diff --git a/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00000/debug.png b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00000/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..588645fc76974ec65005c9a279cf90aa321e81ff
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00000/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2b257b03dec20847eb6b133c9815efe2ee31d94b66616957af056828c5b2d475
+size 1863941
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00000/depth.npy b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00000/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..c8d3f3c514188fb6d2b1c47b892224c3f2659942
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00000/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8695091cb01958c2363ab8a17dd890ebc9008e4573767fa77772f4ce86d6ac55
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00000/instance.png b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00000/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..a1aa8dc4a29ea32ab6a7ca84387a9c11b8b7b1d0
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00000/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e84cc6cb0130fd7a3e3bfa714997ee1f7b0f451257bbcc61674bf9e394edaa92
+size 139430
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00000/rgb.png b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00000/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..10afb9311bb9933b65e2ee1936ee87c7bac6fe47
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00000/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9b3b4c9957dc6655add41ca0d55866ba6978ea19c2517d79efefce0185c84c86
+size 1852796
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00007/debug.png b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00007/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..8c866fc9844e14e47f83cc4d481fb3f99369f7e6
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00007/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:955bd755efe54319390b1bdd509fc494051efb87d6ec2a5b6dfd685c57d9c1a1
+size 1819672
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00007/depth.npy b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00007/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..d3505ca4384d92fec3efb6c1857e8899ae522b8c
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00007/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fa8dc4572feaeaf7dd496606df0f7efe7b6f5f533ddb1cd70301216399f1bd5b
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00007/instance.png b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00007/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..e633be92c524f38d9083a5c18e6762908303e698
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00007/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7a5344a263da3a9c1f38e5643d4790e771f8390a15caa99ad33222168cd0ff22
+size 120470
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00007/rgb.png b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00007/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..8d8bfc1ba897c82f630c174bcb7db702fc19e65c
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00007/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f906e59e68b524555db926e31c4b966739ac5f973ebd2f71225956968f7aac93
+size 1794384
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00010/debug.png b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00010/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..51d3b0c88e370d3adb87bb4907f69bd94e74052d
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00010/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c2264b0602dfce1002b6d7f6eddee6c78b373f0a24d921d06fc92b8e36ac6ec3
+size 1827242
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00010/depth.npy b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00010/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..8dbb0cd2f5e3f4c664f0d568c3950bdf2405ddb0
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00010/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e9ecd633f44d0f713c8d4af8be6505bef54dd0ff561343312906c1ce17d5ea06
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00010/instance.png b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00010/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..220439ec59eeae5bb3efdd964f2429a777dffc0a
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00010/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:933de6c8f80afec3ae7fb9d4191110801c9b95d91da0d1fba98fbc200a4f9366
+size 121751
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00010/rgb.png b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00010/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..f67480948ab433a2f2fab339ea99744ccef21b1b
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00010/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b723eabd3e0a0e1596387c9eae59bc29a4f4f7f2accba9387bedb5c54565f8d0
+size 1797269
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00012/debug.png b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00012/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..40b9660c908bf732566e0997b5575ef94f2d8ea6
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00012/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7b8ff076f6193aef61fe83450ddedb0e0e8220c7d56dc76afe9139af0c896b02
+size 1831100
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00012/depth.npy b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00012/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..c1263e9d5936e61dba25a988de5812911d07260e
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00012/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1b14dc069770a063bcc32d42b3c8d5111a96706e32b1d8b40b8e8e789c9f553a
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00012/instance.png b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00012/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..c7a1fdcbfdb97e8678b986d40b9941abbf373d74
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00012/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bf95a6337eab3584f70c386cdda72143f1918e86ff312a562e989ddf520c3a2d
+size 124203
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00012/rgb.png b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00012/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..d6989ba2b59635877dc2f4e1ceb2990e46ee490d
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00012/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b7b3df17f3256636ea56f92f4c9c045c2407888387ce3a258ca8027ae275ba62
+size 1802505
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00015/debug.png b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00015/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..3666458a79f41c24dba9263a586f1fbecf44319c
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00015/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0344117745040e3abba752582bcc27b9e451aaceea259ae518c45a85a58312fc
+size 1853488
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00015/depth.npy b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00015/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..5aaf3ddfeee6703147f2c89d0d6f2c0d104a5b6f
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00015/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e150563a7cffe8c2df945b74068bfd9521794621834321d1dc8aca05fadf55fb
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00015/instance.png b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00015/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..b7b1757e666cb35de3f09fcf2ba70a5b83cca9aa
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00015/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:db78c59785a17c384f15186ad724ec2cf5cbe3e45b4d5797675e7e1be9e4992e
+size 130225
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00015/rgb.png b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00015/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..e7d053476d66a9781af5c0a35940b85962a9dbee
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00015/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:23d1fabdc841979aa38ca0e4171e6f2a3e3b0dfa80d50092bda092cdc86f68e6
+size 1824836
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00016/debug.png b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00016/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..e7cb8affdbc9e0c8fa73dd4d7a84d54b04c70482
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00016/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c0161cda703cc7df6cc3302c4209d8513073695c5137c2ff430253c8acbe7069
+size 1863894
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00016/depth.npy b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00016/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..0d2bdcb9dbbc98a70c2856af0085493533ee6bc2
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00016/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:859b166dd69b65e4409e06943f3fca06be470ff52ea7ca953e8985a1e538b6b7
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00016/instance.png b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00016/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..7e70795a25e398e7ef600ef196df73b1586278b9
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00016/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:73e0c12eb4f3591ae8e8b8c190bfcee524a9a5283587a198b4945bed8897b576
+size 132130
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00016/rgb.png b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00016/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..3de9a3696fc4ec02d4eead45aad08fe00c8ea1e9
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00016/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:03626dd775092aac23d047a4fd38a89922b534bb1b3f68043079535e661f6879
+size 1838166
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00020/debug.png b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00020/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..cd42c7a957cfd6f88b0bb224fa1dbbf44bb51a91
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00020/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d8d687528588e90657bbb14a1f04cc0e42dd39c357bb5a79b24cbcb1e8eea271
+size 1899074
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00020/depth.npy b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00020/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..1b196a5ca19901a8ad55f64ca5fb59a2121eb90f
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00020/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:43818fa3fc17dafe5a00f51b4c82397f5c629db1ff5e29526254b7fa79917fb7
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00020/instance.png b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00020/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..11f1bbf15618ce124f77d24558a4ac0b229e57e7
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00020/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:32dfc43cf44cc009e3c528a38e0204998a90e562b9157aa45d6cddbe233172c8
+size 136547
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00020/rgb.png b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00020/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..cf9fc5c1c07713be51bc8e382aa262fb4290dc55
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00020/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f2883571b1ea25d17b702187a85e3c4632baa0e69a38dbffdad39df7606884d4
+size 1878607
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00023/debug.png b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00023/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..710d5a40a3e9197f1a98550573dcef353b88f203
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00023/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:22c09acefc6e7b726815b42d853c46a7b2f2ba8ac3e39ac16b08230924ee084e
+size 1900284
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00023/depth.npy b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00023/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..02419f515160c80cb84b1ed81104e5913ce974e7
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00023/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e81b4a5344fe386c85c96c74a9fbf907c2c018289e2ba205c210629f8021ffb6
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00023/instance.png b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00023/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..87eff35c13c8d395f337b30c0f0964c075fff2a0
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00023/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b8a8d3316ddc74511311bddeb8ba158f678ab3cd851c16b3bfad8a227535e66f
+size 139811
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00023/rgb.png b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00023/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..c3760048826d6c8704223c63f28bcc130888b42d
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00023/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f221167f1e1b15976d044d01a54878462328e8d03f3248917e1e03fca74627f7
+size 1883667
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00026/debug.png b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00026/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..e2544c95e20542eb789f14b0eac571fa56afedaa
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00026/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:428a79a831e43b3ce42da1160f0ce7c72bf090afd6849f9141e1c720f39e9277
+size 1899953
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00026/depth.npy b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00026/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..12dc0d537ac001fd468a91783c734713c0ad0b98
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00026/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:68efcb83769b7fb437e06247224723e7f9e7e2d3af3af40134bb6d496d09490c
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00026/instance.png b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00026/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..9d68da4be674191022d4a0505cadfd8bbe1fca36
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00026/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:72b167d50c614344dc18c29679049a49beb09e9ed5b69db66c412adf1d287dc8
+size 130893
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00026/rgb.png b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00026/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..a6e6a6ee9a49258e9c804940b8c0f7108e907a77
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00026/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f53ee4a05cb843c54a31534f70ebc6d640945325642094112b691ebabb82e1e3
+size 1886359
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00027/debug.png b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00027/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..4f57fc7ea3be8336564c4c0b974110375d40d98c
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00027/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:54f1b22c004abe3fb17bdafe96f30215ca7c742ef4d5c6066d6264776d35fa50
+size 1905401
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00027/depth.npy b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00027/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..567cdf0adf45b1cdcb90763a9be0f97c01618845
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00027/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e9ca349d32c3c2bcdbef45541560f99bfa7b90e3633f22e220b6e1ed07130d67
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00027/instance.png b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00027/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..ae2a80f4d9bf0e475f1d0f083e18893b438c852c
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00027/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:59996a6daf40469b6f52e179ab3cff5ebc2ee4319a3dcb0b7cafc70fecb8c565
+size 129637
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00027/rgb.png b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00027/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..faf11d15394df3aa31045b29a258b22955568c7a
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00027/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:22d3623b4242eaa3e242b9c19c12a6ede64c5434bf4f09426b5d22d224a169c0
+size 1890229
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00028/debug.png b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00028/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..f42cb460752cf05362027c86ea46289c5f4f44dd
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00028/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4d4d32c00366d72e8f2760ebe23e594a947cc59e3a1dc7aef3c80b4466616b30
+size 1900239
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00028/depth.npy b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00028/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..7751d4abde019b83856f3701ca0f3a45074c5b0e
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00028/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2e4eb1c43412486a214ecdb8a8ecd423fdcf45bd9bb003cb948abaca3f09407a
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00028/instance.png b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00028/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..98025474675d1a597a55bffe2705c3a21d89c14d
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00028/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f777cc78a0629319cc69110fb894fcadf65b994e5061206edd99978e35c39835
+size 127735
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00028/rgb.png b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00028/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..380f3d2ba7027265fdf8cf4af32be1dde94f5392
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00028/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9d678618cf986afc35b0301675595e66b931f8c94ac99d642fe09df1e856a04e
+size 1885504
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00037/debug.png b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00037/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..62a2c5a2e2cb220071e70f16ba33f603889c29ce
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00037/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:49eacdd221e13e594c5d39a52f565442480011d870b40e86fd63695607f64d36
+size 1884322
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00037/depth.npy b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00037/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..42e01d72e68f1f76f969be36250a53c4a55062dc
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00037/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5c636b074a6621157e11bcce3d45a7a6f485ca1a175e2a6477291f5b09ed87e6
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00037/instance.png b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00037/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..443610436ca0b07b04bc39fac09de99b196904d9
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00037/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d7a358508436400016ee1615ba63474b983fe6070fd207212dfe564592adfc8b
+size 139137
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00037/rgb.png b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00037/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..6765b1f82ab413e18be8a8905300dbc3c1dfde5e
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00037/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0d9bea6e49e60b77ef43c0f06c939e429b7866ae753b2c38f03d9ae6e8f3dca4
+size 1870341
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00039/debug.png b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00039/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..b34bbeed1e1789b004a684cc077ab99d4ba2037c
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00039/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:49bda3bf2edddc411cd067fd85fd504d4b3542800bd9d63b5a047fb28013d7e9
+size 1896537
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00039/depth.npy b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00039/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..21a7d2cd2d839b0eb824d35713d34c71ea64cd40
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00039/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4f3d62266a770d48f5e24884fdfac8f989d3d10c3ef6f831001c9156ac8ab2d2
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00039/instance.png b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00039/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..76e61e769808ea0079eeac31a34d63392833644a
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00039/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b79ea8473380f0abe56ead0bbe7c1d4720e662a3e103303ff4f650327617fad1
+size 143116
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00039/rgb.png b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00039/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..3898350a0e333ef6540ac795c9fae33ebce9d66c
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00039/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:29eae1c948a31d2b50a80cf4fa9a2ae3fb36173bc87111e1d8385bc1b656d14e
+size 1867293
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00040/debug.png b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00040/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..4325577046cbc30e772dd9147a91dd4478269556
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00040/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d5447d8ae20c21788387c0730d656d246509518a6d8f6ba2d671b331287d6747
+size 1893212
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00040/depth.npy b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00040/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..1306519fab3ed301c6fe3e88f038e81a08938873
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00040/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8cf1629d6c62ef7046dfcfb6b7fd43adb2e8e8213d73edcc53836ea824812e8f
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00040/instance.png b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00040/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..709d6882e977156bde2e7c875767a028ae7a0ce2
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00040/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:63dbf360321ca4bbe4249258c09ba6a8d6418ab1ac684ecc8f7df07ef0cf519f
+size 144328
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00040/rgb.png b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00040/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..6f8cbb5bced07ab2f49116411b1894b23b69672b
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00040/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ad688649c952dac5dd3ff1c169efbada197b650b82f1c392c5355f48e91bcd84
+size 1867404
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00042/debug.png b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00042/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..8f6d8e13c8caa96840c6a496f93e8c3e12fe2b4b
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00042/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cb5af3196bb0c8746fbce1bae17bc8cbe05a43c1f9b1367421db5b19f746d22d
+size 1891893
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00042/depth.npy b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00042/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..99ae92ca44a55e5bc6db289dabf9324328ae3726
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00042/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e7aae855d5ed044073277ab8d9c5971dae3baddefabc67da7845fc2d404d0bbf
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00042/instance.png b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00042/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..c16cceef82a3d4d561fd63220fac443513e6f3ac
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00042/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:848a3099c408606567f3953ed38f8c4fad50b10fe89adb3cb58bdb7bd433bab3
+size 138831
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00042/rgb.png b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00042/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..97f82c5a018a4d4f3b62d68f5dfd243e6fc202e1
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00042/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6c6f660239a276769127bec549a69acc35a8c47ff99582aa28cddaebf9d6412a
+size 1880344
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00044/debug.png b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00044/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..1d2b8cdde56cd9feda860d6daa699b353b3e43b0
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00044/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:35695f78f32ae2f140cd1afed09e698aa47e8d26845c823108edd2d8bdc11272
+size 1872040
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00044/depth.npy b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00044/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..5651f7f83c079b8dd80021c6b095ff728bdc9dad
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00044/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:11ea847972bef1143b160afa2dea40742c964f98bf073050f3264d818505d9db
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00044/instance.png b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00044/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..d549e6e2c553b14e7725f461e72028b03daf8de8
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00044/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:647774143826a7763b20666bcd83232e4173ced45834945f4abc8f52509700ed
+size 140505
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00044/rgb.png b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00044/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..7da8af7e7a46fcfba660ea133590545b40b55a26
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00044/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:34817147187179962f1e9480c23644559998728ab4360a8762cea30cf78b6347
+size 1854045
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00045/debug.png b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00045/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..e3a8de0510d417b0ad08a59cb2fc0b5f39162de6
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00045/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9daa3a18156647af2b0762071325d2a4f10ab8671dd41cbc845c205d5ab534e6
+size 1871725
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00045/depth.npy b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00045/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..a7b562c14919332f9ae9723b1ac6b80d8b5eaae4
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00045/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4dbfa15cc118bb71623306048a3dfceadccdc0e2e221882f12e3649feb016364
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00045/instance.png b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00045/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..8b216dec6ba7bc59bd1e7dcf998eee5051fc6da7
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00045/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7c7b7b5a67a9b7668fe94c75afa79032be20b420eb0353ab9fab35af1c7cc238
+size 141298
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00045/rgb.png b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00045/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..18f8090c112a42ef678c1c765680137e2ed8dc62
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00045/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ff580a88fce20aa2a1b7ea9704b65b217b66ecaa45f7c825addfa92c87e8df75
+size 1847833
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00048/debug.png b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00048/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..98d91271d3b2ae1640eabc2f49a9ad2341180ffa
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00048/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7fc24458c37f11502399672546e5f36d61463575143c34aaf6f99bf8c2d6f368
+size 1865928
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00048/depth.npy b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00048/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..6af21da055ebe25ceeec32b0dc67e622960b852e
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00048/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2e31171225560b1dddf7bd970a3dfaf49439d6ed82f08145aa5d8395f352a4b7
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00048/instance.png b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00048/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..94e26244a2b77d443c758ce717e988941e3c976f
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00048/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:48b42e818de7b2237e696b4960c8d4c1abdee45283809adb54f21f8e7f099bf6
+size 141393
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00048/rgb.png b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00048/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..e69889ae7b96489c5833d6ddd363e1bcbc67f957
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00048/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:977efee87ffd2f5b1727168178ec6d4002140ed67358f1356a075cfe3cefa463
+size 1838983
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00049/debug.png b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00049/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..96162c338b5ff6a65a6a964ee91a6e8ec47c3421
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00049/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7b89513acd8edb5e9219be4c20c0f439c8b58fb71e238349a5298e18967c41a8
+size 1859245
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00049/depth.npy b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00049/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..10ebf149d4b965f1b28523e098630af382b2b344
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00049/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0f90bd842345db6f87740c53c3b0faaaac2303f476a48a0bfbe3885170052c25
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00049/instance.png b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00049/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..86b1cb43c717b4b3750377d83ebba8009ebe82c5
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00049/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6500e221d066179321b0e21b2a2c1a1334761b2370564da20fa474c3dd0e1eae
+size 142893
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00049/rgb.png b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00049/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..f0726439de21206b07d4d505f492ca1764ce7a7d
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00049/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c2811cd85262f57196db3cad53380d18656cc308433ce231f51fc27a05d39134
+size 1834800
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00052/debug.png b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00052/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..f761b50e39b94b3c8916a4d055904c5d865186d9
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00052/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:22e8338c6d3f08b67a198f1d526ceecb34a00dd474730f8d4e1a03ce360e69c7
+size 1858475
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00052/depth.npy b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00052/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..be3b9c14efb0f60fafd61ce36d8bf68a75ed6591
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00052/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:39b593e63581a546fc758ab7a0a80af360dee08bf0d1e2cf000c8192997b503b
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00052/instance.png b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00052/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..946045379d5c3b9d937acf88646cdd38e7baaa61
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00052/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:215c79cb6a916e46a63ce1cb2430a070feb61751998e565d8ebe645acfd31c8d
+size 143925
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00052/rgb.png b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00052/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..ad8cb554dcb417517405ddcc36dc3e1559c998c1
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00052/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:40516141c788ede629e7b20642609166b76cf1daf04119bac42f050d3d153bbd
+size 1831506
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00055/debug.png b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00055/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..db6925137d9c33cbee4eed75eee5f92df9ed11fd
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00055/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:08f5a41d9bb204520d8b84995c972cf518efc9706d28f56d40054194dc7585bc
+size 1861264
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00055/depth.npy b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00055/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..f88c1ca3dee24e94f126da04d5e3350792e9a71f
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00055/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a08467d514b72350a5a8865981fdbd684c99d72da4e77119545575ec8f19997d
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00055/instance.png b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00055/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..3f0130b9e31ae14800fc4786790afa09ddcde2cf
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00055/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0e150816c0a2b1cf22f83a9d7379b23a1ef6bd99d715258318b48853018429f0
+size 146568
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00055/rgb.png b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00055/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..5f8dcc76523af6b79f6084c4a1821bdb1dc8471a
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00055/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:72099503e99c9f8de0f352c02e226010a55d9322f409740edef510e58579b02f
+size 1837900
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00060/debug.png b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00060/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..1854c4e54d0abb25b08a90e7cbe5d685cabac620
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00060/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aad7f86d956ad2f89831c6fa8568568945b3ddb5753ca5fdfcaf9a7842e7237d
+size 1856410
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00060/depth.npy b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00060/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..fd0d23131df8e483e8245e2d68cecb90e7682cec
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00060/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c1195b4f1afd50295b963ffbcf8f8103f9f5c60b45e212f2e3e3fa51beac0df9
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00060/instance.png b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00060/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..c0ebe08c5dc10252ccc30851f24186fd7775dc06
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00060/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cc8cd38b23e0f40406acf7c8c3a31201f5062a0d7fc96f26fa169b795cea9a63
+size 142245
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00060/rgb.png b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00060/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..274ff422f98749532aca05912902462f73cd5638
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00060/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c0c5d728abf7f8ee10821caebe3dbf37e7003b75b4330eb4245207ddd420f2b9
+size 1832785
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00069/debug.png b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00069/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..24269307b00bf076dc8a75f1c175c2f9893ca196
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00069/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:13d867ec5ed67a25c0d4099de3b3a35580ff930596d455d43d6a87e1f35570b3
+size 1850847
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00069/depth.npy b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00069/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..0269169a76ac4f14357f559b8b5875b3402ab82e
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00069/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:65bc837607078c8fb78fb1b7142adac52bee4468beb2fe704585679d48bd0375
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00069/instance.png b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00069/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..a8b01c8d52b9641ef93d0dd8217ee5196dcb90f2
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00069/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:03fc7dc86ad8dc978eef70e040beca9498ff617d829ca5a968206d5bff2de044
+size 149214
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00069/rgb.png b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00069/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..4a1749628df00088be1e07f4952260f2387ab14b
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00069/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2cc3bb4e7f8abac3235d4b0e7ba9acb86519a4867bef3dcff068cce91629f5d5
+size 1839132
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00074/debug.png b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00074/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..3977fd41668158594b5685d74dc0e86e4ce464b0
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00074/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4102312fba489c8f0289513c9af0d1ab232d66609c2987d2c7827115ff75d185
+size 1834073
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00074/depth.npy b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00074/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..6cf24b7a2bb8ea1bb03034d2852a3002e6188d37
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00074/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:634888d412db7563dc5c223e7d7e28755e29f9bbdbef46ecee4a871794470353
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00074/instance.png b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00074/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..47f289a0d3b1d75027374fc0a9f8cbaa1501e2fc
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00074/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:04a183dde35579afa22b995e024d3c64a2a274861a23b356a2e22a20d4390572
+size 145389
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00074/rgb.png b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00074/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..3b061cd4468f067d104546a41d16882a91d71600
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00074/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:807950d43cee7ae37d0c82ae2990bbfd0e61465720efc808b99a375a079cf6c3
+size 1836350
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00075/debug.png b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00075/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..919d24e92cfae11742bb42be9cce763a678085d0
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00075/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:869f879a54132360ffa2f88fc4f51bbabe9c6e9c36f8f60e222647e1bb1cb1af
+size 1840428
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00075/depth.npy b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00075/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..abb0363fd28209fb2d5769c34a4b2bd3c341fd40
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00075/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b1dbb2494ebfdf18163712e4423de43821fcbb743adf0e8b09161c871d359a77
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00075/instance.png b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00075/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..e95bb5ec4d71e960c119f6f6a31a6ec225662014
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00075/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1421bee191913ac215c9458d5d1305a8e50851be32b0b11869a5f432670001cf
+size 145692
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00075/rgb.png b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00075/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..d9f383fae2d9fe3a7ce835b0093d76c27439f877
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00075/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3f52a076799a75f81770e26d169484ad510015f7687c53d531ff087f1dce0b88
+size 1833921
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00076/debug.png b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00076/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..c956c53e6fe353a738b2cd5edab585d075682bad
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00076/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ecaf8c72edb7262940fc26096084bd88a2d5977057f197ebea1fbe751a1ba347
+size 1846778
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00076/depth.npy b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00076/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..2b06be6eca550c0768d81c7caa7febd60a31b4a0
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00076/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fc022d6f61fbcb967484a1c9e0987c3a72d8861ee3f0366c08f73d85c94f2538
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00076/instance.png b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00076/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..8812c246a60e6360823b3699cb5708bba4fbc6e2
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00076/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9a65c273abf25d2fbf5defb373a898da2779df7e0ebff5273f9491c81ef45b85
+size 145794
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00076/rgb.png b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00076/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..edfb22266a9b0795a71f7acafae79d8398e4c6c7
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00076/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6dad327f993f8efc18bf447ac996ed5a9e9646bbb4ababed38ac1c5489128b05
+size 1838926
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00078/debug.png b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00078/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..c348b3e4a0b3c04a321bd46a661c7c43ae5ad596
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00078/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:79acfdcb1e08a34c205330a334b6a97c6af5f88c8e6f67707a4527fef93d0db1
+size 1844266
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00078/depth.npy b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00078/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..3735603a5214ba9a5799c6007ab439f8ab5ccc3f
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00078/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:805b676fa4ba6f9cf6ab4f9bf22706cc9f4c2e770058626c6bdd500e41f2cded
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00078/instance.png b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00078/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..ba411f70189f091be5140a52bdacd4d04872e408
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00078/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7918758a95284f6d18de3849a797f9b360424791b21bd999dfb5bd278e21a331
+size 147280
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00078/rgb.png b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00078/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..c07a2659d9fe20a6d090641f79553c9ff9f08f00
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00078/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cf35f05ea9bc2c4c1ac33b82cfe7eb244a9c267796f7066841c23d1b82bafc4f
+size 1837805
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00080/debug.png b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00080/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..ddc8bb990f6dc07c32794c65e21fd49ecb733aba
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00080/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2ceae4eb8453a7912431eb477da76da554a5799319c3dcb991b14b84d62c281a
+size 1836001
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00080/depth.npy b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00080/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..7a70f25524c0b499786b862144af522064598ef2
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00080/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:968941e0256c605399dc556eb600a3ad67b578badcca40357581398613376f21
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00080/instance.png b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00080/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..cacddb2c7a8eb9db1f76c91ab9bafcfa4bba9cca
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00080/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:65e430e86d6f48994fe080e2c8eee680dbd49e0fbf84faa715445b0b5e21eb99
+size 147915
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00080/rgb.png b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00080/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..732fa467d3503be7f5f5239e9eeb4adff0b17069
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00080/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1a0be6ed71fc4cf44475bed48837231d48a361be28c1d3bbb84b62dd7adb4a9c
+size 1843511
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00086/debug.png b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00086/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..a816f23375c9a974c9e7704951113071b103ed5c
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00086/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:226c484d5327003012c53154d27d80cf4f2f3bbbc0f625f2bfe759845c55e553
+size 1855764
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00086/depth.npy b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00086/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..7ed2a6daa461fc4a2761966aad257a60e586d3be
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00086/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a03d2a22c370e25bfd338da4c3a5f84d0948c50fd36c5cb8d5a7796aea6f7727
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00086/instance.png b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00086/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..3558b0f1370d8c73e061907969d5d50dc06cad1f
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00086/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:07b0f0305da6b12b8ebec4a0e9267893fe0eccaa53b7df7301974dcc65afa079
+size 151042
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00086/rgb.png b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00086/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..ace19856a8e4b9ec70bc7896065d7dbe5c177af6
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00086/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:405bf290426177a9e06dc203f09c14da1e1da565df4f055cfd333d5a5fd6859e
+size 1862053
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00088/debug.png b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00088/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..b6cb889631bb8fb88957c07549141e9ee7488c3f
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00088/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a93049f9dfbd5859bfd794d9d01c711dada7aaee57755b61175176056a325516
+size 1868269
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00088/depth.npy b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00088/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..27ec6aaff141e64a97a9c3b51b521af519aac3d7
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00088/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7a6d6fc2bf1c544f528c5860c57d5a463743ec14ac5b4b3629e69da075e31d72
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00088/instance.png b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00088/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..a98852e55af9aa8337e38319a310066845cf581d
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00088/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fc6d27d8e794233dd95c8d4c52f40283118fcdbf0d05492bfb61b98a8deeae4b
+size 153508
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00088/rgb.png b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00088/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..524790f9ef4b0cf21562e17b27260a919ca39c33
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00088/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d46f9443a190eb7fd27c884891c501f7b735e2c51138cbcfaa1393449d642c1d
+size 1868225
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00092/debug.png b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00092/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..5f4847278911e283152c212df01f90ed6b93def7
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00092/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0c11f128725c09c1a9fe82a232e37e6f859c2220ee24314ebc3e00096b86eaf6
+size 1879688
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00092/depth.npy b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00092/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..4c7b621e73823167f09ef342f3efe5b134abf197
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00092/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:908f12e5e806f70982bb8e39107d623fd968d744bdf2a09ab72818ed95acc156
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00092/instance.png b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00092/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..bf7d4219bbece8b1daf8d42793c2798133a620be
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00092/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c5484e37be39247e6cc6ef874a4c2a6c4ccf6cc60f96af2d3574eec59ef24ca1
+size 148179
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00092/rgb.png b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00092/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..dafe16275c0419106458276bede984d730aaac1c
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00092/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:568ce2de240d5338e364b67458f32b93741655284cadfa49aaa9873fb5f6c08e
+size 1879623
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00094/debug.png b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00094/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..bad2df1e4f1b139e7670cb8da5a4219526678850
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00094/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:43ff72525e3fe3518b67540294887b6b31187631b16124b3ac5189042cae2bad
+size 1869562
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00094/depth.npy b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00094/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..220193179cd46937d646797caa686eb073f76826
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00094/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d391100085b44d5712db29f31a51563a9948bf8b9784ca31126034c11cbd8044
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00094/instance.png b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00094/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..a38073b1d441cb7bb755e41c01bdddb26b92a8a7
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00094/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:40c9610f5104fc44b55b7ed1f111e55efc3ef0f62094f6210d86439d97f8f1e2
+size 149727
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00094/rgb.png b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00094/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..373e049e5dd3c82d61f8f705188f5df48b6d8c42
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00094/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8a7b37698553b9572b436ccd6e4133effad5586cde94e738c41afc1e1acb06ab
+size 1877883
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00095/debug.png b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00095/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..a14e6c3941b8ed6a9ed410450062591caf7eba4d
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00095/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b600d6e93c4e7567d2982797e14aee7d315240860274b8b8d866f9185910e342
+size 1881275
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00095/depth.npy b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00095/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..b761a83a362710c4352011d9642c7393427dd649
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00095/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:25d514db8439828b0d75ceacca9ffbe56c8b087d561d7112f3a1343717a8d248
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00095/instance.png b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00095/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..cbfeeeb025626f0bc631e55880ad6dc1afba5b05
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00095/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c6e5adfd2958ce8f338472790d39a1bc689fd531d3f7fea579e216523d46818e
+size 150179
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00095/rgb.png b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00095/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..d09da08d01ef360158da7bb056fdc88fd3a2d844
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00095/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1b4712a2e3789e1b7e408859294d103494c7da1b33ce6fa6b3ee434277211280
+size 1875739
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00096/debug.png b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00096/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..fee606b65df5f55e201c745be3750860b75020d4
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00096/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ba4198a11cfd683358036c84baaa0fa14df9e0deef21467064fe59252539a0ef
+size 1884628
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00096/depth.npy b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00096/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..8af77915124ae766caec55dfbf4e20bd9a5797d2
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00096/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bdeabfb44950fc56c7ff45445fc71a8e4e4ccb94930a9c17a864ec36aa7cdd46
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00096/instance.png b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00096/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..320328cd18d91895f989c3fed07ec99cc815c9a2
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00096/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f35f3536185c7c2e85c449ac998adbf2ecf2058896f038b405d8f329ce2f6a6f
+size 151627
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00096/rgb.png b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00096/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..f74477ef7e580cef748db36e15ba690a0a69c317
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00096/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:92859c3415b6a13489e214f4c57fbe654c19f91d477a29b9bb00649a4df22c29
+size 1886098
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00099/debug.png b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00099/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..66982f0e8b67dc866b82a7d28a88e3d3cd43cd79
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00099/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9c1ce03fcc28607be714a1f0daef2b29bc6c4f06f45c07c27ef539d3d70341dd
+size 1889694
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00099/depth.npy b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00099/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..af0040ab92d970d17c67361d799d07ba55ca8fcb
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00099/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e3dc598cb858ed2e1aebe21d70b66b18cdad50eb9f1afc2d391181cf32c1bd3a
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00099/instance.png b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00099/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..109c353a411ebc4fb30245787700a63667d03460
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00099/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f8d6c2911f28e9b5f46132aa21f663b3e5119cd9e9ca21339a72462dcd0b00b9
+size 153556
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00099/rgb.png b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00099/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..fe44b91bf3cbf7ef9509f92b23c2fbb130ed3a0a
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00099/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0f0cbe2ce9b95c43c9d750eb28db594478308643f947232e74aa0e03f0f9e2d3
+size 1889639
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00100/debug.png b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00100/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..e1e650bb1bc82809490793a754fde3464a85660c
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00100/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7ccb6e31e86bf2eb1e751134962f4122876fe49284ded278f6104e2c8e92ec66
+size 1894964
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00100/depth.npy b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00100/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..5c2eef31a84a68647b94bdacf66a23dc4c986b41
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00100/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:91b184d2d6f16b3ae832be3193fc8384e0f0fd5b1907e5a69a873ba8961b534c
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00100/instance.png b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00100/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..1169eb4f8ae22e462da443b077592f253e17da05
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00100/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9e66b948a907b715260912c3b128756dd7a05fd2ef095e21da3da9371a368992
+size 152849
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00100/rgb.png b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00100/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..3320bb0c5c1d945ffcacb509ac6431776fa76101
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00100/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b71e886306f5c773e2892adb51346d3b6dc0c10379b628da0b11304891b22e62
+size 1896307
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00101/debug.png b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00101/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..43371a17314ee52f57a762f5161a8277def104c4
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00101/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a380aa3cbd8ab5643f0558e08c028c437adc367fabe3133b667ffe4abdd8fc21
+size 1895443
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00101/depth.npy b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00101/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..3967d4604e41246df9f57889806949b574143116
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00101/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a12d64153d4b44bab3c9d1f6193b48e546defb8bb0ff89e9e20bc985bd727294
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00101/instance.png b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00101/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..8a9317fa08cfe4c3a5ed2a4bd1a9b7dec9f42b17
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00101/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3ab61fe966fbe5dfbd8da35e5df12ec396a2441b493fcc843859468082240221
+size 154820
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00101/rgb.png b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00101/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..36f21b3143e7c9a911fabd37fb18872634763b62
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00101/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7cf804bcf41addf0756634937c1369613e1b8f45938b3167298d748d174d9eba
+size 1898774
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00105/debug.png b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00105/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..70426a5b9f6b034e9a7f871aca98c29bcc30acf8
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00105/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:16df68ba3a7c9c30e733c5fa31bee34cc5d5e98ba9bb1c6de9f67e72ae7c4950
+size 1891515
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00105/depth.npy b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00105/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..ef6e199deb2c30605dbf482837ceff447168717e
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00105/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8f2f8ead06b18c9b8d47abb409ba0dbec3405658f340fb6327788012685fafda
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00105/instance.png b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00105/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..bca55096bcb33a67603394d964f015393dac3684
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00105/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:22c11c87dcfd4245d526ce9776017013ce95466091090b25d2ccd285f06a6f55
+size 161208
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00105/rgb.png b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00105/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..755fd2b7f04ed8e23908a449fa9efe01bad72be3
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00105/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:76e84f6477f20e2e58aee0ea71277537dd1aae6006039adb746d762eb95ec72a
+size 1896461
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00107/debug.png b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00107/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..98fe4de5e43ae0ee43601132af529809f7ebb1be
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00107/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:07459f786ba12ffa3d147885de4b24507cca60f24fddb873320963cb56e9693c
+size 1892385
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00107/depth.npy b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00107/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..1d0094e8bd0ad4db37c1c148196f8d9393177c8a
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00107/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c70b6a096e909d4daeba08c59c93eaaf5d3e33962686df777ba2337be411c6f4
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00107/instance.png b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00107/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..bc3cfb17071c90cc3a0ca0244857cd0141647141
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00107/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:95c04ea12d968af804f7a2db201c5a8cfc435b32a3e3ffc0dd64bbf220c5780b
+size 162303
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00107/rgb.png b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00107/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..dcd7316c9e464ac73dc7ae292ec99c9251f538a2
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00107/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ceb7fd07c6f9569d7d81a19ad96f900742676da2176e075263c322607cc8dde0
+size 1900712
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00113/debug.png b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00113/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..12e42a29be7c67f864c0116c1d23459b6d4cca78
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00113/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c9b9edb3be1a43761e7fcf8f44e420fedd6dc88981ed7181a617ab54ab96c479
+size 1901282
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00113/depth.npy b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00113/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..fcd33c0e701d7406d090557bc2a8fc1c4c2d0f1a
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00113/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:44a6d4cd15656a75a6e4dc788f8f5b8fe904a55fdbc8061ae8c619be173d2263
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00113/instance.png b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00113/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..ce46b0fc615530c22560d0da053543ca24118da2
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00113/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7bec68f6d824e5de6283e001484d427ce796da6734a06d75e5a10d23078c6476
+size 157667
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00113/rgb.png b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00113/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..42ec57975baabf50f85bac5350ffd79f88c732ac
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00113/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:537e5f8c82982c2c0d98d9bfbcbddfa7315ba1fd3129bd1ff44b924bd8f4995a
+size 1903095
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00117/debug.png b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00117/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..fe5dd1553dceb4ab13a00e6704b2c7fa1671c7ae
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00117/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9b6709731976377d1e31753c26acaea50e847849e5559a2a1d5c55c549e76fc4
+size 1895645
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00117/depth.npy b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00117/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..b617f3f29cc8b4ffaaa4d5be26eddab99060d0a6
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00117/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:90b7e2cf1f6aaedacb1d5e21f8881de83fd78539636f69501797f90b85a5f2c3
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00117/instance.png b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00117/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..56bfaa5886384549d5a70436d2d58a8722b87d6d
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00117/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8f03381000ad567f0ee17e43646e755f80fdf503e2d8c480c8c0c49c412086f6
+size 156289
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00117/rgb.png b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00117/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..9a1b6c33fba6a542599f0a5ead5dcb25a6be5c12
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00117/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:57460c8c4ef6991bf554ca72dc77573a532803231444ddb989853a21a16211f1
+size 1887792
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00119/instance.png b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00119/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..012cb02a7841387e744833f5134c097324b38508
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00119/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0545392562d90a4ab0f77793fd323a0a43e2ed8193b55adf7d4299e90e91cbb2
+size 156373
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00121/debug.png b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00121/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..1fe4699c7053fcf498808eb0bf8704d9cbbf9d1c
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00121/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9a817f5cfea85ffc9ea4c3c3ba3c1eb59ca27a5018edb1d151a7ac3b5981ce63
+size 1892118
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00121/depth.npy b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00121/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..2c75c71c4953583f552b907a141744d29ba6a8d6
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00121/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fdcbfb55dba0144f4b27f6bb41e87bb798d00eea519d618890b53e0a958f84bc
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00121/instance.png b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00121/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..a9fa18dae1d24749c9d79861b8276127304d22fa
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00121/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b396b6d2749d49c6293640a96bf3a7c1ac49a4b9c29a76dd1b4d9a570388ef2b
+size 156426
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00121/rgb.png b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00121/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..adfbd0959a0b87e99aab04794ca0ac4ba40ffacb
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00121/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:135ba441dda31e5380eeaf78779128d0c46bcf071f6ca8befae040028fc0b7fb
+size 1878533
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00126/debug.png b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00126/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..450d8c1d4b595daa4e4462f01d5042164e094365
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00126/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d0d17af0dfd6c0add502e800cbbabfdbf94c2d298855f8cb4cbf170f58d86eef
+size 1878319
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00126/depth.npy b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00126/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..a113abeb5d9965efc844e4a8a1cf6239804f4eba
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00126/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4aa64f185449b0ece4ff655f44d541a34f32d5939658ab0fd80c947022e3352e
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00126/instance.png b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00126/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..2beb28d0d62f9b03aca75c91a29a765981da953f
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00126/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7ae508381f239000cf93f3a2114e6bb67e84d7056284861b024caef0a664ff04
+size 165863
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00126/rgb.png b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00126/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..2ac471b095047e750304b4d711c36ff78a877e60
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00126/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f8ee25f19f99cb45be5bd41f3401801c2e91cc045bc1c0dcee5f338bbec0e044
+size 1874803
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00127/debug.png b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00127/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..eb4bf05b854d317e8067befe6cc29b6f083385a1
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00127/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0d6aedd814001391c7379e1e4ec2a874c14629943af0794b8bfa915cccb0b542
+size 1881353
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00127/depth.npy b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00127/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..c5a725323b05eddae4670126c8a475f4532fe768
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00127/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:838aaf7bb75376cc69519e01ab5c45d3a1042ab52457d1c6d0778f84c8980f32
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00127/instance.png b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00127/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..698d7ff8e0bff28541526876a7e5adb6777ca776
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00127/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:66fe0f22e79eb6ae21e9277f47847601ba0a94f889852c668bb8d57c83204fcc
+size 165717
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00127/rgb.png b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00127/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..8ebe27ae4b1569f8521d3739c1198267661410e6
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00127/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bc51267ae08c260a7b107f27fcebc74fd57634abcabc1f8cd0aef0585aab51a6
+size 1871710
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00128/debug.png b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00128/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..abd954fc1be7cce57ecf081575f3502f72797644
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00128/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cd875496d85b681fd52749d81ace1baa4f3e84cefadd2a9a6af3d46d8b7e3fb6
+size 1872435
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00128/depth.npy b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00128/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..27d9caaada6072266f249d3c0b494c0498c1b1e0
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00128/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fbc408644ae645e03acbe12e76413417c49d4034f8e69c287e074669101615ef
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00128/instance.png b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00128/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..1ca4a98f9efc825a2edd3aea6daf0ff93bb366f1
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00128/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1560a3ff79ec9ef2c9007dac0d4834bc64dd73ac2884838cfd29e51e45ef5c3b
+size 165034
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00128/rgb.png b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00128/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..f357b047a017f64c650dc35b3459e3fb80fb05e5
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00128/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5f0b1b8127e372a469f488142938735a8a3fc971737cbade19f0298e0047ee6e
+size 1872953
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00132/debug.png b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00132/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..38f6062181934679973d7176811ef51a8b0aac81
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00132/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e018d2581006be43e2cc10bb3009bcd538b847d4d8bf4a7025c0534711338092
+size 1876794
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00132/depth.npy b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00132/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..eab31dd6b53947260b2870e2342a39c35e0705fd
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00132/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fecb69b158412a923b77eca7c733ea4f5e1903591d22497a949895174e3a9556
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00132/instance.png b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00132/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..fb279afa19e8994f935b71049913564e6ebbfa01
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00132/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7cd1f94d2f1d07fc93b6abe85de4ce98a994909cefbb5bb2021da28b13a750f5
+size 159180
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00132/rgb.png b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00132/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..d5a6acd23bdaa7783ba348407e5841a9e9e64146
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00132/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d1ca769e618e403d069550e69b449d475a919231a8b014de99b77346eff70ac5
+size 1858617
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00135/debug.png b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00135/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..f60e18028106abb0932c39e77a6040a6b56580e3
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00135/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:48f5cdf28012ed9f6c32a6b17d9380d8f667513ac92051d1d6fcaa1f73f9aa72
+size 1875776
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00135/depth.npy b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00135/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..7926e334ef928c4385939021c49667501b418448
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00135/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a862160ecb2d765406dfb7eb5570c6b01cb68fc6441491fc7dc3453f136c2205
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00135/instance.png b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00135/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..90319ae995e4d596bdfa094e81c5ead4beac4fec
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00135/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:38ce98d89862deceea87e09e9b73555f9a7d0a62ced250971ef6b35bcee497e9
+size 164006
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00135/rgb.png b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00135/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..31a906ce909beb4951a5b16cc29b6abee73f3ab0
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00135/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0017cb14d51814b2be093282f270f3b772a21e9525157f73a030f9e67fea944e
+size 1863514
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00136/debug.png b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00136/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..0c61224d1a74e57e5cbf23cfc088c632db038214
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00136/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1d4c3893573700fd79c8b33bc8fc3edb7ab0b5989133be2a2223e6bba2403373
+size 1855922
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00136/depth.npy b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00136/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..859ca57e84c965944185311b758ceab20fd75a10
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00136/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0fa3ce5a95b10dc8a1758745a41bbe86153b5e5291919984b6c911a68648f50c
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00136/instance.png b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00136/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..32607688841fb7107bd75689385bb5d32606600a
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00136/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5088bc2cf8d7e3dc0a2a64ae17654c20d0f596970d0e4aeb94c88991dcda491f
+size 162862
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00136/rgb.png b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00136/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..19addc06221b16b52d8771938fd9080656ddee53
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/ORI/frames_playback/frame_00136/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0951c57723a475e3c5b96332145186801e0329cac52a1572049d77aa1c719b5f
+size 1855864
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/aug_001/frames_playback/frame_00004/debug.png b/data_v7/Town07_Opt/trajectory_1777143657/aug_001/frames_playback/frame_00004/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..e1df2e97219abf88c5a9a994fe3bf82d2b25b892
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/aug_001/frames_playback/frame_00004/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5234c0c67dad7ce354560cf77567fa0688d4cba622ab4eefdc006464edf54a83
+size 1854046
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/aug_001/frames_playback/frame_00004/depth.npy b/data_v7/Town07_Opt/trajectory_1777143657/aug_001/frames_playback/frame_00004/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..e3a9f06a73f8cfb7d53b5d33a56f2995e99d62ac
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/aug_001/frames_playback/frame_00004/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:561b8dad77e6010dcb8f0874b8334769a8882de8cbcfb590d3aa93aaa581f69e
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/aug_001/frames_playback/frame_00004/instance.png b/data_v7/Town07_Opt/trajectory_1777143657/aug_001/frames_playback/frame_00004/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..240c3fc9bd72dd30793d1723d81379a7e06758c7
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/aug_001/frames_playback/frame_00004/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b28cf28854b74eec421e52f18671c59ac3cbf9b083e74131a7e689cf244a9e5f
+size 125826
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/aug_001/frames_playback/frame_00004/rgb.png b/data_v7/Town07_Opt/trajectory_1777143657/aug_001/frames_playback/frame_00004/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..ea202c4057120ff84b285ac50aac36dbf0a016ed
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/aug_001/frames_playback/frame_00004/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:796130a0265ef6ed2e20dcd3be6c44759985c07c9fb0915e85541712109f11bd
+size 1810064
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/aug_001/frames_playback/frame_00017/debug.png b/data_v7/Town07_Opt/trajectory_1777143657/aug_001/frames_playback/frame_00017/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..782c8a5adbfa7d185aaade6c618f77c2bc1efbb1
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/aug_001/frames_playback/frame_00017/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f0d7d664316d4455773bdafd5cc34e03eec6d4cf88a823554b9a7261e4859e52
+size 1892404
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/aug_001/frames_playback/frame_00017/depth.npy b/data_v7/Town07_Opt/trajectory_1777143657/aug_001/frames_playback/frame_00017/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..c590a26ed398286b673e7932dfcdc19aea3bbd63
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/aug_001/frames_playback/frame_00017/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aae2d4b17425cfc4704c9505dfcab570ee26899bd0cf48aea04fd172187b6f8c
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/aug_001/frames_playback/frame_00017/instance.png b/data_v7/Town07_Opt/trajectory_1777143657/aug_001/frames_playback/frame_00017/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..f32e1277ab1a0e51e7154601e59efc93c0246dfb
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/aug_001/frames_playback/frame_00017/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:05b1787cd7a6a562a704d2ac0d1be908f51e8b6fb156f149c80a99691ecc777d
+size 132835
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/aug_001/frames_playback/frame_00017/rgb.png b/data_v7/Town07_Opt/trajectory_1777143657/aug_001/frames_playback/frame_00017/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..58182fe3c63f0f2be350e4331d1f41bd30ee4ec7
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/aug_001/frames_playback/frame_00017/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9e3285a47719a7c82a23fff785ab4e224a2b4796659fe10f9965de9b80c4aff6
+size 1845776
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/aug_001/frames_playback/frame_00034/debug.png b/data_v7/Town07_Opt/trajectory_1777143657/aug_001/frames_playback/frame_00034/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..f18f9c8ae412c27e0f65e53962e71baa6183f9d7
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/aug_001/frames_playback/frame_00034/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dcfaccfe2fa37b6229d77d8b0dcfeeaa17ab9c5577ef058822922f27c0fc58d0
+size 1938169
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/aug_001/frames_playback/frame_00034/depth.npy b/data_v7/Town07_Opt/trajectory_1777143657/aug_001/frames_playback/frame_00034/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..c4dafb02cb936c0f2fbe1c92d621a50e805a9ac5
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/aug_001/frames_playback/frame_00034/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d4b305bd5936f9188c7f71f18c321dfdc28f3c967324893d054b905cb5d87c98
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/aug_001/frames_playback/frame_00034/instance.png b/data_v7/Town07_Opt/trajectory_1777143657/aug_001/frames_playback/frame_00034/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..8dfc765924ad45688af311496cc134666503c655
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/aug_001/frames_playback/frame_00034/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a807d742f1c04df8790f1a8b15172d45431252593ea1c908e9a7fd8c1d91f3b4
+size 134259
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/aug_001/frames_playback/frame_00034/rgb.png b/data_v7/Town07_Opt/trajectory_1777143657/aug_001/frames_playback/frame_00034/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..6545523133fd164dcd5d38d79d8caafc068f01a4
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/aug_001/frames_playback/frame_00034/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9e2c888113d0f1832515901ca61268301742c3a97f6218c9efbc26fbc8679e08
+size 1893909
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/aug_001/frames_playback/frame_00041/debug.png b/data_v7/Town07_Opt/trajectory_1777143657/aug_001/frames_playback/frame_00041/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..d820de3ae54f9acf0e263570376d308b6b28f1b0
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/aug_001/frames_playback/frame_00041/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e36737001e43c658517efa84db135828c52146f72957db38643c2314236eb35b
+size 1909765
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/aug_001/frames_playback/frame_00041/depth.npy b/data_v7/Town07_Opt/trajectory_1777143657/aug_001/frames_playback/frame_00041/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..c747bb2a3bbdd5034710ce2546ccd2b8d95db98d
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/aug_001/frames_playback/frame_00041/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:066df46960929833b7f10073b4f2106bd409d9b5ee876cd78415c5aba0baabba
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/aug_001/frames_playback/frame_00041/instance.png b/data_v7/Town07_Opt/trajectory_1777143657/aug_001/frames_playback/frame_00041/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..9ffee85ea1b57c3b9398ff8abf6164b6aca07bee
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/aug_001/frames_playback/frame_00041/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e6b8f3337d62019de8517dac5eb7b37c07f7e1f838575349670789f98e673096
+size 138632
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/aug_001/frames_playback/frame_00041/rgb.png b/data_v7/Town07_Opt/trajectory_1777143657/aug_001/frames_playback/frame_00041/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..0fa0c9df057420a9c09d44c1ff94eb8d7129b130
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/aug_001/frames_playback/frame_00041/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eee80db4c23eeb568538502c88d41d8249b46baeefaa623a9a665fb0dc3bfd79
+size 1867483
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/aug_001/frames_playback/frame_00047/debug.png b/data_v7/Town07_Opt/trajectory_1777143657/aug_001/frames_playback/frame_00047/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..c6d4899b0c7326a65db06972ea0db0f887130cdc
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/aug_001/frames_playback/frame_00047/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:025fd711375c96676d03703aedc2a089de7a99acb84184d8f1ddc10ab4a65204
+size 1902023
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/aug_001/frames_playback/frame_00047/depth.npy b/data_v7/Town07_Opt/trajectory_1777143657/aug_001/frames_playback/frame_00047/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..72ce791cbab86bb4e1f6fdb73e66beddb38562b3
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/aug_001/frames_playback/frame_00047/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6efceb3b887004500359fae503a3a94dd44d3220450d2281fc7dc0f819bb518b
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/aug_001/frames_playback/frame_00047/instance.png b/data_v7/Town07_Opt/trajectory_1777143657/aug_001/frames_playback/frame_00047/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..e3e6bced37048d67d863dbf7a66238296275ed17
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/aug_001/frames_playback/frame_00047/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1cf3c1d94e75994bfb867e097505a7f522e4e485991b5967ad8656da07a627ac
+size 139644
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/aug_001/frames_playback/frame_00047/rgb.png b/data_v7/Town07_Opt/trajectory_1777143657/aug_001/frames_playback/frame_00047/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..e0bbf37d5e6ba2e378a0f5ef18e78cc3e4cb330a
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/aug_001/frames_playback/frame_00047/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:82e0a5d9e51196e236b93710e26a73dec32d31781f647ec026979198b75a99aa
+size 1846423
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/aug_001/frames_playback/frame_00058/debug.png b/data_v7/Town07_Opt/trajectory_1777143657/aug_001/frames_playback/frame_00058/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..53b4fb5dfed4f64f7327e01f3c28f8bd50fbe6d7
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/aug_001/frames_playback/frame_00058/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:87afa41e05fcda7da2032381213a1f9a45437528572a3101f38832d224ff99d0
+size 1888844
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/aug_001/frames_playback/frame_00058/depth.npy b/data_v7/Town07_Opt/trajectory_1777143657/aug_001/frames_playback/frame_00058/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..44d6aa45a8b62aef8e6c97bd899fa4cd8d234c3d
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/aug_001/frames_playback/frame_00058/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:89b3db15ac23736bf680e4b3b416af16a297cb0a9544e99dd85cb5c464676245
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/aug_001/frames_playback/frame_00058/instance.png b/data_v7/Town07_Opt/trajectory_1777143657/aug_001/frames_playback/frame_00058/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..3e6b0bdc6d1e2e134505c38e275127e27b2966f8
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/aug_001/frames_playback/frame_00058/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d5c6dd9a0b6384286ffad61d6dc120c0b87a95dc857e153b917859bbd77a3b0a
+size 139927
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/aug_001/frames_playback/frame_00058/rgb.png b/data_v7/Town07_Opt/trajectory_1777143657/aug_001/frames_playback/frame_00058/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..e67d4acc162c0fca482759db3fb6c944bbc6ad09
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/aug_001/frames_playback/frame_00058/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6230033bece4a4fad0a5d4869d1f53caef97ba4a7ae832d5079f05f3262bbed3
+size 1844474
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/aug_001/frames_playback/frame_00062/debug.png b/data_v7/Town07_Opt/trajectory_1777143657/aug_001/frames_playback/frame_00062/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..01a4e3f8caa44efbbd65bb544a3327087d1e0e4b
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/aug_001/frames_playback/frame_00062/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4f8e9bb5a53fa56497f5901f470b037b6ffc129716ace395270765427b9ab67d
+size 1857648
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/aug_001/frames_playback/frame_00062/depth.npy b/data_v7/Town07_Opt/trajectory_1777143657/aug_001/frames_playback/frame_00062/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..9a70b9817fb9b65bddd161e62b34f6dbd6df9ee8
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/aug_001/frames_playback/frame_00062/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a8aa6c8e160b4a318dc7b49e3bf059695819311c6d1d42bbafb6b5c9edb6fcbd
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/aug_001/frames_playback/frame_00062/instance.png b/data_v7/Town07_Opt/trajectory_1777143657/aug_001/frames_playback/frame_00062/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..0fadfcef546a08f631f0e3279b0adfcd7ceebe5a
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/aug_001/frames_playback/frame_00062/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:477473a3d42b40f7ebfd2a9104fb1b92d62d99a083c40dbe1166a506c47900b4
+size 139342
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/aug_001/frames_playback/frame_00062/rgb.png b/data_v7/Town07_Opt/trajectory_1777143657/aug_001/frames_playback/frame_00062/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..7516fbd960c84aa3aef2f448df860c9c696fd629
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/aug_001/frames_playback/frame_00062/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ff415034cf7039f1efa6d581834a3fea527d261d343aa8cc3ea0a3bf82c4a0ad
+size 1819113
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/aug_001/frames_playback/frame_00067/debug.png b/data_v7/Town07_Opt/trajectory_1777143657/aug_001/frames_playback/frame_00067/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..dfb284868c077c8a4d00a0f1de524a8e34c578f9
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/aug_001/frames_playback/frame_00067/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9ca4fcfd1d1fce9642ef39adf137557ffd89a3b47e7d651452ed612d37a909fa
+size 1880996
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/aug_001/frames_playback/frame_00067/depth.npy b/data_v7/Town07_Opt/trajectory_1777143657/aug_001/frames_playback/frame_00067/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..38b9a5b49180b173e04408cc98e9d0d5885d5d45
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/aug_001/frames_playback/frame_00067/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0ef94a503d9dd7ae431ea07aba252aba2465c2302c6899c1c4937c9e1380a685
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/aug_001/frames_playback/frame_00067/rgb.png b/data_v7/Town07_Opt/trajectory_1777143657/aug_001/frames_playback/frame_00067/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..9473ec19103be379885cfc49fe1e53d2728c81f7
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/aug_001/frames_playback/frame_00067/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:921717798f3df8d6fe25071d2acc897ef29fc5257213b5277c8671dc42d7b6c9
+size 1858372
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/aug_001/frames_playback/frame_00087/debug.png b/data_v7/Town07_Opt/trajectory_1777143657/aug_001/frames_playback/frame_00087/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..0a7305db940303f800266c9172aec97cf805fb76
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/aug_001/frames_playback/frame_00087/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d9927290479878dd37b29cb34bcd5318975707b234d31733f9e70382b8a776b0
+size 1868731
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/aug_001/frames_playback/frame_00087/depth.npy b/data_v7/Town07_Opt/trajectory_1777143657/aug_001/frames_playback/frame_00087/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..e0c82a6a255d1a34f2f3eacbe9711a8b7c607357
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/aug_001/frames_playback/frame_00087/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ef8848169e4a7ababd09e9bd111828a7121aac8583df575695d51160e9ea14bc
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/aug_001/frames_playback/frame_00087/instance.png b/data_v7/Town07_Opt/trajectory_1777143657/aug_001/frames_playback/frame_00087/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..d32cd09ad44198df8e81ab9b0d2f1ed22c34871c
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/aug_001/frames_playback/frame_00087/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5e433e3f52752573e68e976b6d770449940b66df94c333549320c3a5ac5420dc
+size 154807
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/aug_001/frames_playback/frame_00087/rgb.png b/data_v7/Town07_Opt/trajectory_1777143657/aug_001/frames_playback/frame_00087/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..6b334d01e6ef1e2721af16704a55d2b83f58facd
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/aug_001/frames_playback/frame_00087/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:def34fdbdb8bca9d2976855d1cecba071356cd3d504860910d56d95e563e089f
+size 1846479
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/aug_001/frames_playback/frame_00089/debug.png b/data_v7/Town07_Opt/trajectory_1777143657/aug_001/frames_playback/frame_00089/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..c301dbc2c4d36eb504a5567f76fff067a2bb2cd1
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/aug_001/frames_playback/frame_00089/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:023a8aeb98fbacd4600ea078e00984231067270914068370669b8e2901a65ebd
+size 1905605
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/aug_001/frames_playback/frame_00089/depth.npy b/data_v7/Town07_Opt/trajectory_1777143657/aug_001/frames_playback/frame_00089/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..32b2c89701047327ab282e5020dea8027a000d25
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/aug_001/frames_playback/frame_00089/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2bf7309639cef63fcc83166776a784afe6b1cfd013299d8907529813d3d7587d
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/aug_001/frames_playback/frame_00089/instance.png b/data_v7/Town07_Opt/trajectory_1777143657/aug_001/frames_playback/frame_00089/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..0836b667cadf841c72ba7cf40a709862c68a4351
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/aug_001/frames_playback/frame_00089/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f3e2934cd8dba2d5b7d40e9f101077c480c5e305faa2cd9efd36f60a1e91d7c8
+size 153136
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/aug_001/frames_playback/frame_00089/rgb.png b/data_v7/Town07_Opt/trajectory_1777143657/aug_001/frames_playback/frame_00089/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..3fac83b3f0650be7c55c7670c4b0ae0d1a1c45da
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/aug_001/frames_playback/frame_00089/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3e9e8097ec2d0dbeaa0b52d3e3bf9fb62a22fc29c8963022a8941538fd14c4d3
+size 1871805
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/aug_001/frames_playback/frame_00090/debug.png b/data_v7/Town07_Opt/trajectory_1777143657/aug_001/frames_playback/frame_00090/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..cfc1aa464f256c61d8a756e8e8f794cb270e4ae2
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/aug_001/frames_playback/frame_00090/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3271511673e4b5876e552f9afc9d1bbb1358b7eac4b24e91305d8b8cbd6cdb21
+size 1941747
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/aug_001/frames_playback/frame_00090/depth.npy b/data_v7/Town07_Opt/trajectory_1777143657/aug_001/frames_playback/frame_00090/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..24baac36383addf57934ef1e694c04519a92e9c4
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/aug_001/frames_playback/frame_00090/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:424bd744d8d91cff54af245ef78ead4e16e5b34eb27a2f5253d4e2aee822df7f
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/aug_001/frames_playback/frame_00090/instance.png b/data_v7/Town07_Opt/trajectory_1777143657/aug_001/frames_playback/frame_00090/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..e04af63ae8933e631dc61145892953bc5616330b
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/aug_001/frames_playback/frame_00090/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8eefc1a51c9256b2e0b1d1943fb51d1ec36ea95fc267b3f5171c30e51f43d293
+size 164358
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/aug_001/frames_playback/frame_00090/rgb.png b/data_v7/Town07_Opt/trajectory_1777143657/aug_001/frames_playback/frame_00090/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..13ced12a26e7fe8050b6c4ed48a124d8eac312c5
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/aug_001/frames_playback/frame_00090/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a9a3f82a773a8c0206b2b9113775701945b523ee9592892cb8180147f4f4d650
+size 1917895
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/aug_001/frames_playback/frame_00111/debug.png b/data_v7/Town07_Opt/trajectory_1777143657/aug_001/frames_playback/frame_00111/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..6e5c26e26c35e7193c09bc3b5f7632098004af03
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/aug_001/frames_playback/frame_00111/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2024e8d8bae685aae98ef1709f7572c90c258509bc782180dc10ffdce7df505c
+size 1935215
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/aug_001/frames_playback/frame_00111/depth.npy b/data_v7/Town07_Opt/trajectory_1777143657/aug_001/frames_playback/frame_00111/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..c18d9f710952869163224487e16fe906e347580d
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/aug_001/frames_playback/frame_00111/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:df0f3d959fabc4f8167cc32cf12887c6421375c9cbcfcdd5bce2d8e3a33e604e
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/aug_001/frames_playback/frame_00111/instance.png b/data_v7/Town07_Opt/trajectory_1777143657/aug_001/frames_playback/frame_00111/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..4e5d6a803d3d15a6ca5d743cc8bfd6b12b46d6c2
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/aug_001/frames_playback/frame_00111/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ba0aa590482ec1cda2c598f5b220fba44ba9e6b8cc846c6d36db60f1efc9f102
+size 157465
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/aug_001/frames_playback/frame_00111/rgb.png b/data_v7/Town07_Opt/trajectory_1777143657/aug_001/frames_playback/frame_00111/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..843a7c20b4d74722d20fd4dde546123af8c18e4b
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/aug_001/frames_playback/frame_00111/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:77734f1523c2922ba1d59e8e95138c84d87e50f688ac71e7bc1a6e9b0a3c26a1
+size 1902773
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/aug_001/frames_playback/frame_00116/debug.png b/data_v7/Town07_Opt/trajectory_1777143657/aug_001/frames_playback/frame_00116/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..e9c87bf98457ee964fe73c0e2fe72e65608558f8
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/aug_001/frames_playback/frame_00116/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bb73bf2d3d157a7c8eba4acd3bccdccb3273b01906a8f3578348a07a5af351a3
+size 1919005
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/aug_001/frames_playback/frame_00116/depth.npy b/data_v7/Town07_Opt/trajectory_1777143657/aug_001/frames_playback/frame_00116/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..5f14b9bc9ba21570db4ad6a049d642e0a9be5221
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/aug_001/frames_playback/frame_00116/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a40cd24d1cad9b04fd9e58d458abb6ed16a4c235632df6c508dafea9a6434101
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/aug_001/frames_playback/frame_00116/instance.png b/data_v7/Town07_Opt/trajectory_1777143657/aug_001/frames_playback/frame_00116/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..63ea65f6020e22eae8d7b044c3c7e1c1bd7db06d
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/aug_001/frames_playback/frame_00116/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8bb5613b49d237838355af19a2aae742ad43165f24dd72ef7d3129ee8e62915b
+size 151649
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/aug_001/frames_playback/frame_00116/rgb.png b/data_v7/Town07_Opt/trajectory_1777143657/aug_001/frames_playback/frame_00116/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..f0bd584bf6f04db9bc3179a145a881b6d26ea096
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/aug_001/frames_playback/frame_00116/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c1b3c07f342a582e7be1e09e66960d43f93c3b6fb3eb2f89824e8aeb9a80c912
+size 1871706
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/aug_001/frames_playback/frame_00120/debug.png b/data_v7/Town07_Opt/trajectory_1777143657/aug_001/frames_playback/frame_00120/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..304ebb7a32cf9711249a856bf7d8276ad4978841
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/aug_001/frames_playback/frame_00120/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9a2387da9eafb4f14e02573271901d2a50b05942603459bf0a41f0272f16be9d
+size 1923349
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/aug_001/frames_playback/frame_00120/depth.npy b/data_v7/Town07_Opt/trajectory_1777143657/aug_001/frames_playback/frame_00120/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..427d6c38eb0fd65a499d9ae5d879118101a2d597
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/aug_001/frames_playback/frame_00120/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6e34860af49ad51d55a9f980267eb4752768c999c39c17fc4b81733e7327619c
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/aug_001/frames_playback/frame_00120/instance.png b/data_v7/Town07_Opt/trajectory_1777143657/aug_001/frames_playback/frame_00120/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..73db55704468a005b0f919486569ed1a5a8096b4
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/aug_001/frames_playback/frame_00120/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fa074a492bea9a516e77a0e741824310638dea578ed4af11681d0286b87490d3
+size 155379
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/aug_001/frames_playback/frame_00120/rgb.png b/data_v7/Town07_Opt/trajectory_1777143657/aug_001/frames_playback/frame_00120/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..398f97aab2f6cfd468b2d130185c636749fba514
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/aug_001/frames_playback/frame_00120/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:efe3eb48f0259f52e1a678f8a3c0781346450a3f850ca98cd25feb6b851d0d2a
+size 1881225
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/aug_001/frames_playback/frame_00130/debug.png b/data_v7/Town07_Opt/trajectory_1777143657/aug_001/frames_playback/frame_00130/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..d627cdae89e2bb411f91c67188212c3e764f00a4
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/aug_001/frames_playback/frame_00130/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0c57126c1570d467a419c02d90ff88045e2674f861fd03e60ed9918de002dfd5
+size 1913045
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/aug_001/frames_playback/frame_00130/depth.npy b/data_v7/Town07_Opt/trajectory_1777143657/aug_001/frames_playback/frame_00130/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..7b946577a37871d95fd91c1ded8c7e147a095bb8
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/aug_001/frames_playback/frame_00130/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:de2798faf1afc1d7685ee3a560db12821baacb6fc6bbe3ce2e0747e99327b163
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/aug_001/frames_playback/frame_00130/instance.png b/data_v7/Town07_Opt/trajectory_1777143657/aug_001/frames_playback/frame_00130/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..dbeedaec387e7c240a09816732cc92c77ebb7e47
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/aug_001/frames_playback/frame_00130/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3ce34b95c2450b98817769c4db5d711d507dc7a7ab3989e7958b93c9f386e019
+size 159441
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/aug_001/frames_playback/frame_00130/rgb.png b/data_v7/Town07_Opt/trajectory_1777143657/aug_001/frames_playback/frame_00130/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..f0320a89ebdb99e1758db2c13127dc7b0632551b
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/aug_001/frames_playback/frame_00130/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:103b13951b34ab77211e082b49a8f0e12d59bbb2abd223030edc77b00720d760
+size 1873576
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/aug_001/frames_playback/frame_00133/debug.png b/data_v7/Town07_Opt/trajectory_1777143657/aug_001/frames_playback/frame_00133/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..475b61a9f4bbbd5daf3e3c850d48c9ea926166c0
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/aug_001/frames_playback/frame_00133/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6e2a5018eef5c433608e2234bb19826811a63a0c4dd5d2c77bcd65d78cfe6fe7
+size 1901485
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/aug_001/frames_playback/frame_00133/depth.npy b/data_v7/Town07_Opt/trajectory_1777143657/aug_001/frames_playback/frame_00133/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..0af773ea79660f77c3dc417cebf02064b97460a4
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/aug_001/frames_playback/frame_00133/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:046ac24ead52199369c85df2c74caddf364a2360a1b95229fac68b0ee59ff3c5
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/aug_001/frames_playback/frame_00133/instance.png b/data_v7/Town07_Opt/trajectory_1777143657/aug_001/frames_playback/frame_00133/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..50c70c01214a65fc223722aab5f91147cbd8bfe0
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/aug_001/frames_playback/frame_00133/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d792b3eba2070327654465d86e844dcb77b13324d10a7ece99f761ee14bfa2d0
+size 154385
diff --git a/data_v7/Town07_Opt/trajectory_1777143657/aug_001/frames_playback/frame_00133/rgb.png b/data_v7/Town07_Opt/trajectory_1777143657/aug_001/frames_playback/frame_00133/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..94a7158ebb1f50b8e62b5a19860986bd0a2621a5
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777143657/aug_001/frames_playback/frame_00133/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:517193775c0d7586dd72a06078730bce30c18d15a4f3745430a07e50572e38c7
+size 1850290