diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00000/debug.png b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00000/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..79f3b8060d01bd99d202473f4e903b2fc84b82ca
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00000/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4dd52c9e6fbfd6891d15d95b421d21229ac9abca109c62e97d989faf592d9ee8
+size 1615769
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00000/depth.npy b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00000/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..4abc4d26724fadf588933c514510106a53f7872a
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00000/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2d0e5f9d04b8d358714b1be2e26cce869561dbc4133a1456af3ceb9fc4483fb9
+size 3686528
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00000/instance.png b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00000/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..8fcb820564ff5b8193ff5e04fd3036fc2072e28d
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00000/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2d7ad06f1930796f65be88e0d7a9262b4b1f8d2194b0a48ee5afdffdb5b204ad
+size 56377
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00000/rgb.png b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00000/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..32d19b500bb9ef4e76058a39211dd5876f781617
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00000/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:69a99666b53fa6e16c2b8b0b15367d1edd3e7fade1abcc2ac946d643304805ba
+size 1577091
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00001/debug.png b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00001/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..081689098eaee70b0a423261bb7d654891fe02d6
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00001/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6cffc08c62c7a26a82bde49912608053e767fa213bfb0d790eaca7fe56ec7026
+size 1598579
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00001/depth.npy b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00001/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..b13c92b9cd3fa36a86bdc7fd8c93071813b5e7d8
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00001/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5c7cbeb5d1dd7961f1257b15137d6caaf65781f2a2be8340d5947032c1f0074b
+size 3686528
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00001/instance.png b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00001/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..d352301ca83b863012b2382a86fe3b7568e68977
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00001/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:536b43451e0224a9c0c9ed3e1324692778041b0181900afaf453044d5e925ec0
+size 58293
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00001/rgb.png b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00001/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..bafd6ae0e06962494958b0d06adeebb51b1ac8bc
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00001/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:875b61f64ec3e70762cd36ebf50d0d43e26438f3e77a336ad2955a74b2253770
+size 1577933
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00002/debug.png b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00002/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..bfea364eff64162e8d910b5afd0731128d55ccbf
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00002/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c103738fb21c362729a1498f079145989fd014e29471b393590ea7bfc6d738ed
+size 1623941
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00002/depth.npy b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00002/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..8346771ab10d56743fbf23c4a95173f94a58c705
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00002/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:66cb778995cad66a4747a861d00c959693cadec7d43776d51bad2d8d027afa27
+size 3686528
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00002/instance.png b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00002/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..380a16c8788be7890375c659251b9df4dc4b8db6
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00002/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0301fe36ebd5278d2fd6109e107977de438f16345dcd68a5ff126b85ea1bfc41
+size 58246
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00002/rgb.png b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00002/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..a5a6d1200275815c47af90dba77e5b70a3d580db
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00002/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b7e85c612c9f1c97f87cf70471d3d47d0e4266dff29778cedeeab1b8b9863d68
+size 1608236
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00003/debug.png b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00003/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..084b4717f49bc2a7134f533841c773175508159b
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00003/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c8b96a6012e95013e6d6c5ba0cfc8779a84ac8d5c77611fdd4ea9ecf9ca1b1aa
+size 1608363
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00003/depth.npy b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00003/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..687898e02b97c37fcb228bfbbfcf494565e47d5a
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00003/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:db69f35046ee6afb34a5d744be80fd6fc713049ba36e543f7b58868b148a242f
+size 3686528
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00003/instance.png b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00003/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..66186ed9970aba5d5baf3fe61a412091630b95c3
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00003/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d0cf2d4d338d2b47321018b2500abc8e550bb7742540ed3140a42009d1e4481d
+size 58377
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00003/rgb.png b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00003/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..d93abc963bbc0c94c1ba7049898718dc8b61e063
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00003/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:096d6659a36e08b58b901a13e60bc8d681904766522ec4421f2af70341767bde
+size 1584671
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00005/debug.png b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00005/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..81ab55b8dbfa9a58f3525aa9d92ff21e3b9cfdca
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00005/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:895b8fe7e174e9d3e269671a0f0171bbd8f3b1f5ecab849778d0651cd76b9b81
+size 1597318
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00005/depth.npy b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00005/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..5edcbe40c9c65f61ff7bf09d7bc0f8dd2cf4692c
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00005/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:37f6411cd38be35a0d984837711539626ec5b054615eb9dc6442d21c4bdadd7c
+size 3686528
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00005/instance.png b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00005/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..6c9aae87bef38541d0e5cdecd38cd43785346864
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00005/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:91dd6efb28d11f6f304d9003f71f4d28429350fe2e474db4a49aba70a8cad0b4
+size 57454
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00005/rgb.png b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00005/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..c79fc3e1fe03b30a975378f618a4a406b7d28357
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00005/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1d5c5ed5d658ba93adc44d76bd0b0ba6ee58337d3b6f4cf3ca0c61995cb5cf9f
+size 1571671
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00006/debug.png b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00006/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..20db4e37818fe3d4dd1a63726af7d312dc7d1070
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00006/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dfc794f9ab029d6da26f02f0543542a325a37e4bdc6d9a29d8cb8e75d15b642f
+size 1599446
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00006/depth.npy b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00006/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..5141c6362c8a9fbd6b7a65d3cf35888097ed37d0
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00006/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:55131590de86a2464e4914ebcb0fd492393aa5fa04d609b15e5c7e7443cc9a2c
+size 3686528
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00006/instance.png b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00006/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..b4bf0981b141a89c79a9791aad8db037c654a50b
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00006/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a565226f7e09b934ea962b676f102e7fb34567499c7f307c5e1c2c851248bdba
+size 56965
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00006/rgb.png b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00006/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..efb18a1746783dd1996a2ce2e4db1e4139991d99
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00006/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6f77f4844741318eec2b81fb4b1267961afbbee7981b06ad66ead7e0d60b572e
+size 1567515
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00008/debug.png b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00008/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..03169a958f75bb06c1111be0b148ebcace2a9028
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00008/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3989cd261f65665fc29693231a8d464a3525dc345e57b0780eb6dda7bd4dd855
+size 1596362
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00008/depth.npy b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00008/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..38be585d12933648456b90d43c7aff0dca891aee
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00008/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f6bdf9a8d9f28de20496c11835f7c1c1d8b87c515656a8b3bfb969f66de5378f
+size 3686528
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00008/instance.png b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00008/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..59036dec7776e5ab761ac50b20007479ba77e769
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00008/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dabdd6c289c384e147c604e4b559563acdbb072efb1a5aae2a4469e3e9c43d5b
+size 56325
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00008/rgb.png b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00008/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..d1cb9fd5105643a48f8fd131b7c79e2087e95f74
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00008/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1935719a0555a419564bbb2970c1f122999c140abb4fa0857783e6467233ba4b
+size 1569350
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00009/debug.png b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00009/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..8e9158a6948dbb7ae6265128fd3651d731f22702
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00009/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:62189778c36f411af92403502c75b669ff46f1f0e524ff288d2df0e3f8ffcc29
+size 1611678
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00009/depth.npy b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00009/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..381edde725a04e295bb8dd807541bd56bb12c6cb
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00009/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1b1179f044b79522d42d54e338c34863887e82625c7ed264e16486bc00c0c332
+size 3686528
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00009/instance.png b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00009/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..1e328c65d5cfa649dea892b3b4acbf15828dce15
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00009/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ba496105bc8d9b46ecd59749dc97c6f6f6461447911b000bad9fe1b007db4e68
+size 56332
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00009/rgb.png b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00009/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..8defa88aaea63b291ad3dc5fe1d5efd210b02527
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00009/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5e649f36fc58483142cfa32938f5a88e53135ea54d6ee8ac6f8aabac9dc46daa
+size 1594402
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00011/debug.png b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00011/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..a2b28160a221c7aae8032521b54c365cc1d4cf55
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00011/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4fc0942ec215a6d726ff9f1f4dc102ef55f5b48f492a447f5cceb074e84fe2b7
+size 1599024
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00011/depth.npy b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00011/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..ea08eb5143920c86b7aca9b0492f26e4478900f2
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00011/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2503582a9b244cf7ec6e727e5da3aae9403080e8c2e6342617598977d43ea4dc
+size 3686528
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00011/instance.png b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00011/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..a27eee5e19a6565fefb196ea54d8f8adf5539524
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00011/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7186213a27d701de54049e9393592d0ce5a42dda4cbc82127244e6469a1b298c
+size 55589
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00011/rgb.png b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00011/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..e7c8641e60072926f961352b14d6cb556f4f4cad
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00011/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:08006ad0dc247d2213d2c2f724a223dab63c3fa51fc5252d9c52c524d43ed89d
+size 1572337
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00013/debug.png b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00013/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..36661658ef63eecd4dba106c48aeff850b08dc77
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00013/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cf63ababe4ffaa4bf4d89a1fe401629e6129b79d356bee945754e4a8d63d0d57
+size 1588203
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00013/depth.npy b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00013/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..45327da9dc6a9dde6972c211d44ecb1666505412
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00013/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:27756cd4af401013452254ec45277193980cad46dd329112b1948c61e4476dc2
+size 3686528
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00013/instance.png b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00013/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..abf96b6ac7021ed8cd98a0e19c8fdaefa21bf894
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00013/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c98a56ae7f48f63c3e3bd11a9ff76e51d76976b9b98216bce26e3006410fa5de
+size 55973
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00013/rgb.png b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00013/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..cccdcfab9ce2d7cf9d8f0faa18e12ff168df733d
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00013/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1df1cfad7fee089b491641f067498105eb3fe0986b084318deff1d090ab2d326
+size 1576082
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00014/debug.png b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00014/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..a93a4524cb487caedb7b1c263e5ca03af0f98a6c
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00014/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1870c5b47abb848645c025399e20aaf610f91ba322282e00d82bdbda8068cb1d
+size 1599525
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00014/depth.npy b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00014/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..da1514d2fb1c163684f646cb88a69af5c459d2cc
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00014/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cd592e14f85c12f7bf1e840f8b970b0b606edcc9f3ce8de4f84926583c86bf45
+size 3686528
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00014/instance.png b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00014/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..7a7dcf1a97331087d91c2a00b490c4181a10845d
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00014/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:80935e3d5fa9edef97f58d4dfab36119ef78e5b7a9b5c5b8afbcefd1cd0c0cc5
+size 56158
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00014/rgb.png b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00014/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..c9d4ca3e26bcf593fa24d3216c098dc843af31ee
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00014/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2bdffebb2769c24c82b463440e0a434d01ec7bbfaf03376172d0e8f2b011d99e
+size 1564774
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00018/debug.png b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00018/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..8ef6278c72959c09e4fd40215f1c7e1f86da1ea6
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00018/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3c3ff4662c7bdde5a1cfa8d41cd0ab23456e5b079f641cb5705810cf8b75aafb
+size 1617892
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00018/depth.npy b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00018/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..7e5114a15ed57674d23523206dc17395e944cf7e
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00018/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f26f8981de32f021b77e3655446a8e51dc8ce3954d39d9fdc850ea16db472f5b
+size 3686528
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00018/instance.png b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00018/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..cef0bccbbaf26ee43c17dee906ef54e5f2914d01
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00018/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fce0898fd04dfbbb5a29324d56cfa003895e29e1722c53a85082ce5deec13f07
+size 57722
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00018/rgb.png b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00018/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..45640c667b7dcbca16b91f6cb124b22d70b545dc
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00018/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0c9d3f491326e24dcf81e1051fec4fb8a93d8ebb53f8880acdda6a944110919e
+size 1579948
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00019/debug.png b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00019/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..7f3b9ebda0fc844f1309b66af3c3ae88277c957a
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00019/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:763cf300cbe2d230fdb120bf5e057886981ca0ad12386b079a6c65dd2951c771
+size 1607224
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00019/depth.npy b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00019/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..e308555262f6f36ddc3a6e020006e796aae89677
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00019/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c94425a5ef69e39444a308d1d139d53a84a8b3aa0998b75bdfc94c0fd41a1463
+size 3686528
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00019/instance.png b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00019/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..7dd6cb26bee11b3da37c36b4b7b89abf1a1735dd
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00019/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b471b6f99b4949cc9127520541ef6413903c44f9f4736c0f38326c05c7fa388a
+size 58030
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00019/rgb.png b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00019/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..25db84d16f1b7e804f3995425820a89ec44239ff
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00019/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0efa4a38d754f969a462d42765722d9b90bba1195d08d05c93851e1355ad3599
+size 1568583
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00021/debug.png b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00021/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..efef6de85e46dd933fb2b0047ed44622c6fd25bc
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00021/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fb7e06d2f1659dfbde58632e09f996935efa1453fd0e873e856ef5b65562c59e
+size 1618011
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00021/depth.npy b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00021/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..ef17614161a393113ecb00d8ef003d6d9bce4b68
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00021/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e3e4bccd697baddffa1d318fc399cb63ca3a82853b59acf96aa3caea09032608
+size 3686528
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00021/instance.png b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00021/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..fde67aaa9fcbf8b02bb1b8afd9ac9636f568b539
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00021/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b3d17fada790560d245069b2e3aaea62dbe8ea5a0a46441d169c9685b3c036af
+size 59198
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00021/rgb.png b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00021/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..4edb33e0d2bd33c73e0433ac8ceeaa85333379b2
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00021/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4f4f2bd076de7b8e3a10416258b072b49f55334b07c8135e408e875c92ead5d3
+size 1579165
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00022/debug.png b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00022/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..4bebc84dda8bc8898284b68e2413f18b46dac395
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00022/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:29ed8697da5550cd75f2e63217c47cf34e778c67ef0609283d314d2909d103d7
+size 1618777
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00022/depth.npy b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00022/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..61fe873d6587d0704a3ad95bc102cb00742f349e
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00022/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c0b998e2b3ba2d4f21b46da0ef133405000584ea6b1d37ebaccb26c81ab34318
+size 3686528
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00022/instance.png b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00022/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..5f2b3a7441bf5b1754caffd5b32812627ec62030
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00022/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d55fdc97267536d215ea6a97952c6685abebaab468dae5099db7c00b76049d23
+size 59995
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00022/rgb.png b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00022/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..83a3f5921beb35e50fbdbe287ec948d11dde0a67
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00022/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:36cc86591b1aee760b5a33416cd3a22a17ac087350f28c784c01d421852b1d0e
+size 1569925
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00024/debug.png b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00024/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..0293a66d19301130288793864d24c0d0655eea7c
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00024/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c2b022584013221d6e64ffd1276f7c51e89007ac9e3d57dfaacd971135a958cf
+size 1601293
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00024/depth.npy b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00024/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..0682f59c11786a56b1b44ac5af6fec84a337e669
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00024/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:da9f961c3473bc1bc15c9568f5b1fcc2d44c75dc368f7a38a98ae5609cc56259
+size 3686528
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00024/instance.png b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00024/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..dad7e95e397c49e67de98f0c8ff9b2010f64262c
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00024/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:02fa7d608809e8fde4ecd48b32f7918e9926156389a94d5e55a7419b72a24faf
+size 60310
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00024/rgb.png b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00024/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..aafff7f6ab1a773c4d5f48744e84d743cd8e3d23
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00024/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:11e98aa175d9bcd56e3ee94051e71425fcafe80a59a250a911a34ec8eefa9fe2
+size 1572406
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00025/debug.png b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00025/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..1b62c376ce1f2017af901554ebf5c6e72f4aff3c
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00025/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8eb953691b8e095daf7d6370a5ff975506d0dfeeff8e59ce6ae5d3f71db96087
+size 1616053
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00025/depth.npy b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00025/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..06126257343140413dccce7460d3b971b88290ee
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00025/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d5451b113f15e18d69f959e141ba181b9e81f5f0b87294efb894c20d85bead45
+size 3686528
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00025/instance.png b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00025/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..22db709517e65704c7cac29617020680b2594086
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00025/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1521f8f8fe4449233f6832f7e59a26a86479135a186b0a8fc188d554fef455cf
+size 60230
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00025/rgb.png b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00025/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..a3b57e6874a9b4e8c618a140a2afa2fec3b152d1
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00025/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ece8addf9cc51a8aedcadfae59d578121c46b46d6dd96d2ed7a99c6f138b2086
+size 1571461
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00029/debug.png b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00029/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..4a004b7ed3acbe2c770cd5d8e1935485108cea60
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00029/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3c00f30e792cc872ee29fcf9e59780a0bd1afa2e1b61d0ab4324a1079e913b21
+size 1619319
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00029/depth.npy b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00029/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..b1061471d282f6b137e7f361a0ec6a6baf4f5cd8
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00029/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:860859a3d6db45fe26e0532cf0e683de7bffc49d9f095e5540fbe6c8dd2d072d
+size 3686528
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00029/instance.png b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00029/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..e02a59a1e4032857d7cf9c207221fc2eeebb5785
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00029/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f8db8ede2c6b765bfd6b5ef1f05257c32deadfd320f81656e79c6357d84e7785
+size 58818
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00029/rgb.png b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00029/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..92c0128d67016dac19348c27643f1f9204fa58d5
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00029/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9e15f433adba22f19b1d184ff715300f9186431ef18f6c68d4c9f5a04828fcb3
+size 1557803
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00030/debug.png b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00030/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..e97920cc92189ba62d46600212bdfc861609d8d2
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00030/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1d377f5dce452e3575f611da33c8ce68016e9aa88ea2f2f01cc70e5979c9fab6
+size 1619566
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00030/depth.npy b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00030/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..10a6f8bf95974855fda7c2f9f54757ad014267c1
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00030/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a2fbe96d145c664db413ed580eabefe09b62b734d90dcb9fa72b81b65065e0fc
+size 3686528
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00030/instance.png b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00030/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..9f72adaadc72adbe81e7f42866050f04d64281fd
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00030/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:277097e1c1fbea1286f0a72c731e7440cb1a12de3749443330ee98a2bfc09628
+size 58847
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00030/rgb.png b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00030/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..78c2be72e216752427aa46dc6fe32af6c2d06e5c
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00030/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b4a75938bf84800e37a0ac346ef5fcc3c25fab1fb5bedc2c2d0730684ef79ed1
+size 1564848
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00031/debug.png b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00031/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..8a31f521166f531f56856fdf8267bb4ca44df243
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00031/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:33b8a533fd8f56d0499e76291008f41f63f9fbe3c386a84f86a932bb15d50225
+size 1634832
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00031/depth.npy b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00031/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..4688af520f63b2a5935e30d0ad1a199aa3fd2086
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00031/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e3cfef2975fef39b5817ef56a7b5044eb06c2c2e5982c3e730f5b12311d5c779
+size 3686528
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00031/instance.png b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00031/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..e5472d38f92dfdfc1e5a918c14f98824a2177952
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00031/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f8cf2fcab3eb95c6ae466dc06b6468a65d7c700fd3d0f5855a491e1cc51a8223
+size 59009
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00031/rgb.png b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00031/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..407807b2a784e61885545caaa500e3d9e8b281ea
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00031/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e3c3782835abf25d897f574ab7f4c2f27b726eb75e11aa96954162f4a8852279
+size 1585378
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00032/debug.png b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00032/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..e632b460ee8fde06c367e248f36b505d2f341b0c
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00032/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:addf699d7bc5e288416605f7cb8caa55bc0c8e329fffa670105409def3edc415
+size 1623326
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00032/depth.npy b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00032/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..069f2c0ffdd34a00a43a198c4f44d14dc55f6609
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00032/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3e44e844767fb0781cefb028056f7e0079a18a33a6f6d1f0b7c4f6f99b849706
+size 3686528
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00032/instance.png b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00032/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..521543766248fcbb89a6e9bb26ee0ecef7ec5344
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00032/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4e35c2011237d897266b5b311b18d58f045f7b1dde4766a289fce79550e2eaae
+size 59291
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00032/rgb.png b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00032/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..c7e34c3c31a7bdee6cca07210bf06158d1d01c14
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00032/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:41fb3a9791b6288074c1b98e6d210dc865c3cd632f035e25b04cc28b74bbdb7f
+size 1561192
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00033/debug.png b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00033/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..e6fabf49ab7d9fb9cd4765b0a5081ccecc2a8d74
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00033/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d523c9cfa6b7a4bdb506e9c2097c9d1da9eaad6c8d4a4975803f52354aea6ccd
+size 1610567
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00033/depth.npy b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00033/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..55f2b8ebee78abcb0bcc3285b4ec577a6c94708c
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00033/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b9ce5adaf5eeb0d740c3c17e3c2188dc74611968f515f2c221cf81ba9a8df9ed
+size 3686528
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00033/instance.png b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00033/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..65e6541efb3c4037f13fce4847137ccd4181e87d
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00033/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4b8f7984f2c259871aa268924fc22fabb8ebc6543d1056c94758862171386462
+size 59864
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00033/rgb.png b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00033/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..75b59931bcf70525d5f478f1cb9bcb6462f2f7c9
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00033/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3a2fb8505daeb64de0e4828d82cbed79845eac84a8777fb64f3fb86dec29f28a
+size 1556957
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00035/debug.png b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00035/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..e78bbebb8d59e1e7cfa2e78baea17391049787e3
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00035/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2ee364d6e0cf31ea88a47249d2b1b4abbeaba51f37e44bfa8e398d33830385c2
+size 1606334
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00035/depth.npy b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00035/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..af182073ff9f86549b2d023710cf0c84dec68cc7
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00035/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:475d5c34a035f9d767beae5f4afc9aac594f4be6815a8a3c2313f4c8d69ea9b2
+size 3686528
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00035/instance.png b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00035/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..c5fce934496fdd59b95f8ad7b0cb3e94ef5d019f
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00035/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ce0af7bf3c1d6afd0460c27ad0375cda421abc8f5cc31e0bff195ac3e998c911
+size 61211
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00035/rgb.png b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00035/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..b8fcaf370bdeca8e5c17a7a897673a0aad8a0405
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00035/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:57b4e6cbee22db8f1d836c18fb4385493bf46afe72ff8cb37df7dacdecda3256
+size 1567229
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00036/debug.png b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00036/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..99025876a69584cc19dcafa3466ab77948566db8
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00036/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:20c605216eeb822b663fd92461a30351933e35b6b8cc89fa0ad255d651ea531b
+size 1621412
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00036/depth.npy b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00036/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..97fe9ec30e7c16613e764cd589a4e9c686d0fc6a
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00036/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0b865ba0ea8fee4b839b7f32daa76bf67ce1ba7993e2d81b85a45ca2a04f67a8
+size 3686528
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00036/instance.png b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00036/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..9005136dfe406acdf0d6159966e48f5531d2cb6f
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00036/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ba09cc0c2f177f7e27f7b12c1a055655bcbdf91c81b5d6c484198be9e79f61e8
+size 61235
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00036/rgb.png b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00036/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..1841546951828226a297b9c6d780557ca083b64b
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00036/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:89c628af78965d2c938ab94bc86db7ab862f835e0c00fbd85c71497c8c201a7a
+size 1566860
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00038/debug.png b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00038/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..dd3402fccfa012bd2693e4c0895d93445ebf60b2
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00038/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9b5b5eb3e553f5e2405d497e7f970508d884139f983220d2cd13bb3b8338eaa9
+size 1630303
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00038/depth.npy b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00038/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..eee9ccb86330384bd51e7d50ed74d9d88efa11dc
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00038/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b693d34aaa9b77aacfd2a0afea6e1e06129d65ec3cef18f0a0891b6d6369d25d
+size 3686528
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00038/instance.png b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00038/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..dd573ab0228ff2aebf9a25a9feec37be7cfb9547
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00038/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:02774beeb1b0c2fe0670d3a09cb4f1d28f7a2d7014bf0c12ce309ac769e900a1
+size 62001
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00038/rgb.png b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00038/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..8be02a9b223c6157a32185679365241af64ca348
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00038/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:455f7149768e0b9d183f87b6d33c72f7ed3e1d9d6a4071d4ad9f538a6faac878
+size 1570502
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00040/debug.png b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00040/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..bee9e69a4e601741d471684c3aa0aa04dc16e57a
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00040/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0b474f53cf3f1f6707197b3c15c212f3777a76441b6f65f7bfacec15b148f902
+size 1608969
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00040/depth.npy b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00040/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..a91809101be2df2e80d34899bd283c0a5e430d62
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00040/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c8ca5bcbbc6de036824f10bad5ce7f2e7b4a94efac85a895e81b68903be85b31
+size 3686528
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00040/instance.png b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00040/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..84abdc06f34bc4b4368736e00961ebf2b4730bc3
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00040/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cd2841711bb5f1d6d9f27cfefab6089c1466e4f31bc913f40c3777c85e0c8f4a
+size 62741
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00040/rgb.png b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00040/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..1a747f7acd682f42d38514ff1273ae45dd3afa30
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00040/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bb1ef4e953673127020b8dd8957f258103a06839f608513fdeb6c384c3ebbc09
+size 1577543
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00043/debug.png b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00043/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..e51de38529b7e26b3d9c587d08ffc7dff635c83e
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00043/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1a29731bae500908fc7a215ad77b41580317d83eeb3e04c2475da2df0cdd7d4c
+size 1617207
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00043/depth.npy b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00043/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..a40e3127f0431a6e072e46f53779aaaaaa27cac2
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00043/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:80f4f355a37651431d984d8825bfce5fdd8d20d94b6fcbc77b3bd30d9be2a769
+size 3686528
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00043/instance.png b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00043/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..aad3718d5b038bdefd55ed5a615434c3fd72ba00
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00043/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7fdae1b3d26cc09fe71c8a11283a2a4e809d37da261c1aaf1a0bf2bf4dd639fd
+size 63246
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00043/rgb.png b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00043/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..cbeb7ea7ce4e647cb50be1d6f0d7fe1687d4da48
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00043/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:16dadf366a85b3ad141f1428b558ddada114ab9b930601c740aa42500f861419
+size 1573147
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00046/debug.png b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00046/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..1c5fc840c9b2b8b90e337320563f06d5cbadbe66
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00046/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:549713c3dd04197f5e25658be1ac330e2fa03b02b529206b7ae7a5c0e7ff62b2
+size 1574733
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00046/depth.npy b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00046/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..f44c7f76abc505be595b231d47867a46f3738b5d
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00046/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:295a7cf340a4a614bf3f573da39bd7b0d7709b2102a3e983d02450976fd214f7
+size 3686528
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00046/instance.png b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00046/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..2b80ae775ff6cae7a3cf63d46fcb196fc6c6a28c
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00046/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ea2680755f5f6a3ee1345f7e257e3b6247f60759f9135a78c94b8b45f9f2fec0
+size 58882
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00046/rgb.png b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00046/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..bf64c767f68ca5a14e372089c4bd9142bed88753
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00046/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:081f8d0d0091a6b91a0b311e8c0f1a4b8886e0db00872d7b288211d9dd6eede5
+size 1549912
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00050/debug.png b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00050/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..1af47eeca073458d974a60047c982a4897e518bb
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00050/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3ffef303eb83d69d3abd25923415f459a0bbe60ae5ba2872e10f9671167a467d
+size 1583629
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00050/depth.npy b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00050/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..b7f6ec2a391504c13a3ead19246946e85b6a318d
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00050/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cc476aa922b6fc515fb14de8c3fa1bfd891ada631c7b0e2b62a4d8a888b24384
+size 3686528
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00050/instance.png b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00050/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..32890f7d5135cb658d8ae3bf52b212df29e8be5e
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00050/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b2095e5c2fb0700f5436ae852e32aa707a6a024d2f720f63c1da3c5adc699756
+size 55872
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00050/rgb.png b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00050/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..976829f65226b71d627bbb9c3dfbbc75c074e67a
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00050/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3c092a32ec3790cafeb8121d2b989028d128b76758a81f09f56ff81fe629f0bc
+size 1535712
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00051/debug.png b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00051/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..84c8da21edc2b1a687860aab9968b040ea9a7fb0
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00051/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:445dd2844422faeddf70fa8a4af914b07752c83d277dcfda96e437cca79c2daa
+size 1579554
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00051/depth.npy b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00051/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..4d8fc007718343155bcda1850ca8d66cf4c0b72b
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00051/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c8248958588115a6bdb98299acab101620c5b15af223b90b5bbb797a8949cc4d
+size 3686528
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00051/instance.png b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00051/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..9203e129b8566b76ff81f45ccfc6dee0804653b2
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00051/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0010c102a7e956ec6701cd5ae0ff4e743fc27c79df0f7e8993096ceca458648c
+size 56730
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00051/rgb.png b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00051/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..d1608ab2339c142ba270fc22f5bd682cd8cb39eb
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00051/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e54f8d68f8ea8dc1ad29774db849fbe1ec9c97ab744aa61a666443307996b0ea
+size 1540429
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00053/debug.png b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00053/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..f7fa696d744dc7ab0e1c0c3ca562dcd4d2e3cea4
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00053/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a6903e6700e9aa3881b7d160133f66faef92b25ed9850886d5128442d708c8cd
+size 1568110
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00053/depth.npy b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00053/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..e99c87e261427a6c8208057db3351f4021de3ec2
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00053/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0290487a015677617542f1158fa600453ac39a846b1b9a9c5bd30bfb9509706b
+size 3686528
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00053/instance.png b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00053/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..50164871a99926e4d32ed9bfe13219eeee3ed5fe
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00053/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7f598b4dd4b571ab48caf002f601df79aea092a0343dbc9eb57296689342009a
+size 57109
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00053/rgb.png b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00053/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..5f9604109824355509b1a149e84dadb186da4825
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00053/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c550ab65698c7bf537e33568bb793dbffeac90e5b0afda7197eecb77b923699b
+size 1544677
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00054/debug.png b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00054/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..7ad2511855fa6d1384c80f7b2c7b3f8a889d985d
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00054/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d4a9ca4d0a7a81a2807183acb023ed109c36dfb18af4d7f5dc844cb4a8445115
+size 1586521
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00054/depth.npy b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00054/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..b3796658568a4383f3d60494f4ee3e86fa27ea55
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00054/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cc7ec5b2dfd9d117d308b0ba6efdc73ab992576808ab67865ce5390d11964603
+size 3686528
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00054/instance.png b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00054/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..f9782b70f33f44467b88e6443bad68cfe1525106
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00054/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:acc5977b20f92ecaa1e1f6e7592663f0fd4fd2d2075635ab7e2caaaacaf94c77
+size 57160
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00054/rgb.png b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00054/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..301fd2b01e615213d3a123284e9b496710b7cf78
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00054/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6eeee2c6c48aa98b0b04428c7078df8d7b8c6b6769f685871305b63f910a83cc
+size 1541355
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00056/debug.png b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00056/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..3576d33211f7f06d1c27669e70673172c5336eb5
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00056/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a5048569055f84c49a16a6281d57c82bd4f45b5f5dddf52d2abd47f71b0e80ef
+size 1573036
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00056/depth.npy b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00056/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..963216e3872e7d52ba79bfdbb117652bcfdaca99
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00056/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f7395260bef28151e17cf0669c26910939af60d8b74de22cbb649c21cca06d21
+size 3686528
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00056/instance.png b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00056/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..50d1962257fbe074c459103d287d3ccdefea316d
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00056/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a03aea0d9feec6ba5c93fe52416b12584fee42aa8089d75b1309b65281928def
+size 57554
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00056/rgb.png b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00056/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..6ad92080579346751a6ddf8f37d3b504c929a45b
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00056/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5311feef1986733a750036f995e2e569a21c111d1035b1a9c93f9efa22eafb61
+size 1536527
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00057/debug.png b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00057/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..606e7f1cd6522b2cac46831fd794cff9a37f72cc
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00057/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eea17337a3507ff1f5dc841b684f4a2e4854b242f96639aa2582ac056a6407d9
+size 1572643
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00057/depth.npy b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00057/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..56006f222d3f9e170575c556178f30ca37bd3b51
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00057/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:70c0137e8228e054ba6dc19df54e584abb39ed003d303876659aecd8adb37a0e
+size 3686528
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00057/instance.png b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00057/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..9e1040fa196d82800b1de168381926b328462591
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00057/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:09f0d244fcd7fa0abc02ed4ce72cd4f30388f78510aacfae92a5c743d73e567c
+size 57825
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00057/rgb.png b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00057/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..9d47fd62bbd22a8aba5f9b9ddd2bf9b62b3853b5
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00057/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3a305fbc9fb4c9bd3f976d1e3e22b1536f69b829dcc779d9238e652e58bb06a7
+size 1537016
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00059/debug.png b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00059/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..1b33f6882f8f77554ea083dee2d3e2d126623517
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00059/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:962c811fb78ed799db42b1ea4a43e7d19b39e3f7527a617a8730d14f5b1da22c
+size 1588185
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00059/depth.npy b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00059/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..e9d84beef8481078948ccd4f9da60d25534dbff4
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00059/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:98a0aa385f51e67982580fa41d4bccabd89f2697c9e4552efae056778d675346
+size 3686528
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00059/instance.png b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00059/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..8b1833d4ed24ecdae292ea8e43da53a7d92d9b70
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00059/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:97d505102771c3f3c1b0ca133f6d5473a638ded45dfcb701db86bbd7a5378673
+size 57758
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00059/rgb.png b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00059/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..2af68f228b598af32c09ac37a52ac5ba37921383
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00059/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:85684667a946edc75d0adeba2d523aa4af1f8dfec3d1ec28f50b19a263bfe6fb
+size 1543198
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00061/debug.png b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00061/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..14d5a7d24d1dd52d2ae835b25cdaf7c108d08616
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00061/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f7e812aba2854d922c236893612e7c9a15c9c832af1b3e3f54c72a8a14147e6f
+size 1593593
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00061/depth.npy b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00061/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..97d6f1863a3d349c1cd0e802160f5bb9500f7653
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00061/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a3d122fc0ea06dad3b76f165d1c3dc6c7aa00de35f69e4e607aedc6bd82e7e4f
+size 3686528
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00061/instance.png b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00061/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..808518459abbdc5677fdc09c43ba0e6c7d7fb6fa
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00061/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:49fd4ddad70debcfd5d84ce44136b71e2c063482b72ad9d345335602cc6949b5
+size 57644
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00061/rgb.png b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00061/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..13fd17badfd90b084f398af55c5a939ee850246d
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00061/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:22c3eb73e357526711e2884093cb1a1dbf4391fab1421d29ad02db82f6051677
+size 1553316
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00063/debug.png b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00063/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..248c92ee4a6ddc8f521ed449fee19a34eb35db11
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00063/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6c30014ddf0e062555b5755fc3f9eb343a10e86f5cf568c9c2521cffa24fae13
+size 1579276
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00063/depth.npy b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00063/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..2ed079edaeccbc3a00021eea865e162efafe2b62
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00063/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:41933a6f3de7a38ec05441d01fb6099ec596d6da080c582dd332c3ec18b32d97
+size 3686528
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00063/instance.png b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00063/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..0739303cf203991e8c7ba24dfedad72602e4af91
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00063/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ae4f4756c29efa5ff732f86f6f28325ee193d5718029429538d46c49eee9b006
+size 58255
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00063/rgb.png b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00063/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..cb2d430efcb8392cc429463b28b0fef8f57188b5
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00063/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d955ebf01a54df5e6519bb6d17ee61ba9c70e2f3f072bdc3745e40f42242cd0f
+size 1560746
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00064/debug.png b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00064/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..7cd96ca9eb373c5e6d1e72a654650ab36163b16e
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00064/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:82178e1d548b5463068f7a3f6400e6d2e1ed75ed8f30cde8718db53c8b0ae4be
+size 1579642
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00064/depth.npy b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00064/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..822570037b3323802026edc1c1a6598ee485f9ed
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00064/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:525feacea3dac0d2824132bf080c16d23b1493ff51855843508c7f73e7be1e89
+size 3686528
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00064/instance.png b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00064/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..d6445e75fa8a3488c4d288d92b80b393ea426c34
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00064/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4ea258dc2c75c0eaa591c22e6479451be87758bf989c11686d64234ccdbdde37
+size 58449
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00064/rgb.png b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00064/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..35150c2e364e2e343e143f288dd99bc0f1abdd51
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00064/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a6428ec989759679efe0d71eb284d17e63fadd1962ef64781907d1eab463dcb0
+size 1549174
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00065/debug.png b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00065/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..9e21aca4cd0b5f2bf2cd8fd75dfdd418fa1fc90e
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00065/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:348b4f488afb7ca98938dbd463ea8bec891dc11c053dde16d45718ffcbdd53a4
+size 1577948
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00065/depth.npy b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00065/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..011181560b4b333e977517c1a6a3b3b52b7cb7fd
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00065/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5b2a8bbbd6676b42448809ebfb96581308bb7d824fa3801b49d667dd2a455c2d
+size 3686528
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00065/instance.png b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00065/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..bc09b2339572f8934a5ba81c6d809d9115450ad6
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00065/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:25a4dbe012628d7cbfe33f7a285af10b841b889f599fae80b767b15c1343b4c7
+size 58800
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00065/rgb.png b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00065/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..a74a2eb4d88a7c36e2780bd5b314203e6f1df7e3
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00065/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7bf0a00ca86bba6e1d43f2ba07fca342fcbf4b39034021c0d67685ef8dfa4582
+size 1550976
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00066/debug.png b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00066/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..513f77a2f7694e762e25c37e8d708625c8d43152
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00066/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:68691be15e9c99a9c4acc151b3ebbfc1fd1afcc399586beeb9e704035dce859f
+size 1587360
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00066/depth.npy b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00066/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..e191e5cc63a8bda710f876ab845669ffa275ed51
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00066/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6debaa6c07a46e2b4c260e750584a99429818a0e23ac6ca843011d189d703b5b
+size 3686528
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00066/instance.png b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00066/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..a929ef3063234b7d965900274949d240c0eafd0b
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00066/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ee05e0daca80055caa5c9ff36f2e3cfedac803f53111a5989b511271c4e2ddfe
+size 58957
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00066/rgb.png b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00066/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..1f2935e303490c6d1b25ded3b3a462e74b5ee73a
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00066/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:175a08d509abc4f2d9752d7fd0855297aa6b2ddea3827401aba5ee510a4746b1
+size 1558865
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00068/debug.png b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00068/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..bc2e84c86c8e4e62c68578280966336cfadaf3e2
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00068/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:02ef73deeba49b278954af1f869b89e801a0bd6b3d6f781f9c0ffa722b87223f
+size 1579890
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00068/depth.npy b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00068/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..7ae2a49705d1679b6fc0629cda447d34354ae362
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00068/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e6ce1e44ffa10cf4090ac11e8fe4b85d9bb93e78ddaeb52dfa2af623855cb244
+size 3686528
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00068/instance.png b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00068/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..c2bfd5699468d0bc6a3020dab80409b56f73bfc5
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00068/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7ed3b0d4643720faabecbbaec3c4fb2614032a6a34b8fa2ae81f1cdf8cc6be43
+size 59185
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00068/rgb.png b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00068/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..ca372c46580d891891e87c8e28f5b134c8f37cbe
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00068/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1630569c3d4b813d657316c0321dfbf783c62b9fa682dc0a80d68c0c4086e5d8
+size 1564098
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00070/debug.png b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00070/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..8a77727b6a12de63a89a6445cc08b53bb8820013
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00070/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c844cd35b00c674af25b163549f7ef7f8829d0e378605a11b97ad748e93342aa
+size 1564078
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00070/depth.npy b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00070/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..ba346d03a0258fb2061aad7dd84bea43ee155d14
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00070/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:64811a4aebe1cc9f465f2eb47c246677aa1663b7f87bf74430fc5e6fb2bb1336
+size 3686528
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00070/instance.png b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00070/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..d93fa8c2566a6f51da2240794a3f895031ff6f77
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00070/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bcf0a13c8025482da68ba11cc99768f6ca784513d42a574847ce6d52204688dc
+size 59092
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00070/rgb.png b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00070/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..23f5f0693c6056e39ba459f82cff8dc6c68f749f
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00070/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a827ba3cc8851f6d0852360d576c07a18ae174bd0c4839d5550a853ba9db0fc2
+size 1551669
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00071/debug.png b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00071/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..fd0e5e5c22dc1180d20201c1861148e56b47346f
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00071/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:90f13bdf473994f74cb4ee58939728fda351db90a25458a6857508c94e44567a
+size 1557141
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00071/depth.npy b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00071/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..763246755c3680b71bd70481de8716e61598a50b
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00071/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e72a6949bb7c01c97f874b18118fb64f9f56be1aa11aa3e9afc29333fdac1202
+size 3686528
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00071/instance.png b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00071/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..c5d1d59e5fa4f930ef849d1b8027dd9142dd42cc
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00071/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9ea2c64c4179257470f8d8d64a1771887f67edb32c1e7e3eb04d5efb43083584
+size 58627
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00071/rgb.png b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00071/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..8dd70b028f68ebba95b706f16ae96f4ab0f6dd93
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00071/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:62d48138c2e521770e7b94271bac3c913d87b4b119755a71e4f21616f5adf15a
+size 1559932
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00072/debug.png b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00072/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..236cda3e9b10d99d91260f8b1ff71ce24bcd58a9
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00072/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2db716f760d5492c825178d0f2f49a3cbccec92895abb7506d6acf8f4d44a2c6
+size 1578440
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00072/depth.npy b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00072/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..c922568ed6bee14b71101074897e6f7e5eb476fc
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00072/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:993554bf112a2950c65bf4c0856b40f7ba5da7b42d3100f18173b57250ff16c8
+size 3686528
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00072/instance.png b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00072/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..00a0d2b366b0a7674099c28cf4831b5ccfa4ea64
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00072/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:60a8259e5b86d3e2af66143a0d7cbb0f4f467d6ccc2a36f360ec2f22292eacc0
+size 59005
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00072/rgb.png b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00072/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..2f726f6fb395c9af6f69c81ec5ba7a2624b85bd1
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00072/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a309aeda1a171c3bb17f42b3d0e5c12b904d2db517f632fcb1c4953468a2df2d
+size 1556827
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00073/debug.png b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00073/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..672ddeac227f0e8bd8b6668ec337de74128c23ae
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00073/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:75d2144577cb96cff0b974360fb59d3169bcb8b1aebe79ea4f679f4df6fdd8b4
+size 1563123
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00073/depth.npy b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00073/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..663a5a6e674188420cb3405630ae6b796bb0c6b4
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00073/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:65b8586be9fa1fbafc3b24a6500f6dc71b7549f2543a05336f0b31933eef45a5
+size 3686528
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00073/instance.png b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00073/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..c021f729f162bd6632de65d27252999e995cd643
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00073/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a2da566dcbbf82a0fa67aea4ab6dcefaf972a1c624413cba80e9694ca038b737
+size 58891
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00073/rgb.png b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00073/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..3a309fcd8715408f94fe73c2bc6f83805688d82e
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00073/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c890ec2071f7ec6b4b72fa9a1908e2c75af234b9112c95b821daee8099f0a053
+size 1564613
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00075/debug.png b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00075/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..b73e7f7530eb7eef2f3eeb56276c9039a8d54327
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00075/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b38a5c123ac3a6943d01fbcc89232937431882e120d0bb6ca61b6d444ebe1c86
+size 1567559
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00075/depth.npy b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00075/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..86864f2bc1a7f34aa15a74af38105cae56f5cf4b
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00075/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ffa2d7953a5ea93cbb1bd5657085c76de10175c05852c919569aaaa5e535cdff
+size 3686528
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00075/instance.png b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00075/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..375dcc1ff90e52bf669949f9ab772e8cf2067705
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00075/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:62fa24dd5b9fc757716d7163dffd3584a228a5d7c882f64a0652c7d5904ae27b
+size 59027
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00075/rgb.png b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00075/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..2822bc3161bf52641b787e68cbe7de708ecbf026
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00075/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:718ec08610e3eade2c81693d159ba57436be4e114a2f9f88cab4963906a3cd4c
+size 1559756
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00077/debug.png b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00077/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..1d2ee632f86632196310e892a12b7993b959d8ce
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00077/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1d9c2c4b948fcd2e0256723bace70882421436966d5d3aef211246f86770de33
+size 1574108
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00077/depth.npy b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00077/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..9614911f4d0640cf05711cf0755167831b329ae1
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00077/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eaa6d956520ffdd48d1d71fdf2f853c01f9cc6a6d6ee07cc3082a7cd7153581b
+size 3686528
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00077/instance.png b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00077/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..88c5a2825ffc50fe62493c5fe9f2e94917c5c4bd
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00077/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b6f0e548ac509cd730267eeff0e85003c93e5de8ff53eef18e311587ce5f5396
+size 58779
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00077/rgb.png b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00077/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..9aa219826aa477c7b1f4d8413ff3b4a55a0b6792
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00077/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9a394ebda930235d8b8bc938bbe1b67dcee4bc3081ca8fe8f1f01a36ace0f9cd
+size 1563605
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00079/debug.png b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00079/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..679d92fdebc5f56355409c853f53923fb7b35784
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00079/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:65a0602cba414e508eec09be384f82d9de06ba4684068fe59a0c6fa671b3bbd1
+size 1578035
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00079/depth.npy b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00079/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..5481e569effefa0753a3dc11edf50eb306bf35c1
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00079/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b00afab51c483894c9ea545279ea5f2dad2ea9af9997d4ccc1d8a62ce13298f5
+size 3686528
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00079/instance.png b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00079/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..a0bfc358eb9899e42895667e3fbceccc3f5e9254
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00079/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fe8d2fff027ae6eff425b6e6a9d55bd087a67af608e140d9ad3133fa12209c49
+size 58799
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00079/rgb.png b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00079/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..1cfe8ded6e12c006e3c2efa4fd84a598ecc2bca7
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00079/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:934ea49d973b1dc1c5863e7e4f5dd3261bf93d22183294e5909b290f912ba3d8
+size 1576032
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00080/debug.png b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00080/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..5fdf9e4392c609a5029df79dc883a1c7fc327a2c
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00080/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:df88e9cdfd044b924fbc2686ad8376215899d64f9236b41ebd64a36df81c0148
+size 1573732
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00080/depth.npy b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00080/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..3376d64658b6dc8631cdb83c001a3d7fb251e282
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00080/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8da12cd4ee1face794d5f33bb77ccee50f9aa3fd5be230b69e20c56ecdf4a6e1
+size 3686528
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00080/instance.png b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00080/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..497045c7b1a4ab6379f8dc4f42f00902f7dbef32
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00080/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5e7714f6dd839d8abcda6919e17192b6dac390b61c582649adfe38f71cc18423
+size 58847
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00080/rgb.png b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00080/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..41d2a230df386b77fbe38137b3eb927b0433bcda
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00080/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ae59e46238871c8bd796c22745aef0ba9fc879de0bb8efe104375c220ee5f5c4
+size 1572000
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00081/debug.png b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00081/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..b4418513cfec4a3b3db269479e0c867b07440cd9
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00081/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b9fb590862fe556ea623df1a371659e7afb2aaa02da8204606665b2d028fc04c
+size 1574700
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00081/depth.npy b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00081/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..ca993dca604d2af4cc30dbf4f70a536908c96493
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00081/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f9ba5b4193163aac5bf1a49d6e605bc1f90d59e3c269e7e395246d54d08ed7ce
+size 3686528
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00081/instance.png b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00081/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..2e850bfb8ebbc0dd3a39b58cba4a9d5821a76014
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00081/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:101ae1700b70ca87a19de97f49517b3ad9cc7be9b2cb7f55f1b19d010910fab2
+size 58487
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00081/rgb.png b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00081/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..317e08b89c607e35a07abdb1ec3844e29d784624
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00081/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e4a2d36f0d205a92605c0056289511b8984db39bed215bb6b723e52f045fbbaf
+size 1559979
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00082/debug.png b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00082/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..a359ab8ce08b02aaa2ec3c3337c39810babe7486
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00082/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7a1107f6fc958e60c7770634e953f43bd0c867ee993da937b080978f695b6251
+size 1574647
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00082/depth.npy b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00082/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..e987087819e2acda00f12779b8c0dacbc106631e
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00082/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0ed25a05ac12a511949e0aaa11347ea919752d9168d115c7088c57c64e9161f2
+size 3686528
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00082/instance.png b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00082/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..8acdfbed3c0ad8b48c3889b1c59c5261aa1b2ec2
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00082/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:27bc8af175537c7c94c0988d633d36fac8416c17e970443cfdb11d4fabc2f6db
+size 58263
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00082/rgb.png b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00082/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..9013399088bb9df3ad0421bf4670d1f1db8af66c
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00082/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ddf09ccfdf9afb22c57dd273465c8dab8dc9d0e64a27dd608fe5a75527cbad18
+size 1572419
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00083/debug.png b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00083/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..7e221d3a20d5199be734668ea2880c01928bba52
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00083/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7a33ff400dc6468e076be5c159884f79cb39fc59b5451919ad1d1a17601fb208
+size 1574364
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00083/depth.npy b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00083/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..974bf4a59ed2e0f48fe2a555cbc50d912c86acf1
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00083/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ff4d0069be2f852f6645039f06b0d1de8c6bf44984274dd5d2f39c26535fb8cf
+size 3686528
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00083/instance.png b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00083/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..aa2d62530ef36488250135009c3680c8c8a13c36
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00083/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:193c36452ae441204be4645539167583d7e0f6c03e548fbb26ecb19ebbe526fa
+size 58496
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00083/rgb.png b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00083/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..edeb340b7aa8a04c764c20ab44524dbd34171ce5
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00083/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4f559a97a12b69e5ee65a74d12f973a72dfc6eae432d3a34a7431bb5b0aff036
+size 1571125
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00084/debug.png b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00084/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..62331ab9319ccdfa4da6031a61f79ce1c1c722ad
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00084/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:42d3a194bd38feae32023f3617e3df357529c3ddad2a091bbae9a799577c587a
+size 1568994
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00084/depth.npy b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00084/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..9839222045274a8ab67b864f34d10ab6a7a7e74f
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00084/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:23186403422048a24ffbaa52c0268458ce1979fe4b8996a4b358fa2e4f952164
+size 3686528
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00084/instance.png b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00084/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..5d29e811941552ac67efaf3729ad93bf941beb0e
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00084/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a14e9b9b6368d2b9c38d2d7bdd4869fc049583f546fd7d53279ecd5e127ba388
+size 57969
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00084/rgb.png b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00084/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..edf89b7a4e682e71b165f71712406f66d13ccb35
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00084/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:04aa6f6946698952aa1b41698981b6974703437a963e73f1e1fec43dc3019868
+size 1554459
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00085/debug.png b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00085/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..d13af296e53da41563836fb2380f6c56ba385493
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00085/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:201a00a593938ecdf1a0ed2a546e563d151da905a72c81821aeba737cfbaf620
+size 1564938
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00085/depth.npy b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00085/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..e6e367ded889d2cf74dd449aad699d91f0cb077e
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00085/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c7d4fbbfbd37198cad668180d046e83e62624ad6e1ff9fea93a6bf36802cb965
+size 3686528
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00085/instance.png b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00085/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..4a41f0e3a977a00601337408fa9bc504a7c771a9
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00085/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e52ff673020b9edb3b35da7294b7068f288632fd3fced8b9dbd7d8a9ac5269ea
+size 58030
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00085/rgb.png b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00085/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..c843a465809e03216975ae81394b23a8fa26b2fa
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00085/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eb09620d1299f25346ba94b70e331ec01a7b11facaf95ae0e97e6939203e936e
+size 1557640
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00091/debug.png b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00091/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..75351ad9f400ab5e4b945468d3be6f50c55a155b
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00091/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e2fd89b96c9d7bd1dca7edb8510263e154d923cb71e945adc5639030d26b333a
+size 1564483
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00091/depth.npy b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00091/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..d293d395890fae5a51f49c6c07165411c99b5c2e
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00091/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8dda1efb0e93578e016391da8fc16976d33e353ea10363f825d8d8a251f46da6
+size 3686528
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00091/instance.png b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00091/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..f57a1a3d297ad196321e4c1cf21d2ca94b9bdada
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00091/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:70620b3d29a20c4188862f716c51ca9e9a399959d0ecc173db8a138cee044997
+size 57058
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00091/rgb.png b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00091/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..50cb54a3d1ccc4fc201c47f79ba713f74afe52ef
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00091/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d8ca519c08313f5dba88319f6aff63291d31e21332b8fb09e9e75005cf38f044
+size 1544054
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00093/debug.png b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00093/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..e8399235aecfc20cb6172c11682550744ad51203
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00093/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:34da6c478864a25d318d946ce2549f25123dca44d9df9f3ab3f0891ed849f44b
+size 1530333
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00093/depth.npy b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00093/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..34ee54361e24222861ef763072d5c5f902604053
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00093/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cd07e91ec3cce80958849a54fadd33f7403d1271c21db05dab08d2243aa5fb55
+size 3686528
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00093/instance.png b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00093/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..8be0ad36ca4fa173bc4d78c93feb21a5031b8aed
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00093/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e6cc510e3e6cbf1765f7c78074dd14438e74f903bc82ed001473df560b88f62e
+size 58153
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00093/rgb.png b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00093/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..116aaa021ae4a2e0e26821d5f3b232c5250ce12c
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00093/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:49d817ae92d80a3e0ce6af246af5a6e372393c96094c7e6a6f00210b85477892
+size 1540901
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00095/debug.png b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00095/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..92e52d8c56f889b98a20ae7be9710f9f43eee6f5
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00095/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:adf8a304b0b63ad96c9e83f27b9291aa9dec1721dc9460146b060335fc186fbd
+size 1573924
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00095/depth.npy b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00095/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..886aab8d66ff8446b56f2a27095c62c7fc4c8e2b
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00095/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7b1dc471351b52b673956ac9a4fb4275e1c2998619fb84adf82f62d6a5782c12
+size 3686528
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00095/instance.png b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00095/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..dbd7abc0dc4b17438856cc3178d4735b9be18445
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00095/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:63bf190c965a5a6e9519ed731057780e5147f1e3f106d583d8105f866945555f
+size 58180
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00095/rgb.png b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00095/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..e05887c3db45a7495090db0803b0988adc3e8987
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00095/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:330953d8dba5537db289a58dac9c5a109532ed641ed39006ff86ac58936883e5
+size 1574840
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00097/debug.png b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00097/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..2936cd960f424f9fa0cb787ba79bd82233b94b15
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00097/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7fc3b220232c5996cc05aca9b2887b9b54511554886b082704b9e1894c34de00
+size 1580372
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00097/depth.npy b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00097/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..3451d90db2e8a802c56fc38d95a83f229fa8ceb4
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00097/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:97cb9a5b5e3ea53f0d33ef5e9c34de175930b606c57a45ac713ab8363e6ea2d9
+size 3686528
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00097/instance.png b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00097/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..c867f114918d48ab45371d006a05308e54a9861d
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00097/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e67cc99c13cef22bc751f28913ee410190f893bfde23363de46467a63533e396
+size 58802
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00097/rgb.png b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00097/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..c670053025945c1241efe3f6eb18091c1283a015
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00097/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ed675ebc094aecfc5452fbe95a72c3edf1ad7b4dc6019d21b1e39c508c1dfe66
+size 1578568
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00098/debug.png b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00098/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..b6bcded4f0d8e83f18d44c4d71e3ec6f8fbbb3e1
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00098/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1e7f5911ff2516f7c4e58decb6591a1b543e4958a654754ff3dd59bf10aa3098
+size 1566721
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00098/depth.npy b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00098/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..266882ab617683e145e6380763bff998ba9a17a4
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00098/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:264a17b1ed866c92060c345af14660dbf90a29980839b7d6db5ff081ad335070
+size 3686528
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00098/instance.png b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00098/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..925ae388499efad73e5898203104a4b751d0d094
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00098/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:08c40776d599946bd80e60e3d0f84ce03699942a31557b4d8dbe2c1a5113f0a7
+size 58589
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00098/rgb.png b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00098/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..75da30ad6dc795cdda2d0319353edb93bb50d13f
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00098/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6a1906d9517f1904aaa8eb75f0de7869bc5ab4e3f62b25c47d3b80d0f8ad06d6
+size 1559503
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00100/debug.png b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00100/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..86da0b77c00d6a6ea42445a9bceee3caecd0306a
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00100/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ef9fb94d0818e5ee644ea6524abad82c5f164478425468eb9cfa9375b7562256
+size 1553197
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00100/depth.npy b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00100/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..8f2e3c06d9d4d1ada01bec22afd38ad1e2a69a1d
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00100/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f6d7aac47a445dd06c4e71128d331f8eafcc93704a0f00ecdae9fb322a8c0e7f
+size 3686528
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00100/instance.png b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00100/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..2bfbf13da0133819717f1b9ba0a562d5f2148864
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00100/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:938508d148e9ed86c82dbe022df857d7520f9cd1193cd782b339b9f5ab7d1f7b
+size 58917
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00100/rgb.png b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00100/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..2879585fc179d151599ac951dffa461b12e7aa7c
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00100/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1560b64c20d6181b8958af0f552c8a69353bbb105a23964deeaadc8d7e001a32
+size 1553532
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00102/debug.png b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00102/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..dc72cb6537f3da09cf473782aaf4ab15fe15b657
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00102/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:636bb92a1a4fe2c846a6c51d7024ff053fe525bb215b62397f3630af92db4e67
+size 1591215
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00102/depth.npy b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00102/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..83510180f9bd15b06efdce188a368b98a5afb35c
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00102/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8e71e1f1eaa0db791c4854b1f58c31ec11f5cf56b0cf70c837402b9d0a95d618
+size 3686528
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00102/instance.png b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00102/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..e0a1fc167e10911f0bbd7c97c37e0d00b4c02dff
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00102/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7ecd6dcf96338d2cfbab59cb87af4f5cc05229b16839474e4bba86408f59a036
+size 59454
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00102/rgb.png b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00102/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..2ec41e21afc06469744e378f9a2f25082a96b032
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00102/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fb75e40f54da1604afa775e5d2e0172a35821e29b100e65f06001d9620db3e1b
+size 1577392
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00103/debug.png b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00103/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..21fc87e94a424a076a658eeb138e2488638c143d
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00103/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:be6554fd6e50658b1e5cc3075eb52cf90c29d478309a418fd8d6442c28b688ee
+size 1580090
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00103/depth.npy b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00103/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..cc7753bc87bd42b7a9e3fec65b286b903263899e
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00103/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:286bd774ab140f7164ccb61b87e558ed80f91501242c87e201d004f52717dd39
+size 3686528
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00103/instance.png b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00103/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..ab52aaeaa805e32e49b666a8a85efbba83d9e97b
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00103/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8fff11572d675bfdf74981a5fad3bba6ca67711efcabda5804e2cbdcb76c40be
+size 59467
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00103/rgb.png b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00103/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..8b1d59ec20d7cedacf9cfbef1b51774740c71983
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00103/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:48fa6c02eee6ea14f338c8dbbd2a39706222cd612d988b6d01d38965765ab525
+size 1554057
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00104/debug.png b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00104/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..9c05526407e4df759422e151af3f8154f9a5a56a
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00104/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4c2c211b1a75bec1518a98880f9d10ee27df3b2937c718ee9b9d5d9f00c68ff9
+size 1578903
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00104/depth.npy b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00104/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..d376bc29e73e10f50ec1234cd51f18794cd51e86
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00104/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:64b144e111f4ce2489e24b5adca862746c8a17b9707f87442da7741b4632e8dc
+size 3686528
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00104/instance.png b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00104/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..06c1a88958c9bdcabcbdc36b2002a0a036badc34
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00104/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9463c9627a848496de37ee70b9980a6b8b0b081a90e63ced58f751cd872dfb80
+size 58714
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00104/rgb.png b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00104/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..2e56a1e80799cac72d78a79e4b79ef89ce87b9f2
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00104/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4c9d18487c0f264288dc52612e3bc183e561fb75a6ea9437f123936ea8bf39dd
+size 1559050
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00106/debug.png b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00106/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..e93c5189f07fd66d3876823ba51d16ea11e85c32
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00106/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:565340fa487c0cf84f6fc4fc42304e39f573ad29ae704ca81ea82fe37b3ab259
+size 1538980
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00106/depth.npy b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00106/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..fe88b89fbdf1d2c520b01d9cfeb947875a4724df
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00106/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9ae55fa656506c7e2eee30eb28fd2ac9adc1fa79f004359a566b32aefa4a60e9
+size 3686528
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00106/instance.png b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00106/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..cde6c7c6e09f35712bd31298d3676293bb2bd511
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00106/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4d5d05bf68750929bef026e3b5dead829e76156b61b44bec05460b4d58136d70
+size 53806
diff --git a/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00106/rgb.png b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00106/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..5c66bc199857ea39ff4e11dc818c0d6de3441c21
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777269090/ORI/frames_playback/frame_00106/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b39f1af47da4613d6d0d4df5c2a174d874b728855e3cd8dcec6c0913d67d1cec
+size 1554464