diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00006/debug.png b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00006/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..6c5577ab44f11400f6159f94ef4c02932ebfaee4
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00006/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1ac5f0e6986c78effcdd52cfab9af91039bc284b4896d6325f346bc9f3ba1ded
+size 1807827
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00006/depth.npy b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00006/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..98babf1aeaa509b250d675610570958e6e4840aa
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00006/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:86c42ada9275264d76e53c695a795b93151b34d5535a2a8b9c06a3017fcd3dd6
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00006/instance.png b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00006/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..af78bde40ae4f55af4516ef93d29e205606f93b1
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00006/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f7d1a2c58b546fd81f2e5ee039d274a9957ce619ab4280c680c82ea9873e200b
+size 120889
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00006/rgb.png b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00006/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..0eba7607b2901d1f33cc6f466ac2a03bf127e830
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00006/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:45a8d2e9a3636389ff137d8942f01911bb8d377cf25f479bc425dca4642effc2
+size 1803158
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00008/debug.png b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00008/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..fedec30815778fa160e53875deeda3dc3d4a1154
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00008/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9ad0646cc17764917d9d8bb31e4de4354db3d8d864db1065f31f7f4834fb11fa
+size 1803988
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00008/depth.npy b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00008/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..976aeabb31741f1c034324e2060e3a37517c02c3
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00008/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:28fa65f9a9dea19e84128c2187a148539cd182d3de2bb61ddc3cdf30e211b380
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00008/instance.png b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00008/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..ffd2b4db88ea4812d5ae08041d2d58bb226f752f
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00008/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8b8551fe57a571bf207381b0fe61812914a7c0cd53077f419f76e72358515779
+size 122401
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00008/rgb.png b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00008/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..f5793e072130173b418802afce4f543a8e485c09
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00008/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f0d6131139c53ffcb6a845e5ec7d9786d351f5b197531c0bd718a0be1d7e83a8
+size 1810018
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00009/debug.png b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00009/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..2cd6e308928ffb354a41d30b3fddd4afaee5dfb5
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00009/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b88d9e05d1e216d5298b206cfaf186834d9d3415d76f9f8db3b4449986d6915a
+size 1809502
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00009/depth.npy b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00009/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..03c48806d40f84d9182b62a1e85aabdfb0b5cd8b
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00009/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:adad9e9ea7cd4fa33da6f1c530922e91374b174adf9b1dd778331a219db79321
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00009/instance.png b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00009/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..c6732cb5db21cc3d3d558f14af9ac36d3854f4ba
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00009/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:69006f18b8c05b6b88f5b56b3d63290fce39b3e09736f027762166202c90771d
+size 123016
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00009/rgb.png b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00009/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..6b96662ac0ea56f4a5e8f20ec64c5853d4df2b15
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00009/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9b309d4cf061cb59f4c5d104629be8aade1ea7f1777a6bf31fa26a1cc7be8d9c
+size 1815901
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00011/debug.png b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00011/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..e4d16d8f7d3403ddd64de3883b69497efa95ac36
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00011/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c6141cbedc9c149c32bd4c2f2cae7473c4c13254ec87fe14883d44f8e11c586c
+size 1820226
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00011/depth.npy b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00011/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..75d7fe4514d5ecd26214a450da75335d837ff0a5
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00011/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:84c6783b0f5d86772c9493061ab508704e9ffd1553e553455c9a27b5dcbe8273
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00011/instance.png b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00011/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..67b530165e28586d6f4c0e365bca8a0e45b3a99d
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00011/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:406467852c6244322fff515640941d0afdb3c561bcb00c5d73c925cf9a1cb2d2
+size 123916
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00011/rgb.png b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00011/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..e50e6decfb69a599b815062abbb44946056d05e1
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00011/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:534c1469e449b3d93da5bbc981d88e70584ecba0b799159fc328fb68cd3b086a
+size 1826951
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00019/debug.png b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00019/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..8ea291eafb43f07b7be7b1a93d64bba09170f5ed
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00019/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c2772c9962c023560f4be4c59230769580f001d749ed8cc861d048e3fe05c6cb
+size 1849296
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00019/depth.npy b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00019/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..b3626bb8c28e831dce5231054b091e6da58ba569
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00019/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aa69d169595e40c4919da94b420e8d01d507e9998824ce631e92a01c382e37de
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00019/instance.png b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00019/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..ae4d5bed119331bdf1ccf0f88d08353bb67498e3
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00019/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4a1059adbb02cca360d2133b186bba1d8aa97e5a09e6b7c14be888b3ce677197
+size 128260
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00019/rgb.png b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00019/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..a5ffc29750fec619233dda4503c57cac65dd491d
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00019/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a53b9924146ba09d84afc2a9e85b329dbe61c71771df6511669b1466f3db71a3
+size 1857051
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00021/debug.png b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00021/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..86859a6edb88c43ce73a0366bbc53ab891a8a915
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00021/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:22f73a96b6b7bb49491e8c86f191a77ce2e2cb67f6e2e46cc2fcdfa78fc8f13f
+size 1849020
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00021/depth.npy b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00021/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..7c5d3558500c1e15d84410ff8f3154d7c97dd948
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00021/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cb9091af98d9c83a93b6e2f9935bab1f6f0168e9d879e4a10063399e07397568
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00021/instance.png b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00021/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..28ad27527540323c2f75260bda9188e84754e91b
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00021/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8aaf9a2dfc12ff8903f590aaf090dd8aa4702f110e2b22023a7a5ef07ee86cc9
+size 130129
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00021/rgb.png b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00021/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..aa958480d6b9c971fd0f4dbdef4ab21d768f9007
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00021/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:472b93adc2bc8b5b4250598460217b2694dd8df5417cc2528a19c9f74e96d0f1
+size 1861067
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00022/debug.png b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00022/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..bb3c6ea1a0239b4d7fd9fec7e6e7c7f283e5987d
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00022/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7002df2e5719e0dc0278841c475416df151868ffb3278eff58ce01812454cdea
+size 1849026
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00022/depth.npy b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00022/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..1bae1a5d503226f72094bc530e4732b808777e65
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00022/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:69378a0682f4bb0b951863c6ad0f942a33a488eab06a9d4c7be4eb2141e2fa83
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00022/instance.png b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00022/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..ccea081e77f0ec2f9d2f438d014235ec9b28a5d6
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00022/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:24d0e0d6bb2e609e934d217421207a612515c764bb47da9c9fe5e5d643de8a15
+size 129789
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00022/rgb.png b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00022/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..08d4da2dc1870d51aea01abb5aed5042cb5a9b4e
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00022/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9dde71f990d0fca94289d84c40466e7ec3e9ec629bbd0579b7a4271fff2e5650
+size 1864565
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00025/debug.png b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00025/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..8b1b9683ac35a05a8fcc52a67b28d93063822392
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00025/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1b5da296d81cafd27758a5eefee66d1896eda4021f997196e6354ae988eb35d0
+size 1872570
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00025/depth.npy b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00025/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..4ba8ef59fb9245634432853ec9fcf6d090a5a781
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00025/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:31661263c0dd6ec13e74d9fa3d0bf984bbfc9210702124b44d24f2a1d0dc987d
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00025/instance.png b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00025/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..623eca09e0ac56237616b5e77b24bac54d8c44d2
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00025/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b1846665a8973101a6d1d69368cd19792d79828c34fd2dbc4fb5851567d94f62
+size 130156
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00025/rgb.png b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00025/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..fd76faa7826479a4c7a09ab22762760cf616fcb6
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00025/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a2828f017293e8b3da1c3b89cd0dd2443d950645afc224535ddec8961cdedcae
+size 1874058
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00029/debug.png b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00029/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..44c899ad07c82f6878f335c7f34a83aae1ad9674
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00029/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5c8caf20cdd121ea3d8c5301a09796b9d13b635879098e2abbdc3a9ff0567435
+size 1878791
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00029/depth.npy b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00029/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..371bfccdb4eef35276d5b5372b87bdb592309e5e
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00029/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:049ab9c1eedd067e30f3610cea4f5b5b3f4965f9cd1f64896fa23f8a89b85884
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00029/instance.png b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00029/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..67de3fdde8631943f3cc291a10e1b8fa98405fa4
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00029/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:462cca742a25058b3f824c85f48aea8adb26cf63886055da57337992efb15abf
+size 134655
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00029/rgb.png b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00029/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..d19571a6ca6b815cdf85076978f5c0cb4798fedc
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00029/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2b5dc236cb06c64294ff439015ebe2b7c3602c29dd606d497fdc05768bc88794
+size 1885158
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00030/debug.png b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00030/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..eaab58f777c024bcbfd1dde5b61de440eb4c458a
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00030/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:34a9ca1e9fc215e7d98e0fd84fe4fd9d00feeb3196da78cfdd95027dcb676c71
+size 1887815
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00030/depth.npy b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00030/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..72b24bb3abc0ac0a3bcd9ad799263a028e9804d8
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00030/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8e14473b2b947a0626d2c171eb2e968b81bd85ba9a9c55f3ca6f8a3648503666
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00030/instance.png b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00030/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..017e8608c9ef4657dc19b46f7735840c538466cb
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00030/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:97bda2f4f6bcd74c1aaa4df00b01678bb6678356237eec7a07f0326cb3ee6911
+size 136053
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00030/rgb.png b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00030/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..9882a4aec4ab911dec51d464c780fcc189f77579
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00030/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ef622e0875859dfd0343dda17b09404757ff9f98b5c152a041cb33c87675b67c
+size 1892727
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00038/debug.png b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00038/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..5fc86d9f6e74df859e9e5b9e6945dea8f52d7e95
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00038/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5fcd4466f315780e31ceeaff9ac12c867c2a5e8846a1c17fc3b801a505db88db
+size 1903481
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00038/depth.npy b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00038/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..632eddd3e03354026ecc1fec478cfba430da26fd
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00038/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3719dfbaae88a0b1dc7bd3e952ea9db81eb98be56c95142fd5f76fb45861cc34
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00038/instance.png b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00038/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..f7e85a8ad12729823951421ff60207e285ed5bb2
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00038/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:05f15285c0a0a81348606099007d190c37ef4d81fa09d3863265f25982788c83
+size 143965
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00038/rgb.png b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00038/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..f7f306044bcab4622adbee37030bc740a01033a6
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00038/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3b556eb9f75daa98076e56d8998f0ce9fcf31ab7d3fef78e3e5be1b5897ce94c
+size 1899478
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00043/debug.png b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00043/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..5934174233fbda7546076a3c56bb0326f068c5a4
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00043/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d0f757c90d29936a7e78e935fa2e7092fbd75dd8530f0e272ddbdac83f672afb
+size 1899275
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00043/depth.npy b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00043/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..32056528c4feadebb8caf8d9f4ccc01fea6397d6
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00043/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e71fe4eed3c7f9bcd57692535be85bc88340dfa76e886f8644f39f482882ed80
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00043/instance.png b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00043/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..95176701d9ed55772ced5a446b5d2959dc37c038
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00043/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:090e76ddce8b4bd4bf5e3263d09fba19077e23b520299d6689e35aa78f8cdae0
+size 144596
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00043/rgb.png b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00043/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..0fde1b6bc7cd63e312ee40077339412aafa645a9
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00043/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:db56b472c59262f117eeb0ab84bbff3b35fe3d1e297f0f13429d9deeeb8a0c90
+size 1886951
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00046/debug.png b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00046/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..b27ed781556c88262fae866ccb1fbc7a25c7d281
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00046/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a0814e21337f6306e3eb20d4c4cc6b6952d6d398ac36a3bb5787868fbaefe0e8
+size 1903047
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00046/depth.npy b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00046/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..74628416878db0c175311d0aa97b16f9a288903f
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00046/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bfdcde00d1d42adfc3055ded3d48259831eb4648f8d0e51bd9b32258f7a88359
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00046/instance.png b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00046/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..4a8c1f325a2c943a71159deae7ea1bab32997975
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00046/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9665cc5445de9ea8c545678490ba370196426cb8fafda9fc31f3572b3741b1cb
+size 145523
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00046/rgb.png b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00046/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..24c091fbf9d10c9d46926d3b75b5d461f9959f23
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00046/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:de2b7b1794a64e4496670eeabcdd6ddd8d03e33f7570b92b54b13692cc602a32
+size 1895034
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00053/debug.png b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00053/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..4628e4cb2ef243140e9e29e5fe0493c61eabbe69
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00053/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:23aa2b9cbf2cfd3dac416d71102bdda0a8d60da0bce305605745ed940ebbbf5e
+size 1909261
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00053/depth.npy b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00053/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..fbfff8b5e24ef929ddace5a7db7d5c2dbd3dd76e
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00053/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:06ecacc539d0372b2f08c0545202efeab0e5527de97fe37a863a535b078dcfb9
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00053/instance.png b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00053/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..58b09c1ab37676732d764b6a6f9295b3fcd1e130
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00053/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d9ad10f24ed764ab07a0e9e360a67bccb06f3913dbaa087dcc8b8dbc505f1907
+size 145477
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00053/rgb.png b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00053/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..479751a060b4950b3882cbc74da31d4fd34be29a
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00053/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a57daa410a8dd37935209c1e8e99b8651e128a8292d7ee135165c85b5c1389f1
+size 1920031
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00056/depth.npy b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00056/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..8ef6b3bfc0f9dfbe5a2c155b42f9bdea9096c3d3
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00056/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:39a0daad946ecf464fcb905511e36315247801591cb727de8e23e48c8b7447ab
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00056/instance.png b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00056/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..aea5328845d7ddbba78d125170d37867218ee66a
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00056/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a5b65215c90e61aa134665aeb917db2d347b253d3cc32e2b477587742c43d010
+size 145985
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00059/debug.png b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00059/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..7c2fda5578fa36f1d103b0c60302223be59a81a8
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00059/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:131e38e7812b533b30aa82b5daa19f8ded98d8f84231b6e62ff8eb046dffa785
+size 1911508
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00059/depth.npy b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00059/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..b12d8a65a575ea8747e0865ff855528a2d55c038
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00059/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a2b7d81ba86735222bcf81dc34d4e5fa3210b89595b7c7c858dffa13dc333db9
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00059/instance.png b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00059/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..ebcbcb5271696d01215c52e31edc13e9bc7519f7
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00059/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e2f34a36a97ce76de04acf4087799c2688d5b10abb6847dc244eaa38dba2eb5f
+size 147318
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00059/rgb.png b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00059/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..8f29c9705abf8bb457d9d9187b787dcde27971ae
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00059/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aef86248987634d7112f553fba4c7016587e89c0d9d1d38b51be4dba2d449ed6
+size 1943956
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00063/debug.png b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00063/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..148286d508bd38430200f8d8e4c22d5ab5710fed
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00063/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b4477692ab8c59a421198eff8464c9a49f76a60510553d60b29146eaf98fe29d
+size 1925783
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00063/rgb.png b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00063/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..351e3ec46d3bbcb9311af677e12c4dbaef7909cb
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00063/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9a7ea34ce6cb16812ecf7c0065c2a8eee1a665cd7719fe93b2cdee989e93d70c
+size 1966979
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00064/debug.png b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00064/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..d540d6cf5c1bf1e9beb20ebd3052bbc23a422ce8
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00064/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c84f554362249b7847203fcb83997026298b815ff520b812247941db3f0b9b39
+size 1931455
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00064/depth.npy b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00064/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..fbac4a358febd53a9772748c5f43fb5851e869fa
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00064/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e57c9482ef8bd0868ec7c5932aaf3a21059344ddc95585ced187447f94ab59c4
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00064/instance.png b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00064/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..f077e0fd4224b60bab98c7cd2fa8af0a196afc5b
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00064/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3c65ae8e830c6dbb0be363d529b43cfd22fd6da771cf070ccdcd42b447e0db70
+size 147910
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00064/rgb.png b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00064/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..f689e555654b410c324d5274748d518b6ac1455c
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00064/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:89b4a9e1a70742f20a1d019df7333671fb2036495080036c130ba988e35b95a2
+size 1973113
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00067/depth.npy b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00067/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..eea85a28d58da8508893a51a5d110b68240b4c08
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00067/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f1570c3e41a4b8d5a430e775152dac64e9862f5b95b449e4c6da3cdf6ffb6ddb
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00067/instance.png b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00067/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..22fab006e9a2f7c90f63cdfe2380b0f662f647b5
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00067/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b3dce844fbc6a93aa509b781c9255ddc38b937ce322ab7685285a3032221fb77
+size 148809
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00072/debug.png b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00072/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..427169fd401ac244ffc677e1f027477054df1b66
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00072/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c4eed0fba8e8206976dbf6b965c71a4b2ffe8cd54bb9db617d189d560a87f4d1
+size 1940203
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00072/depth.npy b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00072/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..c59bdc8c94a1e7729cdf36c75ea87f68f61a0a2c
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00072/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8ae999a5b0d2ae512af5423d034e5f3cc1505578a21a9254eea196dde374bc05
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00072/instance.png b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00072/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..d02d85336fe6ec3b139b91637c71874c3e6ad4b9
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00072/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8a8c07fe8df27726115ce31afd6fcd1d9f45011cac5035eee9f1d4381ced199a
+size 147639
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00072/rgb.png b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00072/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..0c389dde7fc7c0711da443f2b33f8c0ee1c8e1bb
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00072/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9376fd486f9c5e28ba08af4f0510c3dc521a5884cd45d5e35b708eb2896399ef
+size 2007559
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00073/debug.png b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00073/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..73248b4d0f41a2fb1ce414711a9b7cb4be26c02c
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00073/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:522f81fdd418d6745b692fd0ac66a5d541014e307900c77d5ccce56f2b250e7b
+size 1945338
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00073/depth.npy b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00073/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..7273d34cc930a30ce0e1dbaefe0b5b88c72f17e6
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00073/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e6aa8efbc2073d88f3f8951b2eddfd7e30a25f4a81855db9117be8e3fda0b571
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00073/instance.png b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00073/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..7cdc75a1750642c2c475c1427debcb996acda0db
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00073/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6deba03efad022169a74ca2c6a00f4bf65ab874300388153cbf3a98c8a37ee09
+size 147280
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00073/rgb.png b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00073/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..b2c75dbd4a3bf97df9d20632a1ab9e59735f432d
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00073/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3dba74e727f6aa6b1d72989a2add2f34beb3ed6f3d427a85f29bc59b02a514dc
+size 2013632
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00077/debug.png b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00077/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..60f0ddb32df5cd1a0a27ddf64c8494338cc630e2
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00077/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b7072a6c19b0ef5c7b7dff3d5537e90dc0b6abdbf58d8d21915880d5abc73872
+size 1931350
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00077/depth.npy b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00077/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..884019d90cb884afe46707031891e5beb86f6776
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00077/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:463a922ec194b79cf203caec912a6141de5223531a51b849dbb2eb841b652a4f
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00077/instance.png b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00077/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..b017eab59454938c7f46905e3cb792412adaec7f
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00077/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:10d809fedfd79f157072a18407103a32cf2ed22e85af09533d8bdb6b64c4f74f
+size 145798
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00077/rgb.png b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00077/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..90e0559a1aa2112bb7638128a4d70a35601e35c3
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00077/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:da6f04d524c6168c6eb1de32bc57e23d70dcdff4c2ff4c0aa4812ea83fee7b1b
+size 2013124
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00082/debug.png b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00082/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..657fd55b343b51981f2cf8b122182ba333d39851
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00082/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c0372c03f9a05ceca166739e9c23b505a61e92e7a54ed67b806450a4214eaaed
+size 1927190
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00082/depth.npy b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00082/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..8557d3288748c3f33f48b1bf94851287046903cc
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00082/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fc9c6da15e710a91b262c438ef74c214cad4d307e39235d3957e561bf05d9724
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00082/instance.png b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00082/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..fe51189925fb65bb9606bb9f35a8e22c611d4190
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00082/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:262d0b628d8c14d415301424f359bbdc48436fb2d392d8d30d94a668add42505
+size 144928
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00082/rgb.png b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00082/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..5a1b9b88a8350073ed2bd97c545b8ea363962582
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00082/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:64aa0cd366ff4a25f59be7ee2713d0be996b4430e44b6005714bd5907c542b5d
+size 2007399
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00085/debug.png b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00085/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..ea7714e858b54bd1c108f93dd4c4ddbea3075a64
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00085/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:13c64f863da3ec594b509c356bf50d3ffd0494701304d90c6f3744c7ed22e410
+size 1926032
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00085/depth.npy b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00085/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..7d446cdbefd6c9c241b76ff76db90138744c0d61
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00085/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:517998d4914dab27c54763bc68948fed2fce7d138198b189ef4656ae3efbfca2
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00085/instance.png b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00085/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..0c4b1a5c99b5ee1acceac8dce041f983714a1e5c
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00085/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2cce704321995c44e8b9fa23045899477b98e45d8ce86c00544d1e6cb3710b75
+size 146394
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00085/rgb.png b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00085/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..418ef866491a8b79925d4ac8d18558c403a14790
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00085/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:962a2d7587fb5a02ac57fe4a0d7af9e9ba4e194bf0de4b069caeff207351be08
+size 2010613
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00093/debug.png b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00093/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..5d15a42600682e2d836d9b1d0d3bea98d22aaae4
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00093/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:584ef3aec3a32b5a034422f96ea699be2a291af46375fa10ae4c01b75439c995
+size 1926532
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00093/depth.npy b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00093/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..56b631b92a791bfbb57b0b2a24af2abfcbe2aade
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00093/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:89a3ad14242998304c670bcb12cb96ebf438413b9ecf2b6e96eef27215ce2ff6
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00093/instance.png b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00093/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..6eca12827f5f107e980002800903e4178deaddac
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00093/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7b619423c87ed82f16f6321a34c86fe772d86d3283bf44958817c38164ebab15
+size 144991
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00093/rgb.png b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00093/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..3dce3bc24379eb8f45a8d57c4bb276399417a580
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00093/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:167b953f652ebf5fa6e8605e8f505768d926ff19dfcdd63909d8e0b3681bfdfe
+size 1998245
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00098/debug.png b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00098/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..eb60561943f8abb7270dcebc57123fd8a17ef3a2
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00098/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ab6758c137d793fab383308beb74532e8369945b745d393d0ddb0119ec3bf625
+size 1923558
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00098/depth.npy b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00098/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..612b54d3f75498e249f782fea9b14424cd4d833e
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00098/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3d2c6b27a2ca3b2b024bbc6be3a6eed8598e48da1ee7150639cc2f95ba10f6e6
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00098/instance.png b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00098/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..e7c236a072b16de4f05267cc39c2da820d32be2a
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00098/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3997dc9570b775186e749370f59958cea6545ac76ca38e45a67fc1f9a1695b4f
+size 144710
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00098/rgb.png b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00098/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..6337201c8ed53e06fde7db19ecc06e8383f5348d
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00098/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:688e407684654a4a1e10ed6270535cba1099e4c009356b9c739bcfb15eaaa9e3
+size 1997157
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00103/debug.png b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00103/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..6fd4292a41e758d306be990f0d43a103daa461a7
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00103/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d2e51f944b477d64d5470138044c1cafc0cc92004d7712e840253ee5d142e0af
+size 1932792
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00103/depth.npy b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00103/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..a884648b9183ff9078eb8a84f4ef0cdd6faae492
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00103/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:22eb48eaaa40ff0b8ea9b28c97b0643d918f1405403c72710e1315e5142018bf
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00103/instance.png b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00103/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..4fcfc496e9ae770667e01cb0eb04ab2904307da8
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00103/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:69908aad3aea927e584499032f0c80ff64d0f54859adaa7664b68f5b0086bd77
+size 142482
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00103/rgb.png b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00103/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..eaf3ea646ec0da63ebac1d4f4f8b3e6825309e89
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00103/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d558f694b7e9004116a594f2b0a1ebfcc6b29d47fad4c53c5475e99996b91268
+size 1991656
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00104/debug.png b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00104/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..0218dd1e31ffd3837bc3188f8b7e6784691fdffc
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00104/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6b4658f65e3e2b1bd688970a65a532bf7942ffce288b0a72a3714ff6ece90044
+size 1945621
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00104/depth.npy b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00104/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..1b69b9a1aa6ef3ec2b218153f09a50230101bc80
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00104/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:115a17dc098f71d362600e7f70d50f8fb625eb08d78e8de4b98b09193f9242e7
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00104/instance.png b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00104/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..0d906fcf1b98bb141632ff05565f2d045f9e7ec2
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00104/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:85708a82527639625aa6e550509f5d4b6e54f6c727eaa42f48969ce62d337252
+size 144668
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00104/rgb.png b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00104/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..de68ac232e16c398be83ddb8d59fa824bb456cb4
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00104/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e0627ac711ebb8db004ad5cadd0fead5299c116d4f73860a5be650a5f2834054
+size 1993707
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00110/debug.png b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00110/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..7c7221789e9df71277f1786f06ae21ac54b01a0b
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00110/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3ff6233bd38e61add9110a9363084d12a24c6efb7bd7ef05c1e7cab3d4a57c0b
+size 1928942
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00110/depth.npy b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00110/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..97361f39548a52690663273b904df7b5466788e1
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00110/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:933d9a9fa273f03a6120df7cc7438a50d849fd7c87315e2b027de50fed8ca76c
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00110/instance.png b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00110/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..86fc227a3887b2aad20ce27ce6974186ad9e04b2
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00110/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8b89f9f0d3887acf80f762060e0ce28e0017b6ab77a498e35984c7cf54abd44c
+size 145010
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00110/rgb.png b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00110/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..f51d2ec6b45bc779e0344a5c0250135de1c3ae60
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00110/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:61f9d7120b668cb1f64d4b5b36423a5436fffc1cd541b2224d6f65b36b6541f0
+size 1972853
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00112/debug.png b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00112/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..44ee9b1404f591ad3640993f913d1d129509028d
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00112/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0cc16f8a39498f1dec50398e513915bcf4fb0e55ffe510bdb9ac0a763bc628c8
+size 1941454
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00112/depth.npy b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00112/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..c2f0eafe5d505bafa956e554e8702d4563d405bd
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00112/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7ad75e31bdafec83c54f205415d60f839b22711988dce4add1cc9b299eeccbf7
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00112/instance.png b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00112/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..00cb5d994ee23d5939c8028b4e0c2c5658b347bc
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00112/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:acaf6ab3042dad5ec2884f4fce69dc3b40045cd096f5c22f5b2c6caa6fe13f29
+size 144393
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00112/rgb.png b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00112/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..36c0c7b24c3d4649aa0a7a1a0d18722375fbe9ca
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00112/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ffb7d5fba42f62ebf03e4550c21b81b96b41439427fd9ae76af1e0cd5fdd9b64
+size 1980562
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00115/debug.png b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00115/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..1f95500659bf09323dda01bafb06396bfc4c58f7
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00115/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2efef8770251892bdfd8870e6f8854409b5eebafef4e38cf4bd6ff8f06ececf2
+size 1914452
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00115/depth.npy b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00115/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..33a4b4ed8c3f01319e89e056627480c8cf3473f7
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00115/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:49881545352cbd7702a1575e0cbf957ebec640040028681929289006d767b1b7
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00115/instance.png b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00115/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..9893e698a9ff35915111bae73038fd94ec626ef2
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00115/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:44e09014d52b8ef5bfd2110e1673e793cf1fae4329b2e07ea0afe35bbb24d289
+size 145162
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00115/rgb.png b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00115/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..40c8ae0976ae1cb49378c40946e87961edbc7063
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00115/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6a928eac749df377298252e583a032ae27ec6db83b96c0b4442e0bba76be515d
+size 1966710
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00123/debug.png b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00123/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..bd7f2ce3b59e6354d3e81d9c94e33a8009168c0a
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00123/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f6ecca3e9642abc26faf19610203d5856a49b1de8557869f1da8cfa66d909b22
+size 1887599
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00123/depth.npy b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00123/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..7e143f7c8398943fa2d27d025cbef47d30d129e2
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00123/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:02fcc342b895196986248b3a1cdd62b82a4abfd934c7a825db4a046fc0840f5a
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00123/instance.png b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00123/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..9aebe19ce6b1074bc59646a26a4983aa3558ddb3
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00123/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9e749bf3b4ab758a26996bb2e6a95d60dde48117c3508af166bfecca68b23eb9
+size 138814
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00123/rgb.png b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00123/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..dc9b642765ae4d01dcd04dab03774da11a01b2d1
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00123/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c007630ea58ccfe414ffb009da13cfa5de0b77b323253324549170749b948093
+size 1934899
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00124/debug.png b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00124/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..61457c43eb8b9ada664da80580369f2d7ee7cbf7
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00124/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a9056fe121d47bcbe77157bcdb41a9ac0d8b9632500fb68a6704ff039a7d4d89
+size 1891462
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00124/depth.npy b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00124/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..f20140d8c47dc8902d0c791227227f38352e89f8
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00124/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a9c3a1c9c73b5f304199122393863a72cb364b2cf38ea3d5ae2f905e5adc0b17
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00124/instance.png b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00124/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..0d8ad6a577e52f04dd9e7888e0cb47408ecff379
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00124/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:151f3c86bcf09d87166cdbfeeac193cc4760efd5c6904115c195ef1ecbf20054
+size 139177
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00124/rgb.png b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00124/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..7524f0a71f5cc40f26d3df89be63abadc04e9423
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00124/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b5375f92ae04aafcab7275beeed8bdba299db45c4c03812b03740d5ec3260c6e
+size 1938947
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00125/debug.png b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00125/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..0e04c62983b1e774af246bcb89c758b5ea57a150
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00125/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9cb0e3e43bb5ef11424ba0eab3f91e18f6372a39c11ae15b7f40e9fdb10c52fc
+size 1886646
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00125/depth.npy b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00125/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..2688c3a32ecba7b68b40a12667c35276a80b0d17
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00125/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1b60a35afc765bf416d213651949ef7ec9fe0cdd7768605499f6937ad527920c
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00125/instance.png b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00125/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..fa47deac6d1f802059bbae717a8c17ffabd6d2ac
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00125/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c890654b4bfe76560650957c9d8ff5c3a900068584b02f865e86093e53c8beab
+size 138321
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00125/rgb.png b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00125/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..8f53b21d7d2cee2b5d0e44fa5df4939d48381dcc
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00125/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f340c61dff755b927f4e21eaf494c0adac98f8a3fb0619b997874cdfd5129e1c
+size 1933442
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00131/debug.png b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00131/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..112288933f147bf228195d4801fb06034cb9339c
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00131/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f0497552150a053389af56626d1ad8a8ae98345912e95bc07826eb0083c389bc
+size 1888759
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00131/depth.npy b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00131/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..6a950f2c2bd670da52941843612b24d92d5c4389
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00131/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2a1a4877b173722677d0f881c720a02fe08fc72ca94727df8ae06aaeabe76fb5
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00131/instance.png b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00131/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..b6c021ac11f2dc0187fead092271e5cb73729243
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00131/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:df0955367af962c5962180aa555a1b312e8e51130d76b1a4ea4ece4e86a17dd8
+size 136523
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00131/rgb.png b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00131/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..d5e81bc4d836170d042755bc702ee09948da5373
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00131/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4736116dad67ce2851e492d9e1f36b8e1c39d5699c0b838e3ebf46401f20e539
+size 1941560
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00137/debug.png b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00137/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..e65dad79ea581366e3a5bf7fea751540fc1dca37
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00137/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:797fbc34aacdda508e73a252302bd4ca1ea5e5450e0004df56298847192f86e9
+size 1872438
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00137/depth.npy b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00137/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..16ed04692a3131a57bfbb91b9defa9d343de381f
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00137/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3183155c7799c7df80b1dc4cb6345458030719e19c3c66e771aab8f5b6d6dcfb
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00137/instance.png b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00137/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..42660e211a7cfff83327c61cf4f295d520183619
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00137/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b1d46bb6cbb3384cfe447a5656429833287ba1688c8202ca0f63579569eec7cf
+size 138766
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00137/rgb.png b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00137/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..22e68ac57b98eaa8289603a0337af68d47032c68
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00137/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b4383012dce98f57e3a65db883f0016d71bd7cb7df3ad0af34e5a3fb0ac77d0a
+size 1924295
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00140/debug.png b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00140/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..8b0ea16c915702257514d41499993bfe603202d4
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00140/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:799715017a44600d4c2730f473314377ea6702e8e8a6a5f65f7acb72f3fc71e6
+size 1867879
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00140/depth.npy b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00140/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..f6391522e3cf71aa0dfef3c6670fef4f4abc572f
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00140/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4b38b7d2d6c2f776672f91c83dd4e1d2fcbd8025299f686ca9c20881be14fecc
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00140/instance.png b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00140/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..563e2a9a66d037bb87899aef09ac8be329f27ac5
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00140/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2453bcd4a7d0711a81827e1a129f928552d3603eb76b87f76d1d8d1811ba6c67
+size 142101
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00140/rgb.png b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00140/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..127df8688cf5e092bd3e7bbea89065c0ad9055ef
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00140/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:07de1dc06982e5ef6a8acfc5f0301871fd528df7e4bf45054858735f9fca9e3b
+size 1912932
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00143/debug.png b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00143/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..b755194bb2f8a008cd77972246f2210000281d88
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00143/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bde27dc23089de00b5870495815595b9b0f999e6b2837f8f8ae94c08f1bdec56
+size 1862716
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00143/depth.npy b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00143/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..4a02c4ad30543cc65e15e54001e5751f25ea318f
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00143/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ea061c9029bcd7fe522fdeccd69fb15a49840af1bf13e38c935ab32c796f30fa
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00143/instance.png b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00143/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..8a7257d96e6b0a14155244fc84fe6b54aea5d198
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00143/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2bc47c174e68ce2d43c828569e90c7a5d9ed3d09e7c4ed902b4de32ce6f697ca
+size 147576
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00143/rgb.png b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00143/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..0a5970f0a685ed87de851be0623627cdc3e5263a
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00143/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:72f0cca1d7ee132bcf10e6cdc7963cdbdccff9940ceb9288e3bf32d2a7424450
+size 1901357
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00144/debug.png b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00144/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..c06fb5fc0f8b66c82eb47806835350b27b85442d
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00144/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4d5718f89a08279f7b3f23664c5aa45ce8564c475852a073292db810c49ba64e
+size 1848675
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00144/depth.npy b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00144/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..b917083cac7d39454ed20ba68f89792f09b7d27a
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00144/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:515d2bfa0616127e9b2cf1ca8cbbe15ee83a59218e1fa326499a0a85825f3e0e
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00144/instance.png b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00144/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..98c7bedf148beff8e114fd16ca31bf6bb118961f
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00144/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:844eca0b5542dafb2da422de3da65bff8d7d1834fb5bbccfaab1899b760ca840
+size 144611
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00144/rgb.png b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00144/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..c334e5f7931c626ebf11cd01d944946ff986787e
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00144/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bcc11de2b18ae184d6396171971cbf75397dbf131ebc8ffc1b76d8a19216d249
+size 1896832
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00148/debug.png b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00148/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..8ed0c995ed7e324a5791c2b946fa0e92fc59838e
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00148/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eaf54fb35f2e25676ad33f776b5c0c70e75ccfce6d590ad08791c8865d8f0f55
+size 1849262
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00148/depth.npy b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00148/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..f557618fdd808a231caebdb07cfb87d2753f488c
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00148/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:16f18016d575d14a67cfa6838a9ca9f17f3b32417eb51be40fc1565bc53419cd
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00148/instance.png b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00148/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..3bd6e4aadbd6589cb4bf305b415ba859a7d5fa34
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00148/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9f3d54df359fde0ff60ecbab206ba9d6b3283844c1a85f44f986da2df042fd56
+size 151173
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00148/rgb.png b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00148/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..5f9a3540cfee58dc044589166d1a75718a668d9a
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00148/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c5f3d5786e82281fa9c0196de97194755095e67832f79e51c33c1558bad36a8e
+size 1884198
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00173/debug.png b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00173/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..1cbf355ca33bfe67629c57b1645a529efa31d5ff
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00173/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7712da1042bd007149a11d49f403445f18eb448701dda86f165e2b2b4b0f709e
+size 1812053
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00173/depth.npy b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00173/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..19dee5667fef34f64860895c120195ab1b1712cf
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00173/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:92cff01bdcbe6eaaee36a090c3b98dd6967cf924692c4fa2b0567cd498a5c74d
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00173/instance.png b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00173/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..a8c0a87797651f7cd85a22a14b0855a0087a6c51
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00173/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f8a059e6a257a921d4763983a751d131374dabac3649f7b8a3e5439e97191f57
+size 157979
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00173/rgb.png b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00173/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..4de7755143cf6e220fe7bbffdbdc13552e30e215
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00173/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a16affbaf01c77240f9068831c85fc992b50279c6e951864b28423de347b1422
+size 1873597
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00176/debug.png b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00176/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..52c2e9f87b0956f2bc01cd973ff1a3b4b1987d33
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00176/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c7ec3c23908e1d03f02d4d8b07ba7416ec941f86d25de2279a422443d6c2f518
+size 1793572
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00176/depth.npy b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00176/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..25a85baf1aa9172ce23843d13d0b0cb2aa34f0d0
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00176/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:edc7e2d7dcd82e7be064a761244cd6712340c16c876bb5045bae9c7b009bda3f
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00176/instance.png b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00176/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..f40d606196288c4df91ae0b2e8c388d71a8d5676
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00176/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:398292979f8f23a65dc34764d011c1e60ee131c7df098d8bbc33eaa04442d7cd
+size 156871
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00176/rgb.png b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00176/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..6ebea06671c09d79beaa0d246afba9fea3a2ce1c
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00176/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8980bf371307cc0af5eb48426e575922e85aa404c4dd2e19ca93aec29d302df0
+size 1853910
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00180/debug.png b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00180/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..59999387e8b0a7962979e1c37d288d1709473458
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00180/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:486517e21b537d8ec8343816dd984bbfdee6a8cbf7dc98ce7d648ad5de0502d7
+size 1781739
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00180/depth.npy b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00180/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..583172cadc566f797e3eec5b580ec794ba30a5b3
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00180/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d76e5c50134d882ab0ddf9929bfe6e6154bd1a005e038bb1119465c88537faaa
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00180/instance.png b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00180/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..39573175964f798269a67e9c7ac463185f0bd3f4
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00180/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:597bc34f589bcfaf02331f27334c48bcc677a1035d5143180946e4b70748c346
+size 152541
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00180/rgb.png b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00180/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..c83364d2a6b0616272d10d7e6398380d66699f53
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00180/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:140c9ccbe0c263feec9d03fd312ec1cccd62903aba66db2e0c9844553ab5892a
+size 1831474
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00182/debug.png b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00182/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..d4c1dee048c3f8f9b3e4500fa039841f085ffcb9
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00182/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:753a08485959a778bc798eaec5983e205ebec6e7428b39a5c09299d269a6f0b4
+size 1754215
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00182/depth.npy b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00182/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..34b68b8655d836e6e6b00ecc231785cfc66a8cd2
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00182/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:adedf3624ab103f3c18bc0b6ca1c8b9dfb7414cf7e42c024620489543a21c7d8
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00182/instance.png b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00182/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..258d909627c1ce4b76458549bd703b984d086550
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00182/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:20c75eb6b88fe61d7bad560ea7a0bbaa540c662189b706048bf410a3bf40d882
+size 148201
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00182/rgb.png b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00182/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..99dcd40af09cfd315473e031ff8462d72e73d02e
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00182/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:79069a0de7391c6ac2bce8a8fd9d427e09ec72677b7000441639321d7d14ccfb
+size 1820714
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00185/debug.png b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00185/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..bb2b996583dcd4096f06db562489ae9191d705dd
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00185/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c6e898d7e3081c6b358cab5e92abc3c1fd0f4536256271ad11784783b861fbe2
+size 1747530
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00185/depth.npy b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00185/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..36c2bb5469cee298acf67e60cf6873b6db48ef21
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00185/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ade9c736ecc58cb388b7eac748fcedec202345481920b9f5aef068f82d6142ae
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00185/instance.png b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00185/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..67b1063808ca94c8fcec7ad4415fc1176bbcfa92
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00185/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2fa7e9eb474e00ce9b314b2a915967ea72b75a8bfc158a0e41d0f4e402d5715e
+size 145024
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00185/rgb.png b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00185/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..cd339a83fbed020423ee14f18824154b5fe72dbe
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00185/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7f1da4500407824c41ea3b896ac34ff2a1c8385e3da1fdcaef55c0e379ddef27
+size 1791629
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00187/debug.png b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00187/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..e94e9ff4126b889e5e296460da69540ae7b404c2
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00187/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bc5e6fba5102750942a32ea2614c161b2949360cf065547a13c4d380a6009c5b
+size 1745874
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00187/depth.npy b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00187/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..97a0dc498816d9e89f824b06e799a18a6081eba2
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00187/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ca71cb5390fe18a12885b99c2931ecf767549a6d7d683f1d4e88cdd3e508cf76
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00187/instance.png b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00187/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..6e5e9d555b998cd447027d79424c412159ea5c50
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00187/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:24cb15eb0fa16b2a57e5ec04187bd51e41e3058c2af2f919595f583fe31dea46
+size 143107
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00187/rgb.png b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00187/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..834b9ea7bd1202f4cc27578550bd043301ac9059
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00187/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:47f8e5511f262b38190e667d4d86fa0ef3e0d318db4c2f1f12182ee833fd21e7
+size 1785357
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00188/debug.png b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00188/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..ba7a47aa06d1ad204d2c0344929cc15277854fb3
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00188/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:08835ac16cb7e96a58c79364f930a2b8681c503be27d926f8e267117f86abbbb
+size 1742742
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00188/depth.npy b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00188/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..1d8ad75b7957fd0610bf3abb6c724d8f50e514e3
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00188/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5d2d78108bab58f9242ace063870eb20fa3fc7d79880da19dcfdbe10f56e4dd5
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00188/instance.png b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00188/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..3f63c052e8859574fc5e49779970fe5bb813e593
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00188/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c08fe39b792cf86b9755688b8f026db81c3040f5f3bc0a63efc70738a3eb7211
+size 140932
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00188/rgb.png b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00188/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..ed6b8f896903725cf65533e8fe588906c20a502c
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00188/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:53fe69250d5030fe8a0bda499e844bcb2752df25e5860d5912ffcec104d82a68
+size 1787202
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00190/debug.png b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00190/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..025c5f73c35efc964a620be7210a1ee1a460512e
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00190/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5ff9b1d54dfe77af70d2bf73ae339926ab5b87ad33b3d8660aab1bf2a0f8bf5a
+size 1732030
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00190/depth.npy b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00190/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..f4a71c67ccccf72c37e0d7e8beb1c66de768bf7d
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00190/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:218c0f0ea773b166ef2bad530b4a6969597185743bb2a04440df50b687ee34bc
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00190/instance.png b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00190/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..ab28f2d008cb74c5f041dfb5aa31ce8c5b103f16
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00190/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a70a6f21f5eb03449da9f6e61121ccf5278ebd422c3c1b053613d0c4acd09892
+size 139169
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00190/rgb.png b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00190/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..28b8b82654f38df27510e5911e88079a6b893582
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00190/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4121656618faa772e9b1240748156527271325d2417cdd7a4fb7df4994bfd6a8
+size 1763975
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00192/debug.png b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00192/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..20f2025fd5d93b8a8344a117f9759ec14fa13296
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00192/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4622031682bf7a917b482b2ff21a1f0f8c2ea0525213fcc3ca17187977a395ab
+size 1732550
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00192/depth.npy b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00192/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..bb7335d8ecc6d80535d8d4dab9397f74b5917390
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00192/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:935657468a237aeb29b2696ddd6b15c9bd6886ab0bf0ab88ac4370a2992e8cb2
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00192/instance.png b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00192/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..52866abef65c283d055071c0257c7f90ebbbdc8c
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00192/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a24fdde0b9dbd6ef3dd315e32400ccd9a0e1c0bd6d866481174c343cd8e0acc8
+size 137086
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00192/rgb.png b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00192/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..6cfc17aa76dc7a1f96ed6cb159cdf0712500c8ee
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00192/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5fea7022def60391c52ebe411c7a2d9804ecdbc2e165178c96b6a86a407fd150
+size 1764427
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00193/debug.png b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00193/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..f44ee35e60011d32c59faa35ee050a7dc4131835
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00193/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:572c385bc1217b174d8d49985874bd2eb57f972bac5ae7e250fb147eaf1e49cc
+size 1722800
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00193/depth.npy b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00193/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..e717635d860b81e49d6f9dc8e54d01031d1c3631
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00193/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f44534691b44996b217d1f346db1914c2bbc681daf6bd0d78820afa05d1dce43
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00193/instance.png b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00193/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..d476a6e4fed2a0db347a4ad36e698982c0ea773c
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00193/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:84c8bdf087cc9795d2391be3b08ac000c20a5544114f913981807eafb1bc0075
+size 136223
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00193/rgb.png b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00193/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..09b8425ec852c3b304bdad785c3bfc270586d472
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00193/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8e25e764e2c57ffdfc2eb2be80274fecb5bdc0458036ea5e717746db31791508
+size 1756953
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00199/debug.png b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00199/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..42938eb422246c2f84abe97f4c8ac81264a777e6
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00199/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9e5b1e7dbd2d8fca9d8a084cc1dffa29549cbaec53e54fff5a51402855b11b4b
+size 1717367
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00199/depth.npy b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00199/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..f6afac9a35a1e57010588a6506c4e5b89bd1b525
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00199/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1c0f6dabdcfff5e44c69eb8cdbfe53acf86e651fdd0d685cfc7b1e3d0699ccc6
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00199/instance.png b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00199/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..5dd2498b79975ca58e263553bb6fab31350b8764
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00199/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0291cc3a5f2cb83854511c28ee1ba9171d87ba9eb174f4ade54ddea8a1605004
+size 131514
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00199/rgb.png b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00199/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..36480d57ec123e842e16041822fe5d38e75268c3
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00199/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fd6052042eb214d9d9be31fb1664e360c8cc71a72162caf441724c38fd9464c9
+size 1724462
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00202/debug.png b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00202/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..394d3c826b041ba1a23c1608beee0434cb4c0710
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00202/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3185904c1e3af09aa9296aaaad03df19f6e74ee4d6f4fcb3b2b65393ffe336a6
+size 1703224
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00202/depth.npy b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00202/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..faa6e67f6dc5735820bebbebb1fcbdc2326242bf
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00202/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7217950db2169972b05ed6dfb396b9d354b77519d12e6307b23bf0731793da35
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00202/instance.png b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00202/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..82ab49c26032f53d52370dcbb806b6bb806c79ed
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00202/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:05f5efa1d2911ef941980f71edcc8180d33abbe987f890ed402669605d4e6cd5
+size 127659
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00202/rgb.png b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00202/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..1a229dc7220cecaf86cae92123d35f1793a96109
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00202/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f23103b8c6adfc7b6916d385f7520f824a7ddd523b17b0cbbf3053349f8b741a
+size 1691993
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00204/debug.png b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00204/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..66a6704234654632e685b96cb8e9fe54f5c04379
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00204/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9956e9da28efe65e2c2dd050f23b39dd1678743f6d3e2dd469164beb6c29b517
+size 1687860
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00204/depth.npy b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00204/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..495a70935efa3fba36ca3373542da6ce107fee0f
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00204/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c4eb358c09da85bb177df9b5eb2f1db5cf77e043be398a8c04b1c637e3ef9124
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00204/instance.png b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00204/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..ce6c0e4bbd36194989d92f29bf64cd2f2a2b68c6
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00204/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:17eccf9804b7becf7e3da709e96e860b38af0510411b04c00e069d06f1a7b2ec
+size 121445
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00204/rgb.png b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00204/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..c05beac567ef2415621ebf731200d55154c581c0
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00204/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:901f97c3e0b0103af5e45d28b7d99b3bfa446581f463889a629df0fbc5de7500
+size 1670096
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00209/debug.png b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00209/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..20d762a6e43648a1235a12f43a297f813009e244
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00209/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:76b908678bb3090250f36bbc436bd8954bf76689b72a3f52052a30d2c22f581d
+size 1667542
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00209/depth.npy b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00209/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..fe63cccefac13bb23c509a2620c46e60782f1310
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00209/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2ef748a5a93e355373701781d416d7c15a1694ee63414bb3a60339b131688d0f
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00209/instance.png b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00209/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..a6be19b595d3ebc842fafd3fb2c0c85ff2d29e68
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00209/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:359dff33592385600c8e91bc9a7f30ffd81f901446a2ba8ecb3296a56cc5cfd2
+size 112399
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00209/rgb.png b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00209/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..c0b7de2b2be5fad765f5f35b83d0ee417fa98042
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00209/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:35cfeb3d1bf5e2b3eefb9f672b102b2e28c96cd8d0ffa8b842bd45276901fe08
+size 1634900
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00210/debug.png b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00210/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..030209744bded001c410d40107cba420e70d7c2e
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00210/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4d15e8d4771eb02b6a57d39cc97e6abf21021a48d30dcb7772e80fe60ef748cb
+size 1666879
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00210/depth.npy b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00210/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..84bf13426595cc5316a072787d388dabc2eaf32c
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00210/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6fa10684786e56529a110ff9a2c87dd38184d7b5e16d40c73e8c856d21296c0b
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00210/instance.png b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00210/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..8aa5b1b82a141a7d0abfe6320c908c4cde67f51c
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00210/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c80e352555a833fd69abe7106320b712a6b0c8f7b6ab9085837a66ccdae85efe
+size 111567
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00210/rgb.png b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00210/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..a14217b4f5748df9e82dd63acb1fdf6e0bf93f75
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00210/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:78c5d13c6de2d746d9ef7b56c2126e7051fa3cae2d571f29957a5e3a8d9e8e46
+size 1627885
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00225/debug.png b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00225/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..a9b4e2ee5b42679fbc35bbc94dc89759d37e68b1
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00225/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:de00dc8614cb2121cc368da4c15354fe487851b7c0cd08eb10cceff2675b5d85
+size 1641535
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00225/depth.npy b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00225/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..95a7ab6047b1a133ede5c9e0225eed9bf736d426
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00225/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:378711f5ef30c74319345e760a88eade36897e41769143b21a9caf2c5b1300a2
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00225/instance.png b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00225/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..ef378698c167766abff0acd10154a6f1223c303f
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00225/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d8577b8e6415a70b76936637606a0914ecd7d09cb8b6dedb36ed603b04485891
+size 112837
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00225/rgb.png b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00225/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..b8c4f5038c01c513f205c024f8cd2de356a21092
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00225/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b409b6df31cb8bc60c2985b57666bc9f8e7a9a631c31539f24efd3628744ab67
+size 1608906
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00226/debug.png b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00226/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..9998330b76184cf13a6c552794a5abacc9696d02
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00226/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5622f0c1a523da7895a7ca8eeccfe1aebf4f1a3d5244a5e7b8fab7792e6f5e5e
+size 1647207
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00226/depth.npy b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00226/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..088b499c5aa6342b68701bc88b0bafe2af8d0efe
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00226/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e546693ab5f9cf92ef9acd2f4d78e4fb09b14ba7249fbf0e2871dd4c57963987
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00226/instance.png b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00226/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..fe1fba2b557fef91e48dae05c48a256d94f83358
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00226/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:af28799bf26438289719c6c9fa4763003eff738648c08d44dfda699d10433fd7
+size 111767
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00226/rgb.png b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00226/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..ada37685980af670c42d76e40e9d4684de9a6ae0
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00226/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ce3e4e0ba63321f28bb8e26510ac9b025658785d61348941558208a02f399a78
+size 1610843
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00229/debug.png b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00229/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..6a5040f8ae2506ff42437cda753bebb9024fe788
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00229/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8c88d98c425a111bfe160255288035f221fa52e265e0439f2506759b74bd1f2c
+size 1649194
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00229/depth.npy b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00229/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..af8917c6410d44d2a5730215b2741564b94b53d0
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00229/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:32cb81eeada7462d5f4bf93e4f82d47d630ff14094e7dd0f3ba138509b58c7e9
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00229/instance.png b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00229/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..35f86a26ce47e98489816a3c6be8d2dacfeb5797
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00229/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:744c9528f7b071e42dbefdd224b719de37a3dfbda014b916ad211e3aed18fdc9
+size 108978
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00229/rgb.png b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00229/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..9f037382deef8b4375368e2b9af2349ae28d521c
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00229/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:22643e8dd8d7ba92f00d4471b0f08c5ec757a709b98484264140640c1b5ccafb
+size 1621866
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00233/debug.png b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00233/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..78a746cc7c409a754065561b062e8737264bb7bf
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00233/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ec8fbf6a607552e7d0f6282915fc068fe747b2a6c3a46c9874e530dd7886a624
+size 1647205
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00233/depth.npy b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00233/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..e0126808b0a3ce8c0f8074aab7a2a7be47e0b60e
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00233/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8008e637224ec009a217e3cc3c12a21d2e9b48729ad65605be01a0128ac96595
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00233/instance.png b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00233/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..57d9a629e8bc921f293e267614ed8a524b187d15
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00233/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:edf852e2450b5a263eb582d7a2ab345741c7e59bcc00f19420e479df3c388d40
+size 105619
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00233/rgb.png b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00233/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..62a9434b2f431035ecf0e80f7186ff581aba9aa0
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00233/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8c9d96a47ba6f6fc29816eab24478fe4bfed445dccc7aea496952456f5964eca
+size 1623127
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00241/debug.png b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00241/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..8821df1333a30ff5d10210b3bcfb6dda7e1bafa8
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00241/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a9e69a508ce2fe7e89687f99d8e6251079aae2b4c5f880c98adb349c403c07b4
+size 1607124
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00241/depth.npy b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00241/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..f8d1e3ca0ab0b369c118fbd4c7419040e2479293
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00241/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b9618add4c6729bc37d15fafc4c7f56b590b4b6e7683b87f969cfa11b7cb6d03
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00241/instance.png b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00241/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..03f4f711b590d9d672bd9d9ad4f9abeec415eff4
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00241/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:edcc0c9fa9c84185a4d963949d663236c4d886bf40b1babba1e550d27b58f560
+size 89503
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00241/rgb.png b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00241/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..fb05e0a7d6830ba495cf2c36bf236d964fcb9edd
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00241/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2fc9209bd1d2b79358986bd994f37f1a7b3ffaf7a603117c66851c86be38ad55
+size 1591079
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00249/debug.png b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00249/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..d059f36828bc7ecd5884ec56fd7c4d080105068f
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00249/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8844feb6279139dea1f98ece1539289a2da741c3e94a5e17c7706bca9da409f9
+size 1635206
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00249/depth.npy b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00249/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..5081a98f2bdde920c35bf87de973cd75083c82eb
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00249/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fdf03c9715085fbfbb8a4a257c397bb4b615513f331ca08817c3ea1a8f2a7d71
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00249/instance.png b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00249/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..843eae1930b7c3cb84331831af23836950867aa7
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00249/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6328c6809f65d869c8231670ab82129a6f3196af8371f03e466e243cd3124058
+size 112252
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00249/rgb.png b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00249/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..149bc3fe22901fb7e09f40c3f601ea6e7bbec00d
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00249/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f9187a911c13470f273eef822290226adf9454501590d285ba8e87a8939abbc3
+size 1647303
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00250/debug.png b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00250/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..0f9852847930cdbc197e50de18702b53ce2a9f2d
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00250/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4149cc9cfc5df300b3fd8a9a1531ebfd25d8718e8e34b78de3bc88e2ac4e3a31
+size 1652017
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00250/depth.npy b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00250/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..d740b41d06cfefd838771de93ff5557b711e5407
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00250/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e0480607229e80829ec83c65e3b1bd09ffb8df25ba00be77858f50110efbab82
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00250/instance.png b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00250/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..3e9c3def0ff9dd6e4a0f925cd321a5d460f5b38a
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00250/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6a9c5f7bd4f8cebcda716ac6ef7d0d09415edd121f4635eaa1dcd18a83dc30c5
+size 116959
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00250/rgb.png b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00250/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..bda1a9646ede16c75f1ac179a948cfaaa7bad23b
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00250/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3c3301fced891a5dfb7ab31342feeb01f3aba97700f0224f8d48d06a8dc904ae
+size 1648700
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00253/debug.png b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00253/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..07141560da60579013f8425d0d60bdd682500ed1
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00253/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:065dcf557152242ac1073f6b11366f117de76e41e8b4090ee7316d3dfbeba749
+size 1699151
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00253/rgb.png b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00253/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..4f95e26ded59a48616db28a0c26f67c2fa4729c3
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00253/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3656f5f2014eb540793cd8fadbccfc353a3b29d6c831a320fdc80a06d4a25f24
+size 1685502
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00254/debug.png b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00254/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..19d6fd97386ff59ebd09bb8ad0af09b62f6e45b3
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00254/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2b402abfa4f8848fc87d23085f6f541a1b4b7fde329a5172262db010ac9fe569
+size 1708794
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00254/depth.npy b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00254/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..d514bdaa5179e0a2918461147c5fefe70f702fc9
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00254/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:86e9c2b90aa1c9e243835f1b6d64f39bdbc3f2eb0d81845abc53c03d47d828fd
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00254/instance.png b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00254/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..af99825ace6ab5b618d5304ac2798a4dbe6f5355
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00254/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:160dc359b262d822359d4ee7879889db468e1663a0beb2961880dddf1314c404
+size 138433
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00254/rgb.png b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00254/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..2e09166a098509dbd0655d0cc097be7328cf6071
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00254/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:88ed0887aa8959dfd42a4192be07d1e08a12a0185a3083137288fbf4df02bb3e
+size 1699841
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00256/debug.png b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00256/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..aa3945a87e18b6e5c80af68565c3998312edbd35
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00256/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5535e068894c42e65a1ad0cb2b8eb125e53ff8c76ac9f1d4fe01c76591634bbd
+size 1745716
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00256/depth.npy b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00256/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..46d033c296ad3a25508e245b06d5b3514094a302
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00256/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ca99cf1cb97093206e460759ca05413537069b5e388b32138f0892373387a197
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00256/instance.png b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00256/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..301afb890e9bc557c7e0c495ca26bb4ba808d245
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00256/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6781b83cba8bd2a2f87259dab7bdff9185c87c48e37e7473eec4e1f51a40b0a5
+size 144594
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00256/rgb.png b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00256/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..fa4261b48d9e70f0ac2c72f46a040f7369bdebd1
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00256/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ebbd0da0c01cff41fcd310e718b85e37e4bdb23eb2c7313eac410f97f6e8db91
+size 1736351
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00265/debug.png b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00265/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..77a0b1138fdc2ece0d545a6de87a6ef078079eb2
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00265/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2b9f4e9d4a6dc84acde38f20d455120d5911bb2f7e5a553609e7a23b15eb4442
+size 1797925
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00265/depth.npy b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00265/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..70440a30b8dfff38819e78787444699294b4bcac
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00265/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8f5ebe51e5643c33506498b71e73df9528372788764e27e11ca4ed76cce33051
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00265/instance.png b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00265/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..27ac7489d7c941795de1105739261064a59ebc0c
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00265/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3df48fda39852ad918c7d476b23ec555091385fa00dcf2c47cc3d3fe0d51efb6
+size 150420
diff --git a/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00265/rgb.png b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00265/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..8019782f816a67933c7ef6ab9f5767a96d607f74
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777274033/ORI/frames_playback/frame_00265/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7c4a4c6ebe63eea4086eed8bbfff01f98553371183614464543f0c44eb942eb5
+size 1750806