414d4d8b00434c58ad267e569b007b088403230be351aa0aae140b9dbedd0dfb
+size 62844
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00063/rgb.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00063/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..09073af621712bd6f744aa8db83af64f000769a0
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00063/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eac8ec375006089c86bbcd28b3f193f0c03cd06d7ff1c3fdff664bded283dc5a
+size 1571348
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00064/debug.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00064/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..bc14204a1968775c96a50cd4be8dec45e4b67182
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00064/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5d34c2919846152121911a1843c1de2d37ae9a57dd3ba9d5e1cd1a19e8c934f1
+size 1677701
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00064/depth.npy b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00064/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..327d4d1f1a6d01f01fb2dc832bfe5d019103d3de
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00064/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fcc878882e9652d5b2d7b59368ee6dc058b7f23ee93ccf7253e13f113b36fbf8
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00064/instance.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00064/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..f8bf8a882372494891841c2aeda83005f9927683
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00064/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:52686246dd5504318f73ff1774f6860980d2cbad5f68133cceb83bdb35073311
+size 63344
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00064/rgb.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00064/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..fb63d8e1b92481960f1c75691f95748ebe95df9b
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00064/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2483166d06ec6853018cedc6bf4fa40086240a25c855a893ddb3421def8eed67
+size 1570242
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00065/debug.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00065/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..4a772d40c920032bfc853a0a18c9b509826b9608
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00065/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8403321ceae185bc899dfe672c484558af9ea638a6164ea8f6b9ebaa33aa4198
+size 1692716
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00065/depth.npy b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00065/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..00b5a5dbdd4c5a41f9937b2c85f65482560f0438
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00065/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f65b535cdb8c851c6923cd6400dc454aafd2b46d50e7de8ab752b30923ea400a
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00065/rgb.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00065/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..5ae54ba4deca696eefe8091ded75daf92de4af8c
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00065/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aeed39a0ddb38549a9c87c3f8362f6d94a216afd5366c3b68176dc1d6f086841
+size 1580522
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00066/debug.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00066/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..866dbcdd6832eec47b52f81ca1c3b92d3c0e6ce3
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00066/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9bcb158ed2c5a8267c7cdb014b9b4f50874017d4a6836b8d08529fdc1d467fa7
+size 1677537
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00066/depth.npy b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00066/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..41871938124a56fa23c56fdd9e89b3361d1c10a5
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00066/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bfc00a0cf70922c0f74d0b278fc38a2117b9b861d62ec1082cafdd330792e33c
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00066/instance.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00066/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..9d29e9276b4acf1489ee123ea4d5ed5d0adc162d
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00066/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ad706d53a4184c4265e9dbeb04d49654911ce76439f0614d479cf1bd4931471a
+size 63498
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00066/rgb.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00066/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..43f4d7d6f294cd24b71820a514c2ef2eb29d9560
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00066/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:39ff3452d0c309ecc1817959716143b165921be6c8e798487de7b83e236e8c2d
+size 1574125
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00067/debug.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00067/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..c2334b03a0426ed7cde5630d8ae7ab4437db534b
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00067/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:42581e6f3037c4cb255db098e78c98b49afe787e7d59f886c6c341b8d16f9c94
+size 1668375
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00067/depth.npy b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00067/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..050f1e35afe3598b1402d3ffd9322264970b130c
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00067/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7ede6de5425b505e5adff16a2ede6dc1435e96c91a80221d9339469a773e23ba
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00067/instance.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00067/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..fffc1d7947935f6e9b528d76a4c42263676ad88a
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00067/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8bf46192e5c63bb0bcf4024f80f356928f1225a9497861ed9b8d6315e18d52a7
+size 63131
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00067/rgb.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00067/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..e5a511112ce042f37a0c9ee77abc9df9b6ce310c
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00067/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c09cb0c6fbdcb9b99aceb8847646bdc8f6545a0135bf4b87ac419bc7e38eb373
+size 1576110
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00068/debug.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00068/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..8394373bf90cebc64f3bcf673193df877ca68ffe
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00068/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0f8757a0a28c605de62346406f8e6a99b417308066ae8074348988fb63348184
+size 1652651
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00068/depth.npy b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00068/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..9d87f71534b1ebb99116ea9b08bda2c1e4aa9972
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00068/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:70680776eea76738df8239ecc728bb9fb51006559158f49dd06b2929a5a97c76
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00068/instance.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00068/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..14b9b9f6c1881fd56c9abdce079567f3ee539a49
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00068/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:75c552175146de8e784b097214a5c2f7c9992943cafafaafe6a22e0ca0545d56
+size 61373
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00068/rgb.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00068/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..251023797039528350b85adafe38e3b24fff942c
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00068/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:08bbeb0508af4e1b69777556fe01cfb5b7138656b1fcfad5574eec988e0293c4
+size 1564829
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00070/debug.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00070/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..da73fb4e8dac529fc3f64501ae09d1630c12ea29
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00070/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:007d4e1c0752726b56b575399c9b64debd2c6d0ce29a0896e395c8cdc012312f
+size 1638752
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00070/depth.npy b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00070/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..e6a66f6822aaa3870c46bc421371c476b0771b64
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00070/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ecabd6b69423f1e3706e3a009b596e54025b8b0148de92bf4a0bbe28c04bb09b
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00070/instance.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00070/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..836d0b136a79fa929afd98172c53677ca8a909d9
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00070/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:123b1d627b7eaf86bb4bb41b9a228e0ee52e750212ef52e7d9bb17f47bc043d9
+size 54653
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00070/rgb.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00070/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..a1f269ee87680304bf272a3753fddacab306527e
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00070/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3c04911cc53cbc179ee3f98c0a689b4165813dbfd6ec055ab7d339bc6f0ba360
+size 1552166
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00071/debug.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00071/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..8ecafafc8c6b981daccdf6d4e84376e02c02e8d1
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00071/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:beb41dbaaba0a5ad18075e02d4050430782f41b6a7baeff93ee3f73d4001e061
+size 1632983
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00071/depth.npy b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00071/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..68336dd0e7c15987bedc0ea3d4d81a8308a03b8c
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00071/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:218d679922db416f8dac834b90a872bd239851ff0c113f892dd03330cdec2f23
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00071/instance.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00071/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..55a5e1c4eefe41bfe1d4f46809dd0fb1effe9d69
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00071/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:31487fe76d49765b9500b1b64d64dac39cabb7192ee8c26a6bd7e9b1ddfb19f0
+size 50684
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00071/rgb.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00071/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..9130d755114c361f4108163c0fecfffc0b4019e0
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00071/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:00f71112ce2936227b2a7b310cc999809aee50a338c1677b446d268351022bf0
+size 1539820
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00072/debug.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00072/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..45da7866b834a70dc08820755ee04645fa18b5b2
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00072/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4fdddd02032b5a8de7d3a9a766f68f5a365fa3b561ed1d77bb3c1cb3df0c8bcb
+size 1618138
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00072/depth.npy b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00072/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..72c410ff02af85a55ab318be39d960644dca44e1
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00072/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8fc226118e407ed40970920cfcbdc2c15acbea53c2e96a1d3878a5eade1d3927
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00072/instance.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00072/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..d65eceda169c5d8e1233a6464fcdbfa95ab1cb5c
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00072/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0cfd0fb12b31deadbcc7f5bd012a5eb9c47b5dcecafbadb4ae23819a1cad3446
+size 47593
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00072/rgb.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00072/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..b6ee328de7904c5d7efce3ac9cd1e283f8b18b75
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00072/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:178431f43d441abc1a5a4e7020eb1226442f442e9ab761449b5fe8a949bb0f63
+size 1526443
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00073/debug.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00073/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..7cfa0b51b7007d1fe0ea8c5ee26a8804c8cf4cb7
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00073/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b8ef1160605fac2aa6a52292b2f8d96828291dcd5931e02feef443491fb03409
+size 1599012
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00073/depth.npy b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00073/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..c7ddaa75a47b06eedcb4e6326837a1b206048536
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00073/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ac8a3c7ee301e2b7f3b164413d89b2bd7adc4070cf292a29eabc18496841bc57
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00073/instance.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00073/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..5fbaad2355bd8d6639a668aada0e2242997ec377
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00073/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f6dcadac8ee41fa503f3bb34296433ffb33a98f8b4e1689436fa29429477d23c
+size 46475
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00073/rgb.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00073/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..099253a3f824b791d2daca19d1c60fad07e70140
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00073/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7a409b0d38c8aae0bfad8b892c4b9a3c9488996e39fc8278f568d17d29261489
+size 1509990
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00077/debug.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00077/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..e5642f656d30bbda7757631357478c716230b792
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00077/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a4f706cb7093a084384218fd24f72fe98f374bcd7281a4f6a149b44226faed59
+size 1556299
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00077/depth.npy b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00077/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..dcf83fcf17436d7e8562c33dca4a30ffd4c13421
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00077/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aed0aa052b4c85c507179ca33df281085e13ce83e94aaac52b08a39d8db3f8f3
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00077/instance.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00077/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..039528d77824ae1f4f805a5c9bb654cb1479f8ee
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00077/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a24e84fee023377215bfcc975e6a1f2e6c531ee382420f73acfd5a6ab502e7e4
+size 43082
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00077/rgb.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00077/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..ac1e0e4009e076c2edd44f6d6b5ec265470f8e84
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00077/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:96ebc2a3becd6e9af1e4f4bbf9af48169a9eb9326534d2cd03849028bf730f8d
+size 1469033
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00079/debug.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00079/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..18451d4a7c1600db1739a906ce85e17b20b915cd
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00079/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a43648acf15e6a6410b9b9a438e714efb86e5797791b9f73fd8d058392f43a21
+size 1537404
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00079/depth.npy b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00079/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..eaffd0f1c95b114403aafaefb051697ee0597795
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00079/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2967d417883c395b7fa13dcc402f2bff61313b011b749d1f5c1e0ae3dfbecc78
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00079/instance.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00079/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..31f4cb1a8f11d87ed9f75862653eebd792673aca
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00079/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:28a7504f996ef498952fe72a31412bd63b138c10b6b2fa3d5ea6b9325f91ca01
+size 43381
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00079/rgb.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00079/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..518a3af4e867e58b49f3b837b7986f0606553b4e
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00079/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0f868a6e2ba4d2caefbd714efdf3ca19d1b7ff91672aa0919a2e01c4421ddaa9
+size 1460219
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00082/debug.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00082/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..84e31c5b49dfcedbfea7a511345c7c8f7ff4f88c
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00082/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d496c89e13d6b3edabf3398552435aee875aa750cf9efb645fde0fc8ff18e19b
+size 1530794
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00082/depth.npy b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00082/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..13e7919f78287da3d94bfd71700b164d5cc16aad
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00082/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9c57dc162a563b89f79ab431768a3ddff638e24315aa4c86448d11f9cd95ddb4
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00082/instance.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00082/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..50ec2af51f4219ee241a6b0498cb04d2a0dcb3de
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00082/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3de74377381c893b8c0af5300278d4b029bd1b631c6c01f92b7204a749e892f3
+size 44155
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00082/rgb.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00082/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..4f9332403b92102b018dcfa1b64bb1f72797a523
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00082/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:71a88c714cfd77fc7f8a9494af3fcf2c2d7a1ca16bcaa73a9958f0c226c75466
+size 1462704
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00083/debug.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00083/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..81f80070e60eeeb00776b5ee01e0ef684d59f119
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00083/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8c29333921fb78511f1e6f4068f86471205dbf55733cdf3b8336ef799ddcab51
+size 1537732
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00083/depth.npy b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00083/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..03aae301b63ba9dff51266436430100ccbdaaed7
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00083/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:acf1965834db5a724fdd4151ad2382ffd530f1e0429483ebf4865fda2b881a9c
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00083/instance.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00083/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..85a74302143c7bf5bff170d17292bd9cb3a97b29
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00083/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:596cb7f79ca7793324e4005f33f65c98af60d9a4f011bbc48c1748822b09ad62
+size 45126
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00083/rgb.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00083/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..979b157df72b06184f6ad96d55a19d518a7a38bc
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00083/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:55764d081e1624daa35e0431cb07c416aace66e6a3de89d10630bc3487a09cb5
+size 1463286
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00084/debug.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00084/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..9b65d756e8656575f5fef9febaa9105c9438f8ae
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00084/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d8d0e5d6083f194880bcbd63ef36c96d8db4f29ff6775bf08399d90a691a16fa
+size 1534703
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00084/depth.npy b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00084/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..d348a667ad684edc3133a5896135168f2321e50b
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00084/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6360ab83a55abc6e2e8406b0de60ca0b7b25f918bbd700ee7a5221ef2a822fd2
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00084/instance.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00084/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..4ef9d3c65d6008154e41d8dd4cd0fd21f773eba0
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00084/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:012d487dad16a14fafb33a1232d26b27b0ed01c30051d8c34ad4d6ed5e058ed3
+size 45539
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00084/rgb.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00084/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..0254a3975f8248f470256f7f8aaf0e4ee95bf446
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00084/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:63269ae31e1370e63d58c7d19369fab0518ee12c3700cd3cf7b64ed36ba94247
+size 1461333
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00085/debug.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00085/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..df571ebb3035efc7ee0a4fbee2765df58ded4fed
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00085/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3e219a93fa9e654ddd67109dc82f3017983b92fb779b51bb889b77a2e5f3f8b6
+size 1538613
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00085/depth.npy b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00085/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..9dc3720c361a1babef4e45c65e470db21b02174a
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00085/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:58950e169b796d4aab853fea2f46a0543a9f9d4b61492df63bb7be9f212e755d
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00085/instance.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00085/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..b524a3b774293b5aea4fd89d8d7d9454e3a724f7
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00085/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a2f659249ee341665ce344678ed317f9080e70000e7c8551f5ad843ffba1b5ba
+size 45911
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00085/rgb.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00085/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..5aa4f30e9a2471a1ba9af7b76b27f7ed6b11bb23
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00085/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e9bc6e1c25498fd39efd436c72be05461afd47029d0ece6dbdfed8da53eac0be
+size 1457273
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00087/debug.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00087/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..32c94612bd3354c15171141b30d80f7f2ad9c7e6
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00087/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d3b5abdee0f012471326ca3e95923f20a94eee5b9962a7245c6d69878f3bae33
+size 1521018
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00087/depth.npy b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00087/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..b080f7276a973395ebf7585d528ed11120beb717
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00087/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:acc3042c6fe2a517da1eac7e75619a9adf5d3fcf3c02724a05a80d85610a389b
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00087/instance.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00087/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..b4f57809a8ac3783013daca121649380018c203c
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00087/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:575b95242478a8906fdb67ca7c9cd74a05bce7c4771b832035a972170ff5ee15
+size 46759
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00087/rgb.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00087/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..62fe962702503891d19de25d8e5ad2675e460c7d
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00087/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:31089b874b86e881d2de81c629029205ed91bd70e1227e7a2deb440dca9606d5
+size 1457192
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00089/debug.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00089/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..71304cf9943029e2c1bd41e62fc3f5a7a8e85e5b
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00089/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6554d36303c9d70bffcb8c10784e697c61823afa522925db112715fbe2f240bf
+size 1532858
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00089/depth.npy b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00089/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..25a79f9ff3de0db48a98ab656de4424a2cc40f52
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00089/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0183509d63f2ba883308adffade322566ad6e382ed7ffe03b62e6a9b99db528e
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00089/instance.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00089/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..7c59c8bc9e81489b8fe080b4914655baf444aa42
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00089/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0cc06831dcba18be12b6d1f9f1f09dd2e429b833737695bdcc93512f8d4523a5
+size 48811
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00089/rgb.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00089/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..5dee590d713c5eb63f8a032670600912be517700
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00089/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cfe60ba646d8a56b913e1b9f355675415a70e5738dbd3d595f7cb78d9778cbb9
+size 1459563
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00090/debug.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00090/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..6d0e906f32e9a5c0830b16f6ab83b90082f5026a
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00090/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6b02ce94849c9198c381efed676814003a7a7fe82d25819acc68c23f84ac007c
+size 1523455
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00090/depth.npy b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00090/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..5cabcbc05eb86151a79d931a0d2f2dc0fb7ffebe
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00090/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8ae91a44c591457edb7590352a4c0035bf8277fd421b61e933875b52c1422cd8
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00090/instance.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00090/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..ee0d172e6dc03f4e27ac7344adaea490780b7342
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00090/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1ca59c537523595f9e4a860844f7e693706c4ea55a475ca782629ddb51ab0e79
+size 50169
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00090/rgb.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00090/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..be4db307f80d9c6956358d56e4d49813f492b249
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00090/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7ad6164b494918f428103470fea4c2fc7e172922c9f319380b8c790c520cc672
+size 1463656
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00091/debug.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00091/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..01f7de1455f1871b7324019fa40893c0be7b6d5a
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00091/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6a336ba770922b173302c04719e136cfe01886ae3a00fe669f2f6f2cfc35a3da
+size 1541010
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00091/depth.npy b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00091/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..05640a7963f1803981b5968c8ab9907d19ed249d
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00091/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7628bca219102b4741c1004383232902986a29b515c869659c01309ca7b40737
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00091/instance.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00091/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..7743e98a9579ca173cfdca80ac111288562c6d5b
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00091/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7c84c5578735b284a37129d47c74402a49838fdf893bc3ed059083e132f5f925
+size 51567
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00091/rgb.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00091/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..fa625e48b56c376d9a18705af9e8858531ab11c3
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00091/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a5c40fcd00cc33a6ea6d0dfb57a41d18febadb68a917fe2e8a04102788ae465b
+size 1474363
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00093/debug.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00093/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..5aa6ae7c7fc29d53ed7043c993694988cb396c55
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00093/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:46a6efbac38da558f51dcfe3b8ccee2cea8bf75cae2ff2f3d15a95c49ce571c2
+size 1540577
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00093/depth.npy b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00093/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..119aba7b6e4fb825c3171c0e96b07400c0388687
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00093/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0ba608d52a73026cb349afb987ed240a0b71fd8cb2b4b2c742b8649727be25ed
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00093/instance.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00093/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..74a5a28f48d1b1f166ff6717297d744ee7a0277b
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00093/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:722d5345c09bdcd611618427b5a0b957a895b30a5d6e8c80f1a090751ef5b4ea
+size 52904
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00093/rgb.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00093/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..e69d050d10ef32dbd87450c281f165b88dc248a6
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00093/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ddbe5f83c83f677d63518ee0e8ace1342a4239c387d9ec95237b840894f7e64e
+size 1476875
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00097/debug.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00097/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..0e417166e30057c0be5ff1364595f554a14b4341
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00097/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0e091afd0e1b97b64d1fdf83a2d38178f74d3d977170fcb6266142b4be85b4fb
+size 1539890
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00097/depth.npy b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00097/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..08adea145852bb822e5b2479b7425b4a95e76d56
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00097/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:21f733a7449fb109663714f0c6668d36a27f9e15138fcf2a662a616823b2b7f1
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00097/instance.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00097/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..a5c7394d69b5f9ebd1baef09dced19cec24f1a90
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00097/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0a5db8666a83369ebdc0e158a0201f5139f1b59659e7e5901f28ed42ead7d3ca
+size 53331
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00097/rgb.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00097/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..dff98e3cf86a84341bd8d2051a89c5072644a022
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00097/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:319e68dc9d69849b68c69f32235acdda9c22b871afac11bce3da8a3a7a0354a4
+size 1490552
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00098/debug.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00098/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..d530bbe9c563e1763e647c4f7621d2138c78adbd
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00098/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b082c63ba69098e400858e012564dfab5159823d84dbef1da5e02a49fe36bbb8
+size 1551391
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00098/depth.npy b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00098/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..f67fc9f61b66afc0098a095832cf5f4537c02c56
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00098/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0b71a8a5b519b05690c9481d464c17d0b6a13b3750ce1d1ae9a289ddbc9fc283
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00098/instance.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00098/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..501f4980cd060ca972f553ddfb6fba449540e592
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00098/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:498cbe3b5fca838ac88ecd9b64b1c7a564f830fc312b54b9658d15e95aa86210
+size 53457
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00098/rgb.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00098/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..c649b938e056710d7130474d6a09a957adf7362f
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00098/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:828581770e61ccfbb525c130a930c491c35c544223648e656df7eddea1d38d02
+size 1503196
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00102/debug.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00102/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..a558cdb000d14ae6ba09785ddafa755b4f7ff76e
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00102/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1590d97bf7b7905c51c32e382595e0315577cb2d0a28944ec6062da39f8d5777
+size 1567181
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00102/depth.npy b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00102/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..fa58b41961873614d656285302427c5114c90af3
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00102/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a78ff9322fb1f644d28277761f6a75c2720a12fce1297b36927635eec7d3359e
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00102/instance.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00102/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..cbb90e016ae5098e6162035992524f1dfd1a56ac
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00102/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dcc597eca11023cc2c8ab123d6b9da973063a196d99d3d29e9dc56c48221f8db
+size 58434
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00102/rgb.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00102/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..a4562aef04dce97a7dd7b190f4512d9a8310ea96
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00102/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f045fc103e7e711ba3f39045986f9f7b19ce5057b24a451149dfb033145292f6
+size 1518327
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00103/debug.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00103/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..dc81bc9e58623cb4f42199583958dca95810bd50
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00103/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:42ae2f954cb55c54d8d6f9cd21a474266804c45d59d29545182a8a9afe1b4a59
+size 1557471
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00103/depth.npy b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00103/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..f6a6f39560e19868d6f3fd1114564675309df01d
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00103/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d8a7090cff8fb9b93714ddc2795cdc04857690068a465a0403824112387ac9e4
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00103/instance.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00103/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..1e0dc68b2b32f75a31dafca55a142f94d502624d
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00103/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:02f076883bc87a43e087bbb526d73ea82873cfa6ce082ea7feca43eec2a39ed2
+size 57950
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00103/rgb.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00103/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..630c453c1224de916a5ee5643a0b1d9c5b4f2e70
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00103/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6db7422517be0887d235cfe17b7c2e8bb5e3bebc39b977763f89d492549951dc
+size 1513983
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00104/debug.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00104/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..95a6b154af684db726016775ed1f87bb4db3ce76
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00104/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3779944f1e8b7ddb6bca22618874dfff7e7c39b54c2b2273c90a71146cc8b67f
+size 1556156
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00104/depth.npy b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00104/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..56fd0c4b6b9c891323380ecf8ba7d06b59675a64
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00104/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:71c83197f754a8b69850e12d34c95873420bd8d38c76fe2da021abfec3c3d979
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00104/instance.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00104/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..7e90acdfaea7817769faad1dc699ca3e3623feea
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00104/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4bf1d1d3549f40e352fd220a50a8d7adc32981672a231731a8fb1e4118a38298
+size 58943
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00104/rgb.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00104/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..574a6a9f8fc591371ab3591e9c401c7955bff1b4
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00104/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5cfbdb7034253510d89b9c7b46387a6632b848d55245e59d38abf073833544d5
+size 1516741
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00106/debug.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00106/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..ac426eeb8785e1858125f9a2377d39bec0db50f2
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00106/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:79c3118c9104dff370136184b714137465a2e85e8d33e40c2af5621e0d4cd63f
+size 1559950
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00106/depth.npy b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00106/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..70d8bba7512181fd851432cf745267c578a273b3
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00106/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4372f2ad5d4b647e9c7fbf0412114e6979f6fd2ad5d5da57bfc72eeaaccae43b
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00106/instance.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00106/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..6ed5b574dacb0aceca949e5b31acd6a2f6e8e00d
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00106/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b465de3c0d28e8c3234d6e0df027569c4bf179b722e5393ade5796c51d71f84d
+size 58749
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00106/rgb.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00106/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..cd2f16321d44a8064a02d8affa4a2a2048940ca5
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00106/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1f793c85fe71be76d5a71dc70f4efc60afbfb91ca8b835b92ac12020efd0ba98
+size 1518001
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00108/debug.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00108/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..1d9d88700776fe6172bea589a33b7761305f8bcb
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00108/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a6b79d1fc1427cee3d99ad3ed1e40c9fd32279a0b3f5b6ce923c27813a354cbd
+size 1559756
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00108/depth.npy b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00108/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..67091b4461e4b008e8b662a0e9481633a3a25b9d
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00108/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:94d5a7eb2b26daa80dc2087726a97d56b09865ce2ddf3bd9095fa7b3567313af
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00108/instance.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00108/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..98ff88c0da0b4525c0f26fa45d9873f5fca58c0b
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00108/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d4bf03ec7b1ae9cc73ec86b078340d90c3e9e3cdad666b582baab9428fbbed75
+size 57066
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00108/rgb.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00108/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..6c3014ad49a268b8097f1f4cd7a13b98417437fc
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00108/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b3e030baece36d5949834d04c6f3c5eaceb92751340e1f0675ea89e36dea9572
+size 1517460
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00109/debug.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00109/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..aceb6c140a2abd05213df6e4e1c347851c7228d8
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00109/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:84cf33eb189e4303b7d22640ef3ca35647cc43a75a25aeaf00691b3fc4d7d683
+size 1549763
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00109/depth.npy b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00109/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..ecaf872ff05f51670afb3188121e360804025711
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00109/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d56ec778297b7b3973258f93cf79c6d2a843fb7053194c8a49cb343217fa5800
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00109/instance.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00109/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..69697bda3c33cc4fe2b88e50aa84de88a57472e8
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00109/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4b287cf4790579d3ead2933330396ffe2d8a6e20945f4de5fd65f38e926bebcf
+size 57203
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00109/rgb.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00109/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..6b23c154c8a7cb6cd27f7e21bed2f5878f1a5364
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00109/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d26c87b3d2c1d2ccaa83e5243278820aac9809fecc29c9c25cdc9dfd1a66e2ca
+size 1525200
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00110/debug.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00110/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..bde8889ef00748ad72cf39f06a00c65e8f738950
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00110/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ea3650526525c8712099f28323a7a68cf60b993086fdfc5674617c9e80ea91fb
+size 1561147
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00110/depth.npy b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00110/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..9738be310a93e34c48f5b9d29394eb0ac0c1746d
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00110/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1c8bd470b9d1382b93661680d770faa502d5f91193ed14be587f676a22b2747f
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00110/instance.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00110/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..bb1d870ba51fe19ae2a1a9fc869df4e39ded260b
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00110/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:56f2aa057e066e1d91abd42782454ff17342316e5313dc2358e818f6360aa157
+size 56114
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00110/rgb.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00110/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..7e08c0270ee3c5712a02530d798b34761e1db3a0
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00110/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0feb497e2b62eed4209babe1148a1431afb296f76c1d4c1211e1f15e1870ad1e
+size 1526288
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00111/debug.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00111/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..a394663dd89962358a6be7c938f078158edbc95e
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00111/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bb91a3484caf9509953b62d024e6d5446e8d7636d8b46c78142b93dca9883eb9
+size 1559832
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00111/depth.npy b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00111/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..f31758db3b5038b6443c7b83ce0a0a5482f7887d
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00111/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:635c04d95f470d1256ed16ff6d67c50e3674fea784db5a91df20c8c8a72fe8cb
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00111/instance.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00111/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..4bb12be3efcb63cd900582e062638511d26c9d68
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00111/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:35dfefff906a034cdb62e187f38e3d18ad861acc2c3b9f93a1b5b914f676251e
+size 56130
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00111/rgb.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00111/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..6d09dde8f1364f3c45a68bdb80519b53eaf8f39d
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00111/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:487d029df54571570c0acb171ed6464bcb4d6605cd06ed7d58d1930c75023c0b
+size 1530321
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00112/debug.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00112/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..7e2937d1d601054822545a1a8e8a92ada157b95e
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00112/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:33d90d3053d33ac4ae3fcb434264ca04b2201c04e9d3df5ca073be5d5a0a7568
+size 1568831
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00112/depth.npy b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00112/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..050a1292106eb7003471533a2756a826da2755e0
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00112/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7c6039b288fc48211dc4b08ce6880960a9c7f898016f192925396a5a071a86be
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00112/instance.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00112/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..86f3afa77585005278b2eddd8e787cf2a60b4cb8
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00112/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:26adf3769ea3a80bb2df3dce018fcfaf6b15874866aefb5cffa32baeac60985b
+size 55588
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00112/rgb.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00112/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..16edf10e9e6bf2b8d7f499b879db01fce9aefc8d
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00112/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4b84db65d572a096731ab97ee16511bc79558f184564ddc43dea4d906b077367
+size 1534670
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00114/debug.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00114/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..706c8cdbd70bc2d5fc371d4bd52a6f53381e2f89
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00114/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7053e2a615c383ec5d51de0c049fb5cd4ab1eb7107cdcb565393f494a2d17d46
+size 1583151
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00114/depth.npy b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00114/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..c44e6c8ec8d7357b0cccdc86721c4fbd5955c84a
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00114/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:618ddabb974ec422faeb9a3149351c78a72ad9e5fc679f6f7482e9ffea16a91f
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00114/instance.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00114/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..6281065d819c5c0599679efec0505c59450b4d28
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00114/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6ae770ce6352c5d3b419c7a061b17f9f68167aa13b9943056ac0a25a24b300c5
+size 58849
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00114/rgb.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00114/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..827a81240429926e85e347b061312bfa2fefb956
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00114/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:18229a7129a78ad17f5dfb8ac29efd43d70a98d7f75258287e50e42853314972
+size 1549078
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00115/debug.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00115/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..b49aa4aa44e7036ecc5d7be5cb06fe3314245eb4
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00115/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a2de99135e247a074a01325bef6b8f2c63585210c4fa24918b63e32d2348057f
+size 1573121
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00115/depth.npy b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00115/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..3196abab096bf2b7565403288f5366b7ff0a1150
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00115/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d92c22ed87d27a51514c1bf666edb096823db224da654b025459efa492e65e51
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00115/instance.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00115/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..3b40cd316d762381cc1ec02736b0c002a350a384
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00115/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6ff4e58e1f89d47c060accf6a3921da5212b857644104f9750c3177f84de2b5f
+size 59705
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00115/rgb.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00115/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..da2704976db49e19dc04a600cd0a5ba558b7ea1b
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00115/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:583ef17a958a04356825728e7f8851a70aa66c6794799ae4715e5a2e25cd8466
+size 1552258
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00116/debug.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00116/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..d607598a4ec4652bdb72ce0a5a09cfaab871ea55
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00116/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c427a21683e1bd5ebb39b6487116f7f92e6aa6edb7a72f3dc683e1fbd3a41565
+size 1583405
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00116/depth.npy b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00116/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..59974773e0b51304607a17f9f9d1bf10024954c2
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00116/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:979a2c35c8fb9502965af91fcedba3d8a5c0326cc853b4361310d96927a4f50a
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00116/instance.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00116/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..601bc648c7763a327f57dcdd187432b9e54f6afe
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00116/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4c7033a2db4226a36e19cf3728d527e6345403e28326d5c5d643f7809eeb4a32
+size 59203
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00116/rgb.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00116/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..3d8b54401921480da691020bd7633f837dbc6de5
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/ORI/frames_playback/frame_00116/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1ae3390264fa4bf6de434b616e4552567391ba2d4b1357df7a2f6b7e4daeec32
+size 1561242
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/ORI/perturbation_visualization.png b/data_v7/Town02_Opt/trajectory_1777128245/ORI/perturbation_visualization.png
new file mode 100644
index 0000000000000000000000000000000000000000..dfaa46112796b87f2e44f7fb782e3df1a0b4aa26
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/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/Town02_Opt/trajectory_1777128245/aug_001/perturbation_visualization.png b/data_v7/Town02_Opt/trajectory_1777128245/aug_001/perturbation_visualization.png
new file mode 100644
index 0000000000000000000000000000000000000000..ea87262b35dfb061fcfb7d497705949e80fc817d
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/aug_001/perturbation_visualization.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2cf1e39e77128d35cbd21883486deeb0e8e9f71f23bfde94e12055148792e06f
+size 186625
diff --git a/data_v7/Town02_Opt/trajectory_1777128245/aug_001/trajectory.json b/data_v7/Town02_Opt/trajectory_1777128245/aug_001/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..c6a2064ef1bf6ef739db4fe2173d52bced7f5847
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777128245/aug_001/trajectory.json
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:83cdcbb6ad325b8b42e3f8a1f7ad573c77df99bef1eb1e050be86ed9aa35e5a1
+size 10685890
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00000/debug.png b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00000/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..80b20d04225661aff8a646fc0e54eb9c84b5dcc5
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00000/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:de09176b26a34b6a9f82659cbfa89bbc6e9264a0e8d6036cc89b8c08b6f1e783
+size 1739595
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00000/depth.npy b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00000/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..0e2bc5e326a03ed85062fbd7770d9ce2e9b7f79e
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00000/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4571bed023e48b2e9457418bfcb7ef471bbd69160db207ee1f9f4095355eb892
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00000/instance.png b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00000/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..970d7ebc4899300cc9445f8260204e20163a95bc
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00000/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7dbe57c2b290d6c043365beae8157b0b6706871e3e25797040ebf58c3b08e471
+size 31060
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00000/rgb.png b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00000/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..deff1a68c4836b617f8a01eadefd79cec5e932c3
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00000/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7fda8e8274b6e9da13aafd3ac8185282eb3f7028a653ba46a4df5264cbd25a3f
+size 1628576
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00007/debug.png b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00007/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..76747f9c809e4e90233793e397e1cd4c219180f4
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00007/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e4eb83e7681de29d8bef5f30e7c40273fc0a10c0bb2411bdf3b43f7532c9ab09
+size 1739822
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00007/depth.npy b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00007/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..3688fddc1a2cbe987922bfcb16a393e2651c4da2
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00007/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dd0c5ffc90d0bf5c444a411816e87e2abfd2e61449c6553b8a52fb1794f779dc
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00007/instance.png b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00007/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..2e22296a162d967ec8bfc0be3e217a758437fe5a
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00007/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9b3bed56041c8a97a17acda320a3cf9f594dc5910fe784557796aa8ea1cdbc18
+size 33886
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00007/rgb.png b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00007/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..8d3857e7e81a6708a8664bdbf1137d580a80006d
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00007/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3df3137abac1332c891988b5127953ea79a497649d6d6b0e677a53cdfab3559e
+size 1642173
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00010/debug.png b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00010/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..139f8fdcd13c0f4cbb865e85b3ad005ce077d426
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00010/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:29f4a5ef40613af28b318c6053b25383bdac7d04ef204fc7f535bfe6bd211e96
+size 1742259
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00010/depth.npy b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00010/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..36999f3827a83beb23934ae64cac807e5a1acd0f
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00010/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:962d5c1555db646d978796005c8e6db682eabd12f17b062a5f3fa21e4902f799
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00010/instance.png b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00010/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..12cbc3811dc692a8e37101e7a13082dcfe5c1557
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00010/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:78bf530ac4219bc44939be1a10307531b6d40e0f25063136dc3ace5c37f87cd7
+size 34314
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00010/rgb.png b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00010/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..dcdc47cc792106299bedba99e33113bc4241dfa0
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00010/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:572872032c9eeb5bb69702dcca43a5ff7e130da698f0489f95d898c1393c731c
+size 1628059
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00012/debug.png b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00012/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..94267057628a5beeacc13d7306f0e001f0238083
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00012/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ab5bfc4c2bab3c2d6e9d553f5a0d2690380b13e94917b96f92fd99068338114e
+size 1732884
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00012/depth.npy b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00012/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..8219f70ae70282d046308b2352eb3b9f883b42d5
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00012/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f482fe6c87c2fb5dc1befa9b0fa3b5a1023e19ff51ae656b39c4a384a64a93ed
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00012/instance.png b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00012/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..92282938a532f67901c536117f0ca5afcf1472d9
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00012/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7ae8a2f80a58a68ad8a101d1fa32d3376ab05526c2aa578b185e62426e61901c
+size 33731
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00012/rgb.png b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00012/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..e8cee4391eff5d24d8912e8e5722133d1d8d5217
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00012/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:05dbb12fac326d591c0d65a75fca9055be9b096c401197b2af401e4f479caec8
+size 1618080
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00015/debug.png b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00015/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..c6cf4f4fb3c37469b0e11d3d64b587f8246a571c
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00015/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5a8f3986061345939c02f1af20b8d6ebe869b54d6e3584e04a5c076111f6bc0b
+size 1697866
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00015/depth.npy b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00015/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..1de920dfe0426a4a09af855c1229cd0a96b204d8
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00015/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:da53c74a8fc06f5af771b7c8988901e214719664ef3643a38adc4347d6f4f151
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00015/instance.png b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00015/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..4ac6e0aae13410d78c0b4e5c454f896cc94ae038
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00015/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d7fafe85193500ae6bb22873543b2b07ccf6a971cf15449b3f8d3cd6da6584f4
+size 28143
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00015/rgb.png b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00015/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..99e471adaf505c3c879b919d27b8ad3d6f987117
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00015/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0d45758512fe3a7007fac50e7877a4abc284d81cc7e1821c96276c7c44f65269
+size 1589463
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00016/debug.png b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00016/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..5aa91b7e210e0b56b8baf3374aeda65ee105bb6a
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00016/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:99d319a820ca3ddae7c5af931dc623ff631be99713aa6e52842d475bb25bbdac
+size 1717251
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00016/depth.npy b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00016/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..3d3202a1744dc8bae076542c9ccc6750962e83d5
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00016/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f2d941f344fbe62ee0ea7f33d130bada59937526117293587d4da467fe2b21eb
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00016/instance.png b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00016/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..4c779439029602a32bf6e1a48ef8fa197b2a7efb
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00016/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4fd88376ab56143c38c4737050eb39aa4811503bbc418b7dcd777acf82bdf72a
+size 32165
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00016/rgb.png b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00016/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..a0e8a7f6b21f19942b6a1e29d3af5493be034a58
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00016/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:490f58be299c48436a33f2f7c052624137f3ed83d367d40450e7782f9fb8db67
+size 1607181
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00020/debug.png b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00020/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..506ebebebf5ea7e67facc12a423b0291ceb8c5fd
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00020/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:57209f9740192eb8ec11016328440b777b04c045826690c412b88d77534ec31f
+size 1724277
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00020/depth.npy b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00020/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..f3426a7f6adf2563b00373181117d04a1ac227c8
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00020/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f7c9c4b6c49ec49f1513156f4be4a75f9e07c774aa4c57481e640fa3c8ca95c8
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00020/instance.png b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00020/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..5a09b807dd51382940214f193ba19ac4ff250284
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00020/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3ce9bc6f2f4451eac95e1da7a9b0364f3cf7f04543684965933b064c17ec904e
+size 31981
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00020/rgb.png b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00020/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..4d6c0e3075b0343a76778aa2c6dcab1aac90cfca
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00020/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3a7109eab4bc669c6021f9ae61b396dd2529ae062dbf0318df8c23dc9f93c2e1
+size 1610710
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00023/debug.png b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00023/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..94269c7b6ab78918d8518f6a805d73681d99a5d1
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00023/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bd0eeaac5b83d5f329e7f1c5d97de3098167499527dcc6922caaac170985ea30
+size 1737480
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00023/depth.npy b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00023/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..aaf121c9994fc7bed39e335125d3de1ca06cb034
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00023/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:671757872e493b1df7a31f6fef6f57f018b75398eff241744f2893424f1e8e09
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00023/instance.png b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00023/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..7cbbb5974e767d6339dfbcfe232ebc69da6a4358
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00023/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5ec686f9694ec693521a67f7c7b7c8e2032c1910ce7f327cb0c09805a4b275b8
+size 31992
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00023/rgb.png b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00023/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..495c5e5d4a31d54f561009ebb3fb6d7e2032d05d
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00023/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:498fc23802d34fa71f05504f0f8aa86727c2ca88618c6f3226c4717e75495c96
+size 1616678
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00024/debug.png b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00024/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..020e3aeef626c0407f147660770f8790d516d4be
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00024/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:09f5c0e7ba880a2ad7c82c688a42a354c286939aac1998f4825f7ea0f3455f21
+size 1731493
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00024/depth.npy b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00024/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..0d54c501c5ce02d0ab3e3f5b1568906641ce32a3
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00024/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4dce20cb0fb29961439c94917a0d5ffbe3d25e1408ef5229f46767843b79f4db
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00024/instance.png b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00024/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..9af0a0147ea97851670917efef156d6eea0ce62e
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00024/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cd291ec35f66a02e1532ff4ccb090cc6f91b45b9d41eb3546f2de0c55bf67b25
+size 27183
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00024/rgb.png b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00024/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..c82a7c1e7be896cf28f9b7f14a946b1d2a2c6f47
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00024/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5f9d4580fd33aceaadf19502c7f9249dee346c780d6793859684dc372c914d90
+size 1607435
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00026/debug.png b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00026/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..83c3130c8ff660fe34cecf410a08faefa5a8f93b
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00026/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:abe6d4b238930ffd7c6096da3b8e39fd991498f2d0c8f10dff05ec96b0c2cd6f
+size 1747373
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00026/depth.npy b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00026/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..cbe99f2997250021117ad947e029162b83659e50
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00026/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9416436c52842eeda3ef4a7dea5122189f903792598fd90caf89b3f89b7ac531
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00026/instance.png b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00026/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..92a8f356ccb1b6ef40ca585dfca3f167677c0b8e
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00026/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:21ad4359b664bf4aff04b1cc5ebd925caa51c4c02a13eda407116016efb81ea7
+size 31485
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00026/rgb.png b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00026/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..5ec57498009551ccbd9aaaf009b8eb8eaa782027
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00026/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:60aae6e09eb4dec6859b0f5830409b4260f72d2c0058eabc5faa50c7cd30df2e
+size 1590191
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00027/debug.png b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00027/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..3a7a80ae7ccfbad492ef90143c6392527427e567
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00027/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:20fb91a2f61e1e3a67f6fe783452944754c238cabc8682f6edbebe02f0b0e336
+size 1774055
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00027/depth.npy b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00027/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..e8513cfe74d9aaa7ce7dae483928432aea771d2a
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00027/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ebd23106e1476c9ac666114741c10e1b1665fd350f9d445dcf91c362337125e4
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00027/instance.png b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00027/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..0bb9afdd52885243869893cd6d84a7f7cf79cd19
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00027/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:425a958527cecdaf7d16ffeaeeea0f3656505ee11676cb3e50937b1c2065bc66
+size 29555
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00027/rgb.png b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00027/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..2bd781971df1d7a52c14ba3455d97c2f633eb669
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00027/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:703f37e37bc4ed9ef46017afbe9d9247632967cda3cf822a27c576fd2da67405
+size 1617927
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00028/debug.png b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00028/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..eabb9ddc9c24a9c0f5b38fccb312724cd25ede15
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00028/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1570c8a6280e3bae964a20475bf13e8995637525576304203a1de6af28ccc6f7
+size 1772498
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00028/depth.npy b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00028/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..ed2395a75b4585c208e5d9354642dbdb4c29718b
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00028/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:81f8d85c030c5787667e330950f4dff8f7bd625d53d73a35e632c1c872cea209
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00028/instance.png b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00028/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..d97e38fed2c81f3a66856c40fb5642bdb1777a6d
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00028/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c6e4ae938b4354995e3a447031dda850016a0fd679e7826556e91ff4febb36a4
+size 31872
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00028/rgb.png b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00028/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..43ea7fecf664f16888390b0fdaf3ddb5e17252bb
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00028/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:392157614c2b58146466cf416f2dc07f097269baab0d0d5a7976a94ca00863e7
+size 1597856
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00035/debug.png b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00035/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..8eba3338262423291fab64ef4d61a089ec1ba5df
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00035/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:32f532c267eaa63660e1110b92f6f932688c69b4e7575e1745e173cff173bb17
+size 1687337
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00035/depth.npy b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00035/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..73fcce0214774d2ab3b86a6d89b3b57cd965416e
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00035/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ce3cc688a8754ac2c6cdf550e1c20ede4147d0234351741b61d58c377ad2b2d1
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00035/instance.png b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00035/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..d2082d0d6e5c4a9d714c2850f07e5d01b5508783
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00035/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6fd009e737d549150284e3e96c3ea5ca1ae605b513cd903c0a4db6afb7ddc80c
+size 35557
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00035/rgb.png b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00035/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..c334df365f765e7f17d68854eb1c8989e77bb4c1
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00035/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:afffd3171c0b7623ebca221ed11061538e7ae7593abdb3a0d42979178e2f188d
+size 1499828
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00037/debug.png b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00037/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..3c891e9f1884b32c1c8b9143489659f2e2dca432
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00037/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ea9150b9eecf6aab83cc045dbe29b51966920a5143d889395c4aa252cb27ca7e
+size 1668720
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00037/depth.npy b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00037/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..e32455be2d562e1f9e3f0d38f18c3d8dbb86d395
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00037/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fc8b18c62c5cbf5fc973b4fa3d51c45a170f2c169397a9b19014c00eb7bc94fc
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00037/instance.png b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00037/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..8a291506d6011d287bb1e38654ad4f40a86b3ba2
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00037/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:00b9dddc6e38bcff18008845add26c0bfe372cfb785451eec105d17dfa982239
+size 37246
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00037/rgb.png b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00037/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..9f9be22e1c10f7ad57b1b6fe876beb794427fc55
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00037/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:67f1c43394176d8f79bdff88aca6e35161f98f07ae3fea751c235ebf9b7a4962
+size 1478354
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00039/debug.png b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00039/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..1f8ecf841aa21f7d0e5af3b34c23f1fdc5554445
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00039/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8f1101f90455c569a1684ce21f8fe2ff9ae82761b27295115738d877ebfdc834
+size 1647478
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00039/depth.npy b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00039/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..f2298daa34d2a02f389cb150dd3357a476614c53
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00039/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c819f02341df143d1bfb34e1cb6059a9ce3c3983b426ce400f854b3abb6101a0
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00039/instance.png b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00039/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..f954cb1118035dd6ac1df996ce1e47e6a1c42996
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00039/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f808e98cdd44bb720ed1b0f1a50439e190517d2d6a5c23f5aab0e26d41a2c3b2
+size 40524
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00039/rgb.png b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00039/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..0870b3376d06086a02fa28aa329db661cf978034
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00039/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eb6cbaef11631a2b5e40629ec90548f14e91742e40732ca2e9a149828231c251
+size 1454565
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00040/debug.png b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00040/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..44281e6e09551faecbdf38f93c9ca40c7b6f0167
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00040/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f1bd1482a7fbf6c8e541242de018d07f1d2cb02cbaf8a658b51e5e169abc9793
+size 1581662
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00040/depth.npy b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00040/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..d24b6d2372841bcf4ef60f3e0dac38c627d236ad
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00040/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b531e045c11c5ebebb1d084f4ac19558000d2664e2580f7bf1dd2ad8dd3e0139
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00040/instance.png b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00040/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..ab00a161db73ce50320caf80440fc010efdc815c
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00040/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f9e274dc3883ec0337eccd27d3a6f3cb353d85f8c955f293d08b45c1809f3df1
+size 43915
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00040/rgb.png b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00040/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..128545bf18df71e2c503645c7c8a93f37a8a83f6
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00040/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:af04cf4d3660c2df8a87d9b6f09c69c73b7a57d9cf4e688a4cb166f7565abc13
+size 1415241
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00042/debug.png b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00042/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..63d72401f7deb8f645112b41ebffaad24e6be721
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00042/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9c084be1976c3ad9fe2a79e76c0ed1e48b368a651b1420fbf81c0b35da7494f0
+size 1600919
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00042/depth.npy b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00042/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..4d72f331a9cb2141711927943a38a0e5a7583347
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00042/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ef2682a0ac9d84c2dd36effb6df01573e56a3955127d1b84b07beb867e4bc5bc
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00042/instance.png b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00042/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..56dfdd22ec1456284ed5f07dab56f03f82e4208a
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00042/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:28ab4e65441169c749e0f021688d6bf1779e76d55f3fbacb2a66d64196f927d5
+size 54186
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00042/rgb.png b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00042/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..9c73bf446aae766ce16664853ba9211e2b00f752
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00042/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:baf3868fa66724b381f76f0931779687fb2dd01554e18bfb0ad91e3fe0fdb7ad
+size 1426739
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00044/debug.png b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00044/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..f98e0bde7cdf2fa85262c4d07c10db64c2e2d32f
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00044/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ba5d4374ceffaf741456bd8c840e110018d104bb697c68de3d0981b5fa9e7c07
+size 1555666
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00044/depth.npy b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00044/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..0c4ca091d619ab17602a5d68aabc8df42b192efd
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00044/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:32d7d113368715315dcdccc48ea4513225d83258419ff2699580e73497bb6baa
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00044/instance.png b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00044/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..6717e1a39103b51cb98dd78ad3c874c516f1614a
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00044/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e06dbdb0a8df409ac7c0f2eb3197b547314509a0114dc082709105f4116b08ee
+size 45052
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00044/rgb.png b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00044/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..2e4d2fb9fe1593025418a240895a2ab65b2b6489
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00044/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cc44d156ee6cbc08aaa2e311dff6569da72a396da0b0649036562482b5182966
+size 1386611
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00045/debug.png b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00045/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..c81277023dccd99ef0a1a211bb6dbb701d32a78b
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00045/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f3f9cf671b8db5c4d9641544339d3ef544454f442907f372248dae8794afbec2
+size 1556436
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00045/depth.npy b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00045/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..1d1f4c3ef5ea1927f4c4add41de01c616bc88695
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00045/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:46817a6df69d226e42391ee6d99a253297bb7987d297685134dac1d8b09ecc36
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00045/instance.png b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00045/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..a830e88bcbf4a30de0ab4cc9a536a1f9faff0f83
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00045/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cb31937f90268f1503e7f3c626ea074853f316d843a65abf8d438476a6f8efed
+size 40750
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00045/rgb.png b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00045/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..5cbbd3459660428f67def01719b390a37fb31818
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00045/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:abc1d9b9686cd7ef2273f5aac3c4e39b97f1325f6faa6286778ff3894738f13d
+size 1387608
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00048/debug.png b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00048/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..634627de5b8ff6c7ed967d22d9172589a1b0c457
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00048/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:07bc6355a720b773c00aee1681371de1adc946a2946e780d92f8378905a1fcd1
+size 1568340
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00048/depth.npy b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00048/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..389893f214339f49b137f25b5640668e79d124ee
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00048/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:325715e43d5fb5a15f2ff0c3cbce389493218f48e7b5ceddd9ab76b99225c9da
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00048/instance.png b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00048/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..ee9b57419bc36070cf617990967618a4876d89b7
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00048/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2d17fb24ffa9a795a9d171cf5a14a5f6dfaaae0903afd91202dd7da9ddc53b17
+size 46440
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00048/rgb.png b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00048/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..3cc25e26ccf0bd8f923242e8a0fb9c051e6cb451
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00048/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f6a3d6618ec86aad58d4bb3bac89567d00c9beaa4d4e54eea16440539d7532fc
+size 1401630
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00049/debug.png b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00049/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..f9a28c39fced9032b76af0c1152d70387bb07145
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00049/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fd3b7572b844db0c0dbc6c90fee33475dd310b88493bcf154b453d5304d496c3
+size 1581285
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00049/depth.npy b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00049/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..4cae3b447000288aeb90904d4ea21662867b4baa
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00049/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7c01b64687377b93681129ec0f26177dcb3d1b0fcea829a1a73ac153a1f1e323
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00049/instance.png b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00049/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..20ce903c4ee4949890bace73d36cff0d747099a0
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00049/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:139b19c03111825ed05284c7af42957b0cbd01d9aa96155a86b8e47072351fb1
+size 46914
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00049/rgb.png b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00049/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..ad999dfc87edd2c74efaada3389e60297da9dbe7
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00049/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1262ac7eef1251c29b1200e296c55fbee70bc1b3ed11a7b90cce89b34c6b88cb
+size 1405300
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00052/debug.png b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00052/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..fbd51acaa12376f4f6cebc03fe61583114659fe6
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00052/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:503bed757d207227cc304f7eb5c1e34651c665c3f40711dfe8af3ecf1c839aac
+size 1579856
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00052/depth.npy b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00052/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..3bc2a5e2394ed56726eef6d6b15e5bc311f1305f
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00052/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0b88271149e5aed4e9d55c282aaec3ed94900ce12f499e5e15f4cfeb44fb1f36
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00052/instance.png b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00052/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..ef80608213aa970b81ae88842be6f17a229a9bcf
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00052/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e2e946b92d8dc90be84e3d2f9cc895a9e20d5185695c444f4b29e786986970b7
+size 49710
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00052/rgb.png b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00052/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..6e252c19e096c249e2f531ad2fa0a663c21df832
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00052/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:231b61d4e18e3138badf77a2574f57d39f0089420bd453e16c232f283f61a99b
+size 1413669
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00054/debug.png b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00054/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..49e5ac0be4a7b5d62016aaef1ce07611c21cf005
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00054/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cce66667e005c5be52fa2acd3d41b5135dfa44a2e4b87ee1ba87b980a37204cf
+size 1621724
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00054/depth.npy b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00054/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..577d5f5331241a774c60f0e0372444f162604c3d
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00054/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2ddbdfdc363ba1a873d4f68b6911ac4def4ca74f3502cfc5f409cfb9cba307fa
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00054/instance.png b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00054/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..bb4efb08a009d2d9be81c8fe8f779e5c2278ca3c
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00054/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:897500b62273cfa4b33afabfe9a4e68dbf8ec34f396972fe7b6be248c0d12fda
+size 58148
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00054/rgb.png b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00054/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..4c2d49812a68632d8a3d768c54a27dc806473088
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00054/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c75cdfd9d32fb8b26956107f1a03d6eada22339c3d93ed752c26c27facab3efb
+size 1441770
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00055/debug.png b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00055/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..bc953acaf0ca3a4a91a6a7c3a94ce6447ba00591
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00055/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c7897b2b7774f71613445727df721eece1dc508305b743669e35a076f78a4427
+size 1612200
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00055/depth.npy b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00055/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..fc016e3570f274aa864738669e6cdcb21f32644d
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00055/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e5f8ed3370b038c80570671bc1aecad716a1e83df4e458a2315d6a40ab89eb58
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00055/instance.png b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00055/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..1d16fe5a7e5390ac2d190e9f2a97fdcb36400391
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00055/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e8b2ec94cd72c89a9e799d8caf54a413fd7d4a0694adf7a49ea813de5d333f0b
+size 45141
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00055/rgb.png b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00055/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..a289fe22b3aef48ffc1d76d751c5d17cce8c883c
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00055/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:072e58fc16799861453490f1cd39a7e7681935d7aa9c7ef82d2e387b38689034
+size 1436653
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00060/debug.png b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00060/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..28be26701e847a28181622bba3c038107245879a
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00060/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:24a7b1a3133d7d0987107fc59183f5911a019817bd57b57da822c81e9ea4d7c9
+size 1621973
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00060/depth.npy b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00060/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..3a70fc05ee66bc0ba84ff025d5dca361cac9881e
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00060/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:703153fd7ba319c9af0017bb94060762196cf5903cf509de8f209de255eaf903
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00060/instance.png b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00060/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..611f2c1dfb4b3e598212559ac1ee9965ff33e2c3
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00060/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3fd9073a751c5acd70c78b9d1c876d83927186c5482983fcbeeced3e60cee672
+size 40406
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00060/rgb.png b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00060/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..a70de6b928821aaf0e5378ce13f83bbd1f2c1c4d
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00060/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ed9a6b50902b006fa2abf4ae47a0c24153db77b41b282df982581cb1e4163aea
+size 1447716
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00061/debug.png b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00061/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..e52718de1cbc93d57359dc9d97d70e030a944367
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00061/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:89582d8a1e6a7eb73ea7eda68d21ef9954d8517991c62bfffc58ba659dca3649
+size 1624154
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00061/depth.npy b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00061/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..2bcfe11580d62b6bec8aec12b1a411719db241fe
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00061/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dc2ef2567cbd8860c5309ccfbbc8217e04e6d0ca5649b6595c5ca6f03414e57c
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00061/instance.png b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00061/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..b9351599480b190d0992fc0affb7ebd05548c401
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00061/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:32ad5c67caff84f6aa18780379347e41298fee3f023db3f941c0f11f65dfb97a
+size 49112
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00061/rgb.png b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00061/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..380459f1388ed097eb5afd5566403f0e920554b5
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00061/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1b736ca37992ba7d7b0f3a640f3edbb2b2d6b31f4482f00633e0b7107ae33b8d
+size 1477123
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00065/debug.png b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00065/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..bc2c097fc3b5963658d60ef16af1e79d8e6c9b59
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00065/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:686754effcaa211c29b11d9e8aec99ec8d93628a72f2a3d3bfb067fa7da1cefe
+size 1626583
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00065/depth.npy b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00065/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..8e88cf6edbc10ea9be2ac9350ef61407b6f8ea43
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00065/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c66906171c20c418d4265c0682b35547993ea635f1ffdc013e9b729dd6bb1d93
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00065/instance.png b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00065/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..1a89bebbb20781aed582efdda2bb6f2e92b2af78
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00065/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f87d3ea1ff412c976caf5e60e9ccd4a0501a555d0e9d28ffb3e6422580a3607e
+size 48958
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00065/rgb.png b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00065/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..31f287a17369c2f5d57a0d1b87ba5a7a1ea8e356
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00065/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:94f6aa6b739857c09a7b826e596ad93691e95f6b1c0f0249aae13a2e98ac0ad9
+size 1459077
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00068/debug.png b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00068/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..a0bc915d7d0798fa94168b03bf395497fcf6cf06
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00068/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3a6adf2685246c827e0d11d3fecf671fb199511166ebed52ea986ca8f184e108
+size 1627473
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00068/depth.npy b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00068/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..4a01f55d662c34325f5fc45ba00a14b157725fc8
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00068/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aa7211c58ffe752757e64d5475c18dffa879a513ed11a5048f0b4f057f15e3e6
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00068/instance.png b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00068/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..fca0797864f903059b32d2b187085e940e1a4074
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00068/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aeece76821e49f9a1118d9d4ab6633edd175abbba5239a7cc892ba277a82a4a3
+size 48193
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00068/rgb.png b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00068/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..648ae3ff35846c76e209f72c5019408fca5c949a
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00068/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:824b07db233ee188a3bf608bceb22d1814fba11cb642126170a015b7083adbd6
+size 1454412
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00069/debug.png b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00069/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..67871b0e571659345b6bc06c1bae4793a17ab892
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00069/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:90bb16ababcafef3331cd43fdd7717c386952b2909def735e91cb8296556d25b
+size 1639779
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00069/depth.npy b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00069/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..e3ebd0516bb1086c2162df42709488397b921425
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00069/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d07f26338e964438d4d61bd50731198f7ef91bc54a00caddfdd9ac1bf31c2d72
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00069/instance.png b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00069/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..284c984f37d947a006ac06655b5fede29445004f
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00069/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9d004787e1a733225ddf3a45fa9dfed27900d1935dd2825de895dbc7defa3b45
+size 50717
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00069/rgb.png b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00069/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..682961d44468f5fd4d3c525a1c328fee36cfa4c9
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00069/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5995a6a2a234034620d0c31dbdb6ae4f1d37a1a62163912e8b4278bd32447e48
+size 1460176
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00071/depth.npy b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00071/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..b517167c86a8d516d0e491a62d3cd18eb241923b
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00071/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8d0ea729ee4e622518412ded9fca6e39a1f384327e7d70f40d210add04f12827
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00071/instance.png b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00071/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..6fe0ebfc6821ad4f8f7662aa92235b5b5ab4aa2e
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00071/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fde0fed6f24197eeddb2ebaae3d7143e0249a4c7b635ebfff873262144d178d3
+size 37383
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00074/debug.png b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00074/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..e09804008725fc6578e3e149811ae7ee3b1cbaa1
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00074/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f30cd177a3826eb3b336c8a05788e876552b79f244827bd0334da00ddeb1d6de
+size 1628180
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00074/depth.npy b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00074/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..278fde2f874cbc8639630c27584aa316faea9434
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00074/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c51755c7f59046f145a99a718c462f3b818f4450601268368adaa23fd5805415
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00074/instance.png b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00074/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..8beafe27864c59ec7d2709ebdf8278837882c1e1
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00074/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d68fc5fe2852ce81e9411b9b1cee33c0664ed2373bccf5e198cdaf49c088973b
+size 46890
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00074/rgb.png b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00074/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..018037b715c8642cd8fae509b7a36709316b476c
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00074/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d2fe44c1cee689dca8ca5f16e5f32f01e9f6b1fbc33e045a6c8289d90a913667
+size 1462227
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00075/debug.png b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00075/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..6ecbf43b6fb0c42f1de76ab893295164caf06914
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00075/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7221223002af2d6818b72a7b78916b9288e40bbd44b7815d89aba698b86120f1
+size 1628392
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00075/depth.npy b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00075/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..c9121c2a2f0d67311ebe290ea08e7e6bf0175a7d
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00075/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8c88d87bc6c4e19f8b9fedf2b706fbc0f421e6e3c0a25ccbe7401ee5e14a7632
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00075/instance.png b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00075/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..136a78186d82f25183bd5a1acfbf2928035b5e91
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00075/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0d0189a8b676f0129872e5bf653ccabefdf5cb25165cd11272c12cfa306d65cc
+size 45343
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00075/rgb.png b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00075/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..537cc3150a2165c51d18639f24f6e4dc7f7d7f65
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00075/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6e783a77f42ab15fd030b3bf292951906c5bef21e197c4da6658b204ff90c9fb
+size 1468138
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00076/debug.png b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00076/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..7a69e47dc7d6f01644395993ca97eb09f2dedd90
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00076/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d10381f31757b56d113f9949e14321bad59a81795d1c8c8ae84e0fa94f2fd059
+size 1650119
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00076/depth.npy b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00076/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..669845b35361d27152f313dd1d14cdb86fa3e057
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00076/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:668638c7946eb1b5ced9beee957c4392c92039d7b31e2df4a038354174974292
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00076/instance.png b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00076/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..fccd129d53a4685cca5cb46cbc29d3f69fd6aa7e
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00076/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7de5d0e67759785ee37a8641849a7941e7e415c60df828783ecf0f6cd59f4e14
+size 48615
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00076/rgb.png b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00076/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..5c0f6490cc1fdf915567b28274d1b4685ec5e9f1
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00076/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:66b1717623f22855d8305b37c23e449f2a6fc582ff126f05712932de486a3c39
+size 1482783
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00078/debug.png b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00078/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..d66c8524c86ffa0d6fee783763c28291c07199c1
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00078/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d723dce28058a667576bc964e2530df268b868ccac4522d37bccf0143644f85d
+size 1652851
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00078/depth.npy b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00078/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..5e775c76ebe9cef817896f224ea9be74f3d2b23e
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00078/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:464fcab35567388ce1fd9097421c4d894078608ee4e67651045d7f06969cb2f0
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00078/instance.png b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00078/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..1f6990fc75f87d7295be9d333efdc6295eff6500
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00078/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:02421369fc9879880c0a672870a21c9cb71abf48dc76c80cf9be1de0dd04cb41
+size 48000
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00078/rgb.png b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00078/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..7a1bcf225458c2bdec773baf0895a2fac0612cdb
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00078/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6dc95f0dc573b42fa6b14ba7d0e6ead017caeafc90bfebb06981451a5e729762
+size 1486496
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00080/debug.png b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00080/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..efc448935f519c856e26ba2395758ca0219435c5
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00080/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bbc23e3655f90a529b2806d37ad01d626b31e1c7bd5a4dbabdfedf02ee855bf5
+size 1676962
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00080/depth.npy b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00080/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..d56f62934a3a10c02fc19004e1e836cf4fb1cb3b
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00080/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fc146389e29d060ce065f0c8ca9cbb0e1883fa5ab57718e1872c4cf48bae1263
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00080/instance.png b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00080/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..d6b5f1276b032b42e6cd343a9659c71cc048bf14
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00080/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:63bc7f2637732ddbb0d8d4058e7cbde3f5f5961a63f519ae391ecadcf86b3fe1
+size 52393
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00080/rgb.png b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00080/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..6b7544b649e10e04724615894fdbc90ed030dca1
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00080/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:17df629c3afa9f12462714a9b135677712cbdd8d9828c291ae0adf5b8fe4e04e
+size 1511503
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00081/debug.png b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00081/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..08f1571d6e62d8dbbf239158997b4c1cb6d25947
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00081/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8f342ca6d4df381790429bed1e9b502a10ba4883c1d6bc37464f6a1e2b0fed65
+size 1641990
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00081/depth.npy b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00081/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..805fb9f5294109321ba2c7334350ab65569d319d
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00081/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:220765bfbe4699f60482e96fb2ce57f4e1b3ddf7fa765ff98cc57807cda32444
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00081/instance.png b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00081/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..e7f5556c8ade5e0f477c6e8218e329d877fd6898
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00081/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:78e1752266f522055af3e963487a263f40047d8d3543bf7e41f5cf251d361dc4
+size 47233
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00081/rgb.png b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00081/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..97c562261514b73645e6b6027be823b9fda58409
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00081/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6e7eb9d991bc92e456491e6f9272a6293e6184593281f1c95f392bbcbfbe4c87
+size 1482614
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00086/debug.png b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00086/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..d3612fade3b3262cca45a473d844b31da67e8b92
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00086/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:52c13cbcaced915cc96e061656d4b8e4a9658d58a2f4a3d33c6013b55e704c73
+size 1696246
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00086/depth.npy b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00086/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..6247f2cd53ccbb17c34e2f7573da53314bafc7be
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00086/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ea1b0703899ccfb2cdf21eee7ed613560583a3c1f85866e8a291ec11e33d5c54
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00086/instance.png b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00086/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..2f8b8d79fa6086d49454befc77ac1a06e1f6630f
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00086/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:74f78e229cbe424e9c873fe0cb5f91572e3372a2c148f562f06ad8e14a54bcd7
+size 51366
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00086/rgb.png b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00086/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..7f8c6167c0ee5ff37c79448a057736acec50d7a9
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00086/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aaf6bf70ada8971d8ee3ccd2a2e8b0c0b65561d0a643177f9a971548602e13f8
+size 1524248
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00088/debug.png b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00088/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..dde2e9490747531ec6ff55333c4a52091a61880c
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00088/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:841db2a1f12cca3be1d6fc0a7eb88d3f73c35d85233cfb228e0115a9b202b0cd
+size 1668447
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00088/depth.npy b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00088/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..cc3975c56591699b061db5ea057342ec3bfbbda7
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00088/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ff8d8e6149a9f436f95dccf8127de73bfabfae0257185df778670eafd7e0ab84
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00088/instance.png b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00088/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..3c4e2c5735b6a33a07007040de02e7116b024681
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00088/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:abf5256753834ea3eb0313de023364d4b4f0238568b0f830b7746be2edbaab45
+size 50795
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00088/rgb.png b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00088/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..c44b8d44fa2d47bade7017a1c60dadd927b37e37
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00088/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4bf3e800b611b032545da5c4b4ca694d95b8a8339d40e894b7b534b9f0c17296
+size 1507999
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00092/debug.png b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00092/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..701b6e804a8026a371b5ca2311acfc37787c53d6
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00092/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b257de268d8627416398d863cb86319729bb9295f3e233ae482202ff43e4df40
+size 1655553
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00092/depth.npy b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00092/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..48739748de1d5b59b192859caffdb8ffc1bf3d8a
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00092/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d11c31a82f3b60764b5e3de9dae8157d01943c42576475bd8353d91ea7e5c008
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00092/instance.png b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00092/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..b121ad387043e94b80da7e9be5d1559e0eb5f8bd
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00092/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ac48662fb55ed92a0f9278c81d845fdba31bf2a850258f247fb74f59676784ac
+size 52298
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00092/rgb.png b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00092/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..0a9e873ac5081b2ad7828cedb2460a4841f543ff
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00092/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a5f1c5ab4e5a5d01db8205991c14cd75eaaafd1858c6c4854c5c6953a6096594
+size 1497321
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00094/debug.png b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00094/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..c513b216743a91229191fbc811871d240d3bf016
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00094/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c1e3386d187e94ed932b188746ce5fe548068229bd49918331165688533716aa
+size 1705968
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00094/depth.npy b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00094/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..123cff631d698008f1bcf3dc7f0d2a10279cd9e5
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00094/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bb1a1edd85ca8085fa47046f518339717a7db877dc7fb05a9339b7211cb0405c
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00094/instance.png b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00094/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..c573ed5a6ce483063a2b6bdce8ee682a00821ab3
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00094/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fe5240d09f93500be9690da9b071b805e012a6d7a494f8c17121b9e26e8b4f6e
+size 59896
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00094/rgb.png b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00094/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..b82cbaf43f342674c4ca5b0dd2a3979b08c820c1
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00094/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3c3e9e2b4e8dccc89471eb7cfa2e5fc9ed8330838e4f03fa21519e23504223cd
+size 1518481
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00095/debug.png b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00095/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..16292c6e4c6bcf79f70881642daa6b0ad5ff2270
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00095/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bda1fc1a48d63cac6adaecf7511800583f38a28b85522ee510b01b0daab4ce70
+size 1682241
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00095/depth.npy b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00095/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..443f08fff6eafb6af98d275749c92fe31982c34d
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00095/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c31540ee8f0699b18b5ac2f03a91caef69bfbcfebdd26dd399b161f07793349a
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00095/instance.png b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00095/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..0acb264ea29433f616a1656a60e717c219804e6d
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00095/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8069a9874f2b955c6036e0ee653a98691d3afdb0096264e1fcbe98e5ee914864
+size 51617
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00095/rgb.png b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00095/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..e06ae0a8ae9cb3151b3a3225b6c273edc018804a
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00095/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:68210a0cafbf3296d32e51e7358ae3d52c64d32b56f6f75cf951ef5c938c02c2
+size 1510927
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00096/debug.png b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00096/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..0f4baf7f3420359db2e7342bb231f2d54f9563dd
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00096/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cd9ec988ccb5ad49e1f28b2517485ddc314e8d961b95319a2dae2d93109d61ba
+size 1688840
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00096/depth.npy b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00096/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..17c5c6ada901e3047de8bfe3eed3013d344675b8
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00096/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c125bfad4008d186a7438f2bf5a4498d47010354448effb739ed26d6ca343125
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00096/instance.png b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00096/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..1330fbb4e7311f4571ee26ccf4c1ce1c1eaad291
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00096/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4f0704634b98e7369f221ac7877bc3b30241092a022d678a41925612f33451ea
+size 56211
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00096/rgb.png b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00096/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..eb8ed1bfd8ba5a9d2766124c39939b710b9cd0f9
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00096/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ebcac1fa8ebf7fea529a4c37d92cfaf33a8f1ee61172f4454b1c149b56fdfac8
+size 1511443
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00099/debug.png b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00099/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..e8710680296aef808a8863ed0acab1ab5972cd80
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00099/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1a5860a82b279e795324b07a5647e92232f8b17a0adb889a6442636e59182300
+size 1661002
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00099/depth.npy b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00099/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..5fe2186f860d1661ed5e607820667cb8c505d64b
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00099/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e804af4af4bdfd3481987170fb5e69144a2eb6091a191f61b037ef52679ad511
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00099/instance.png b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00099/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..ece18761887d75196fd156d9ec6be00095ea3b07
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00099/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f514f88cb1ec18ed894cc6825a6c6d951e8921e5ca3b75f4d5230ced565b2ef4
+size 57331
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00099/rgb.png b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00099/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..e61ae4c443605408a4a6a3aaa587bba81cbb2f86
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00099/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9896851bcd7aec51ac45a4b3b9aab22bdc13dec1272534b9633f5d80710fe814
+size 1488604
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00100/debug.png b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00100/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..5bc1b51e89004d45e5806b0e5f1feddfe1a2020f
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00100/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cc976c6bcdf7e3de9a821d5075c6843fabe0a2fe7c21157edba82321557cf7d3
+size 1651602
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00100/depth.npy b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00100/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..601112ce63e034be9e47d023e7dfdc7a9edfa339
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00100/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9cdf0e8ff088d85eb7817ea73bab75ff429314f443865f8c8cb696e59583edff
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00100/instance.png b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00100/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..b088c4bfcd1010931e6060de86fdb08c0d7ff51a
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00100/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5ab908a027e45db8bc4255a266458cd0fe1caa801c5f9d7a6dbb2a33eab57ffd
+size 55964
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00100/rgb.png b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00100/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..dd6b14739b73ce19cc2b6893ed581744ca69e9f9
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00100/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4a86394341736e0ff816fe28dc1a03f2cac4d760197df0a493d9379549b67093
+size 1479504
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00101/debug.png b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00101/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..d951b22f45e8eec8396e08fc61017e65cc33ff39
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00101/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6e6306b1fbb38ec0f3108d2bb2afbe85418b8231013089cf18847383c5a0337b
+size 1659282
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00101/depth.npy b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00101/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..a2ab7e843d258c5c618906110aae5834e80e7d01
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00101/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e8e3592e9a468355b357bf5be1b79cc049a0e161d970ba70bf2a280616c7f393
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00101/instance.png b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00101/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..73cc2a1aa781c94a1cd95b9bdd8a5738def17047
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00101/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:14f191664a79821c69f7e7137bc8e9c5125e24988497ac48cd67f5c4fe0182ce
+size 56405
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00101/rgb.png b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00101/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..ae3707e5653f086b91bfee3a7f241aea992ecd29
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00101/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5a9626b5ec7ec04daabd714945eb4141c800db1bee421b361aa57d5e45259cfe
+size 1492919
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00105/debug.png b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00105/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..6ea97445d19454a337ed10addea619683bc29b0c
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00105/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:51775dee8e5183396dee90a07992467d8d85ea9e56426eb34e7eb4a2724a4259
+size 1625431
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00105/depth.npy b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00105/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..2df7b2e1247f94f50fe3fc480d27d4d37cbaf608
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00105/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:00e50cc9d0461572f18604449c222376fae5db04647c4fef2ca0e18cf4f0501b
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00105/instance.png b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00105/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..c78491654701263403a623b12e73d76b2e08ca30
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00105/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1f201c2b0acc7a18117d8beea137c7ca6236912fe888a2bcbb51b2119dd6f6f1
+size 54881
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00105/rgb.png b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00105/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..c910a3e334bdeca88d81d94760da1aa7a6c7924d
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00105/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2801747d2832dbb8d912a8ab16d35a45d515cc619c178bbf17dd41910332fc36
+size 1453174
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00107/debug.png b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00107/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..45e26129d74b5da4cfb2dd3f43f7ee2b0a0033cc
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00107/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:029aba297f10f15e3088fe00395706b5e08b65725b75a5cb68cae6fab7e199e0
+size 1679150
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00107/depth.npy b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00107/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..8cbf674f18efc263283c12fce97a7e68b6889fbb
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00107/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2b0e1efd321a927a74b885a18b540ca2ca02b4fbe69c501a138a578b639ef6da
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00107/instance.png b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00107/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..6599a32ffdf3fe5f54ba8252011d6697ee8f25e4
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00107/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f8f029c4b5d23db57be4188f0e4b24ddf9ed39f045f444655c7b8ca0e9b9001a
+size 65195
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00107/rgb.png b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00107/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..8c9398632aa970b1743182f282cd311066d9cf8f
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00107/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9e35ad44a0c2323eace1e9819425dee2c43ae22b96abec448ea9aa6c48d5aec8
+size 1487552
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00113/debug.png b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00113/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..9ed157b3b871102b5a4e60a062eb844ade68b5e3
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00113/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f2dda497428b639ac76d44b639c3aa3205aa548090c773c617883d6943775e71
+size 1686155
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00113/depth.npy b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00113/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..943a73ec3b3149836896981274dcf8b6a7a1f6fe
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00113/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:591bfb8a18c17f4919df4c3ec5dabba131b06e3edd2537b48426b20afe2dd120
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00113/instance.png b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00113/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..7270f44e82d08cbdce69d7c22ebd44eb77077973
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00113/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:03c50f5915e253df07bd771766a96d432a50cbd0bfbf3e201c0cbb3fd6923884
+size 58067
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00113/rgb.png b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00113/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..15699c777ea7f12dc79fc59853cf2c713023a860
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00113/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:67c6de726a371a0332661bc3f84d67855e935d012802d195f6444dd86d1d6a8f
+size 1482655
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00117/debug.png b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00117/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..44ac0d7b92cff296a943c28e4ea635338059eb6d
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00117/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:35a74e67c53d68c75dec30a673dcbe94f4b95f94c44f63ece15392a179129019
+size 1729632
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00117/depth.npy b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00117/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..a029ed8dbb2905939c6acb5f1af599d9939dcebd
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00117/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ec2b2500448b665a78d1884f0a8256a83d6d9be1858dd053b7b1b2adc737f04f
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00117/instance.png b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00117/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..efa390d151fea10bd67a24d37ed12171015e22d6
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00117/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e052c300edc7643bd05810e393998f1f9ac377fa602c9a90c8e14c2d13169827
+size 58717
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00117/rgb.png b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00117/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..c1306f848905785bdef717ca2fe8d4daf6a64e00
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00117/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4b5a349420a0ba69c29ce6feb12da2da0a4b27a1237026a789cd20ff6db2efb8
+size 1500353
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00119/debug.png b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00119/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..a38d9ac9f5f3bf24cd80ad593e3cfaf23cbf6d58
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00119/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:19f476dd552981cab7531a5aa39686603116faa97593020a6324ed55305eae48
+size 1739664
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00119/depth.npy b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00119/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..59fc45eb133165821940129c37edc02c1269684e
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00119/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:52557d208ed1661353788fc42cba2d739791aa667e020703d77c6ed00903fe83
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00119/instance.png b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00119/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..42c22923f9ad74d902b0d43fb8f53d65e07359bd
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00119/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4685dd257a03870356525d663da42b9c0887e070cbcdcc94f7901b107da4f95b
+size 57577
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00119/rgb.png b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00119/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..c3ebf0549f14ccb642f004b4cdf4bfc83040f6c2
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00119/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0134672013b19f23f4dedb02d083a5f38948c0cb34e96ac76c478e6845a920c5
+size 1497705
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00121/debug.png b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00121/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..eb8022f92d4bd7e58f9474b7dd080eda4afcea9a
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00121/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6477292d96df9faa21740936a7f67a90baed78a1d608a6a177a5e8f86ad23d8a
+size 1735477
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00121/depth.npy b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00121/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..6984aec6067782bfd8a905519d6a8bbed1ea2eb9
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00121/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:02cf6c009f7ede364699e497bc9bfd550b0f035f4eb6315d319119063d99e90a
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00121/instance.png b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00121/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..4e6f8f7e0bdc150ba3fa86a155688c3ee33f4db2
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00121/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9e7eafc33cb9b6c3a85d708df41160b354b4b24a551bfde27a409a494195bc66
+size 57046
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00121/rgb.png b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00121/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..f6b2902c7c301d5e3cedbbed539b3786bc5451d6
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00121/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d85c0157de6516beb2e801824214ec3e4f31dfafbd3e8db5a7cc087dc4a278eb
+size 1492304
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00126/debug.png b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00126/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..5ffae50bae843f829c224578c960e1e0077ce5d5
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00126/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:988c9a49e41d9bbff6be953219ad128c9689efe34bd8be0b871c73bd7f4f871e
+size 1681046
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00126/depth.npy b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00126/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..e6652b7c1b3722e7f721fec3a92a21a8e960b30d
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00126/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:72999b563e76318270068704e1c82a497878cc3b28f598cf2ad8321b0cbf5be2
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00126/instance.png b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00126/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..230951bcd2ca70bae3f8d3001af079f81e8041c7
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00126/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f198685a4c3294c20a5250732a04e03524e98694d7010127496e84d2b3c3f640
+size 48403
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00126/rgb.png b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00126/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..c5348dd9199a11ec22131a26ad0869b88acb52c4
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00126/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bd0365ef24a4c07e629f825cfa821c875da9d10a2a654877edd29d05375a70b0
+size 1464272
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00127/debug.png b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00127/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..d04bf54a4ea41bfa0a165cbe71962df0c04cadf7
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00127/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e92cb2bec58414cd77ecfa208fdfdffddc508d176b40ec46983abc33d69f1dd4
+size 1759718
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00127/depth.npy b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00127/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..b653c69ea75a98029dfd5c17676a906d7d17bb35
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00127/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:919f27df4a271d32ce6aa26bc12094b557e552c8caf6c7e4fd0706b84e3e768d
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00127/instance.png b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00127/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..fe079544720dcc3f263d137e5cbcbca5b42f2691
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00127/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c32a16a27391d7c6318c4642715f8247f9913747485a4b26a32f26e2a253cf5b
+size 62609
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00127/rgb.png b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00127/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..ff373cedc0e82dd0002e67bb8d30c1b24da8d998
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00127/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:febb16ae94fb25939b9cc7eb0548459f748318f14008028228c3540852237d44
+size 1502163
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00128/debug.png b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00128/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..76a7da1c4684875ab338b05133f6704b106f0d84
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00128/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a3989f48abbf61b7378f18036ae226cfa4ef29893286c308e6022812a35c60d8
+size 1729327
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00128/depth.npy b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00128/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..1bc74d705270adc55c53bc581f4581424908c7b4
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00128/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:db2f25efb518d3d52724702ec7c2dc54bb2225211f35aa05c4127767de67009e
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00128/instance.png b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00128/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..b6028ca3064f198680aa29df53e97b5f1ad6c23f
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00128/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:776fa2a944f37b8a6b3395efc8eedb34f7e24a70b54c9fc8edae10705ac9d1c8
+size 56481
diff --git a/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00128/rgb.png b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00128/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..ba83c5e92c9f9c38d4923e31674d8c1adc2ebc7d
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777192757/aug_001/frames_playback/frame_00128/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fb6fe2bc59dbc6390c35d35ec6377e392031e503c1d2c5df28568e6b81e51f2c
+size 1488883