diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00000/debug.png b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00000/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..e466c91986560cf2d2165cd1cc46f914227fff78
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00000/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:59476923e3eb1ba2c485e99b141be01bcb8afbbfb72bdfef5e93b6dfd75ba1f8
+size 1773980
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00000/depth.npy b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00000/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..c77cc204dc7315ba2b10781df128617f23390258
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00000/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4324400915aa1f32f0fa2c32c1ee7772b0fcaefa33519c4ed4ee45921ef8d9e5
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00000/instance.png b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00000/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..7447b1424deff451b2ed305a467a10653f623980
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00000/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:09abe252bd081dfa1775e7033e304831b98a9912ef7299f5554be959fdd188f5
+size 55926
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00000/rgb.png b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00000/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..4c247d72bae72548fef47af5d6751ab6469458a8
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00000/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0e81803c287015c926374fd8bae5bd3b4cbab26c68b1cfc18afd511784e9aafe
+size 1609678
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00001/debug.png b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00001/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..795835ba506390eb09a90e0b7086461ac2bb8cea
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00001/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:82162486a78d61217c94802db0ceb5043132d995e97f77fb5f2b3c2fcbd12e52
+size 1784521
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00001/depth.npy b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00001/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..865483ad0161f8cac6824c6a938051eef08dbf12
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00001/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f9def9091f59a09882ec43f0f3813a5a5b8e359628b85d0cd8414b8d057f8808
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00001/instance.png b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00001/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..e1d7a33c7861c63f0b8a8c388fb3b510b2e91d58
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00001/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aedc85606f39cffcba12e50035fad0e888804ddb5a0f199ccf81747754c53985
+size 61162
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00001/rgb.png b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00001/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..b3b8fd3f762636c52f5dfba640122ecf99652541
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00001/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b808fd4fa50923b195ea5db4358b7b3f21cc2475df44e98ce0ef7f354e924073
+size 1609793
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00002/debug.png b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00002/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..fa125ea0232786cab45997394114f9946a310373
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00002/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f919807eae4ff5ca19930052cca96b999d45904f62eb43af160a93126add2849
+size 1797711
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00002/depth.npy b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00002/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..f7fd452749197c4f9a905dc120293e86e2f1a985
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00002/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ace813f162a135f1a50e58e1a1134d54f500b30528b0c5ff7d7053a614d8b3e6
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00002/instance.png b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00002/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..a6f41b6ddf0c437dbb8d1e7266e64f82af557ee0
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00002/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ed912ea0e2197a6828a953f506d1cc7029dd816ae9b9570a2bb11545c2040924
+size 56070
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00002/rgb.png b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00002/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..3f3b007a6dd8e841f611f97ec291de60afb1fd89
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00002/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c057e4d05fc3f71cc88ea3a2c514b750509bc353dac428fbf59a9ce2ebd16b2a
+size 1620431
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00003/debug.png b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00003/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..2941d4eddf356c5d0f1373555a32119f159e925c
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00003/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b9ac89e481fb49a5eac59c6c1edd7872c84d2500e90900e9e526bd15df43e09e
+size 1798417
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00003/depth.npy b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00003/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..cabf60a94f5a50184044bba1fa8a2bf15d9b3020
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00003/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0e8d555096d3786d8c722a550cb4324cb04200496e934168cab8fe2ae596a637
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00003/instance.png b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00003/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..627f33621c1e9fb3e4dc0e03f45f19b9df0cf2e1
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00003/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9fd0ae4f4b07e306150ebacdb99a51576e82225406a3a59dd28c6c61e996c034
+size 62166
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00003/rgb.png b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00003/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..07a14f7b3a00cb7f9e25b583096d955784fa2e9d
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00003/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:117f4eb3c88b51140e195e0979bc0ed6689118ec8a3bfc91b9e07ded7712fb67
+size 1613417
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00005/debug.png b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00005/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..7562d1d30e72189d6a358020cfb35ddbbffdc849
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00005/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0f396a4d28d4ecf254392858d3941b19d0833bac3ab8bd84a013fea03aae4aa7
+size 1836211
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00005/depth.npy b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00005/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..d9b68d27522eab632ef5986b66393c8022373407
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00005/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f8ce42374d670ae18ce67eb2a976c1dfb540c688cdc3ac155c60fa0c9dabaccc
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00005/instance.png b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00005/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..c8f9cc7f9fc1da1e43096dab42b8e59210a2f0a2
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00005/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:132aa7f7cb319b5f8367a238ca5c3cee04c88e969bf898dfff2cfcc5529e8a76
+size 66221
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00005/rgb.png b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00005/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..c387ffb3b565672c8f1922f24d16fb4a0225b67d
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00005/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0a65ffbd0196bb6691da96f1b9d517b0d02b616db31b56321987f6661558f170
+size 1633748
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00007/debug.png b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00007/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..4c17e9dcd8d150974883791988e8118bdf31e81e
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00007/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:70de3dc7923ebadf89397b167633aa51817dacc4ae0fe58f293d1792cc597ccf
+size 1745178
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00007/depth.npy b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00007/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..761c1adda10f813fe37452eaf8f4f4d9bf2798b3
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00007/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cbaa44ca50220c8b3aee2b77ebd8dbcec1079409660e0e84a98f972a3d8c7af0
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00007/instance.png b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00007/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..23112dcbbcb43e4fc543ee0e395214349f8bef8a
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00007/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dfad16c73df2b5c3f6b68412ea6b725a6abb5c06c1835c4d457d94547ecc5c90
+size 58127
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00007/rgb.png b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00007/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..03678f9c686ced705f4d81f3977fa3bee00c7c4c
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00007/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e232a4ba57e8cceebb249fb2b65338b5157518cbaeedbb1320132d16cbff0350
+size 1579991
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00008/debug.png b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00008/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..9d82503f68a6c1c6fad4377ad09e92288df305db
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00008/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c5c184a78b93fb394e31b450988319bb6e73f140711355cd848d91fb65bcf9c8
+size 1827843
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00008/depth.npy b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00008/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..bb166a5dfaa85c9545d01a1402d74fe1158f274c
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00008/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ab9a0cf5e69ba05d22d3c0f7dd627e7e15480c9c0232851386af97f9e17004a5
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00008/instance.png b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00008/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..c64ad277d3beaf456bb1e3fe2b94964985e2a789
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00008/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7f727d8849dbd51c3aa3f0b0b9c8df198918dcf01ddeb6e4ac19d2134332f2fd
+size 66540
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00008/rgb.png b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00008/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..3e0a1d14bfb9a8abcbb647ddc2cddcc4050e2e17
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00008/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5792d2862644e9ed043a67f36a3123c5677c1a19c041e825446ee7e7996cc535
+size 1625417
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00010/debug.png b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00010/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..4bda8381804ca810915ddc3058e035a2b6ffaa7b
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00010/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9e96e34231afa891dcc3c3f4493bbdb7e9f004b3099ac966425c801cb69ff044
+size 1876753
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00010/depth.npy b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00010/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..0b4e165232e322f6cc77e08d4116d876d302ff98
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00010/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:979dbe365d045eeef1289757876477da1f05a973865c28f0ce29ce5a8b3172dd
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00010/instance.png b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00010/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..58377df1a736bf999029eb754a4112e5979386a8
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00010/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:99baaa975dc9415f1db34f53c930299571406b8b888ae9feffefdf0082d096c0
+size 74231
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00010/rgb.png b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00010/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..ebfa9bc6e9d23ec75ec81d3aaaf302c2937e7bee
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00010/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4c3b727218d62a517b7c094ed4157c12a82d7a98e6a4986046666684b26a1f73
+size 1635551
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00012/debug.png b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00012/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..601ad1883ba547798ed1cb2f07dafb01386942dc
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00012/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c81d2b22cee9c94f09423ef977e3cbcfe3b8da10f8c5aaac270a87ff3b78a0b1
+size 1870955
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00012/depth.npy b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00012/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..903ce982d1d1ddcd0ad502e94dd5ec3ec45a670b
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00012/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:473a340bade21cd71dd1def5d25f7f3d3b2e70d588e474082076d231a6a1b611
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00012/instance.png b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00012/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..dc8521475ce84e7eb133fabd8f44318bdc686d11
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00012/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f66380f4487d9b7ca47eede6d780e668b07396f07967fb5e53f154d57be1722b
+size 64617
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00012/rgb.png b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00012/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..c7f3ade4c7450a6a17ed399f0198f03fad246508
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00012/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a109ad94f7e8fc208aa24aafbf2f8dff2dbaa8e8c81cea67385fa32fd591be58
+size 1635831
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00014/debug.png b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00014/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..16b880007cdc454674bcd5659b12bd547c1c361d
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00014/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c71408beb862a63a7db45f4905cdd771aeff36f0fc9fbdef5bef2886dea92119
+size 1889156
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00014/depth.npy b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00014/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..b996f6bfd9731608ac61fe610cc36e7eff20a6f2
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00014/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a3a6afc2173fc36c3b3604609ae738c2958b659fe1bc4e48cf44214a558ba8ba
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00014/instance.png b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00014/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..9e9717a928b9a5c0b677bd81e97fb5647b281c34
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00014/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5f117e95e0577718019db4c2713d9ea2300c9e1a54ce4f0cce8cb8314351bf02
+size 72222
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00014/rgb.png b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00014/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..c727b7ae242113498c3610c594b6b157209fbd33
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00014/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:81a22fc66de0ebbf7d18410442ad1e16a43c4fca6c6c6fa1b4a1103294c6ff1f
+size 1653792
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00015/debug.png b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00015/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..35ffefa4bee358d035b6a2358856614e242693e9
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00015/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:568007fb31c7daed51d3741bff3ae53c02b1a00324ca8e4504e9942948a558d3
+size 1892190
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00015/depth.npy b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00015/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..41e3da21b9838cde77ae1798b688ba1ffa791489
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00015/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:878dcf4e628b469757e3c3f76d22dc9a7698715a42e4acbb0088672685c04b16
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00015/instance.png b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00015/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..8027689ad42704b3c50935a177d117f69050e228
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00015/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:580dd15a75289fb977fe377d86d7b15668eee8fe5e9130fe25521854a7029588
+size 71042
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00015/rgb.png b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00015/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..2517fadbfb80bd3658719ddddbfa0e2c9111fff7
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00015/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:69e4ccacb80cbed192a1954cc5011c9731428a5031efc070446c3be1536ca4f0
+size 1642772
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00016/debug.png b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00016/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..9fd6927c2fa7f6ef69d1e931ace6f23e8c181522
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00016/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:32bc6ee5e8156c3979019877bdaf05142fec942b0dca489c44ffafca77a973d2
+size 1850362
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00016/depth.npy b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00016/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..bac7a4860edb242d9bb9df7c5cafffcf2515e869
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00016/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c310e850d28c3afd65aa9de3d9a09938b38e505b7441adb6fa12e6ec2d7f108e
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00016/instance.png b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00016/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..dbf45a178f5a9222b6f14b4fa9c2fbf684dd1db8
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00016/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1ac7c36e0efadbde8dadfc72815767f2716d3223442aaded1fd7a92457dc09b8
+size 67487
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00016/rgb.png b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00016/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..fce9f94d1ddbaed7d19f915cf4a502b73c1c8271
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00016/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:66b21ff503176576e0bdfbc79a3209a0906b4eca4addc27934055d2cf8a330fc
+size 1622449
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00018/debug.png b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00018/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..4f3983e7b803851fa0b43195f4850625fde5de9a
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00018/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0d6cb468852168c96210822aaa3893c93952c520230343c7d3efeff9b9e97e7e
+size 1943956
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00018/depth.npy b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00018/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..7cbf4396e96396d54723c0f4c16893325a454b8c
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00018/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f9e08e9e79950bd142db1fb81dc35e6b816b090a62d17e13ba013516bc56f101
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00018/instance.png b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00018/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..e9c594d46c229a19dc60a95806b508ad88bc8f16
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00018/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:db8ceaa5d1b1042dd9c10082f731b5b1e345b08c61bd6a228359e19f80822d39
+size 91496
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00018/rgb.png b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00018/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..c004d517a087b7a2e2f519befbbc08ca72284775
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00018/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0882c081de1cdc72cd6cfa4668cb2c20ecc48ae278deae502699dd18f2561146
+size 1660656
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00021/debug.png b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00021/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..bf312d085fdabd9e9153b67e0986be78d0b188db
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00021/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cd8967245a7e50c2a0d8395484242d0633115ea6c4f75419c05467f6afef339c
+size 1892678
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00021/depth.npy b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00021/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..04be2fe460e2320d77c6346b47efab67c4acae23
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00021/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:61a27d48fa6c1ae97c89459e1e049c4876cd27d0484b072098444ece3a60ea77
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00021/instance.png b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00021/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..9c35a51500f87abf959d7e541240ccb266d3ff7a
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00021/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:77005a95cd326c6a5879dc12538709e441978d9fef4d5383528868b8ec6200f2
+size 80675
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00021/rgb.png b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00021/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..c00b32baa658e69a004d535315562fcf4b3a063c
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00021/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f2baaafdb912149f94d32d60f1dd53f8926bb43afcb5e32902854269c6a260e1
+size 1625299
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00024/debug.png b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00024/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..6be4a55a6634464793d147f2028a39901dd69d48
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00024/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cff0954546a7a99dac82b17c8b3b5356f5f473fb1226c4c969d01795ddc9c325
+size 1956729
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00024/depth.npy b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00024/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..253c3a3ea35be51aa4976a686752184e6ca47ea8
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00024/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f7a680920fa4c921c1b6c6857ca8f9bacf9c02280acf702baa0271de524e1e95
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00024/instance.png b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00024/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..0db4f7ae55607cb73f586fedd7ed6c6cfebe9bcc
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00024/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6bb537b9447d874b27372934fd0e365c8913fd6096bf087673cabcc9fb11475b
+size 84392
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00024/rgb.png b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00024/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..6d5918577da2c8eee48552a4d1f3b0e2d9953737
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00024/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:65e524b183319a2c5e56d20aa329988641768fbc25041eb10dca8d925018851a
+size 1638054
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00027/debug.png b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00027/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..e34181b5d4a2c9493814f58f57b7b88576001c89
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00027/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ae9c8e72324af389d89fec74f8b1110e8401a99a0a0bb6dfb3a907664b866513
+size 1916460
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00027/depth.npy b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00027/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..0659fbfca2ed86f3b3e3e056e771b97001773e9f
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00027/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:164df778d481cef24accc87748a9be029d2280d9c0e5984c251ba92fd9f23ee3
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00027/instance.png b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00027/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..d6535df489acd86a18b9bf8bb38a38bcf111ffef
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00027/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2982678e936013904729abe3d1b816482dc8550e61c95e1f6a5f6e80f428523b
+size 92995
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00027/rgb.png b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00027/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..06f78344df2ea9403868b53a94ac931daae88a59
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00027/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:57bbb3a6346a6ac7c82e6c3f0e122c44195609f56e613024707fc38b708b9d5b
+size 1638729
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00028/debug.png b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00028/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..727f4b0c80696dfb2555f519a3d8d62e84e39ec5
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00028/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e3225413bceb5fcb969243b916d426bcc9f707d6dbecaa93b902fa1ae64f45ba
+size 1892110
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00028/depth.npy b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00028/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..77af68b2805a1fd87b27933a173d85d696be13c6
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00028/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9474ffce552c726ce8ad35ecb92c4250c7ef44e58451ad70cf6e08995981a365
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00028/instance.png b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00028/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..541625c8008c9133ea7bccd6e24618c4a4bb4b35
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00028/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:70fad2f61e54531df22381c651a1b13e5a6bf9ab0a592b766510598809ca749a
+size 84187
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00028/rgb.png b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00028/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..78c06bd3a8c8c5f4296d524f93213a3de847983d
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00028/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3c17b3b4a6ec594b7d16ccd5d4289d4ae47728058c6b9631fb93d6c01bdd41d5
+size 1612944
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00031/debug.png b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00031/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..c9fc0447b45e3c07914e0a620917859d459de4ee
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00031/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7039247896be4957637766e4a0bce6e9c27673f9a2499685649a75cc13d22c6b
+size 1905471
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00031/depth.npy b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00031/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..10958a5a4b15c3e5d5ea6d96444381da2f803ef9
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00031/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0d345368c7556478e8b20b3dc078f882f3b888d5d688b18a5ee25f1c383106c6
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00031/instance.png b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00031/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..039f4fd2a391e2d3a6d95f9bb8a1bd8c2fc0f45e
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00031/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:214ecfb445d1bb82174692b4e2e9c8ff3ddf998540b00b8dc3194a189121442a
+size 85780
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00031/rgb.png b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00031/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..263da5649ed156f5150865587ff35840547ea120
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00031/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bfdca8e4a87cf7cb59be4f6bcc587c10f7ad23fbe21149a8aec5c88d4a31270c
+size 1616404
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00032/debug.png b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00032/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..9a3cbfbb6e4925fa2f688d7b6e63ef436f9be6ed
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00032/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fdf4c6391c16524b4d201dabd8574f7d84351ddd97eace8f22222e51110d5a47
+size 1925884
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00032/depth.npy b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00032/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..a712b956632d4de45624504ab194c90888457bf5
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00032/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d4ad051f3029dee2ff9312be45ec49d256aec8c98cb3211a2a1d065ccd17559f
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00032/instance.png b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00032/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..9af9f56b7ec5d4372b83eec138122a9dad1138e4
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00032/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c10648fb43d1e272e32346b652d63058e453218501cd0fcc79796854692cb615
+size 100734
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00032/rgb.png b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00032/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..ad0d632916da089053c11a1946b00cb1579b397a
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00032/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:567dcfc9a0e41931a91bf61f5bc762e5fdeb7031f20c2cd9f0a38796fd559237
+size 1675168
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00035/debug.png b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00035/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..3d926a8144ade15247a19a4595169274b72e9804
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00035/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0d6211161d5b773ee98942f08a95164557ff1f3c75fe1ca1ecbcb81a283715da
+size 1878745
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00035/depth.npy b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00035/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..b868a3acc8cb276751aff970e0bdcac33896e631
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00035/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3421fec2c07c8fe97d9a7a825108a0c41a00a02093d6224c497a81ec3b5946b2
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00035/instance.png b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00035/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..6cdaa8847a4b452113ff7ca3f2177b8cb8fc85c9
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00035/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1e9c0db9d0c97d80f7a48512b5a3569895d45a0598757c7e76a65b4243088352
+size 91497
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00035/rgb.png b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00035/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..5c6eb8f705a2b6db4f40112115b80a0b2495ac19
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00035/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8f0b391aef8ae39cc28f01aceb2e93e7c6704502a86f33d5e4aface78f55a537
+size 1653544
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00036/debug.png b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00036/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..ddbac437d7c13c1c0616233e73f9d8a3f1b03d97
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00036/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:930b769488ca39aa83d3924c547ea11f9a82859b4c30e663178204466a94eac0
+size 1842069
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00036/depth.npy b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00036/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..bd351117ac91e94572bd618305dcdc3025f7f276
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00036/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:76409c9a6152baeeec529c01185704b4deaba5388f6e9b76878cedd5258d7632
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00036/instance.png b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00036/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..94cd62760d275efcb7df70fc781a58c7c800cdee
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00036/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:422c8f0139e0e353c43c6755b81f41e028f19e25ee0bbd30d67cdb404160f806
+size 92971
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00036/rgb.png b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00036/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..f9db04dc6abbd9393350fe8ef1ad8d610e6d699c
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00036/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3768776d8916a729582d0178adba01942c10f2f60e6e19b8b2a953cd924258b2
+size 1626853
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00037/debug.png b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00037/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..154413a7a5ce53cab8603d66dd423a1faa004991
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00037/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8956e9d00c2c2043ea36f8e897ebd7ff549edeeebeef48f460881dc3722cbe74
+size 1850248
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00037/depth.npy b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00037/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..43a6287475ec6741f40d689a535d2c845801bb00
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00037/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d433a9057a7c7e9e0eddda6841c837b926bf93269fb257be7d3d06c410c87603
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00037/instance.png b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00037/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..6ac64dced1fc72fa4fd9bd22236d2f226170b87e
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00037/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cfc80842d2083dd2257fea086a84d657798d678b96c62c87509d4ae1d6416299
+size 89166
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00037/rgb.png b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00037/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..05c1333ee12e7f584121e34e778cd7172f39d646
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00037/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a2e96e8468251c0b5202422e6e4093a8aee22932f23cc0c733497f25d649f87c
+size 1621983
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00039/debug.png b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00039/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..955fef2ce377b274c9d0e6b60050a0a4c073ac75
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00039/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ff7aa07b3659ae6972e56704c6fc74254e6da8cecb5f9c123d21ec27ccd63b6e
+size 1878693
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00039/depth.npy b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00039/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..267d8c3f36b9c9372d2cb006092c6947aa9e9f89
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00039/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:434a3f6a394341d45574b5d765373161cbcfd0cf1a7bb5f2baae1430cc664a61
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00039/rgb.png b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00039/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..563904ea70d2a61e7ecc36c1f5f544eff6a35222
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00039/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:29574404403acf36382c564e1e0e9e044a8c4e7342b2b71a1e0036bde410b407
+size 1674778
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00040/debug.png b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00040/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..71b281e7795092ec77182f1f0dcc9b8e63bacc57
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00040/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f574b24768c54dd6ae7580119c52119cd53b227c0676a3e5e119441d8232abe0
+size 1859086
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00040/depth.npy b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00040/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..de200aa6ccc48475733eba09ff9ed3a04f3490c2
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00040/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d128916d0ee3e3ff4f5a6a0ce80126ed0426def2537f3d25dbc077792ff7aeaa
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00040/instance.png b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00040/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..2fc12887dc328f5b9e7535cb5e1b0856f4a7d2f2
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00040/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bc8d349ddcbaa849e7b3673f805f85ebe863ff7f5a9b1297978b4756df57f083
+size 92017
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00040/rgb.png b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00040/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..a9cae95108d81c08597cea04f3224ba846b1bf3c
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00040/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1fdaff2a50de6cbe7e40bde3adafc89618d735a5cf57b4b609f8d2581a371aeb
+size 1659115
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00042/debug.png b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00042/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..e273294283a1abd1e9be14b2dd05a6f3d4d33436
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00042/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eef134f8dd30f42722044ea9531d20a010a9060fd25804ddf1f2551b67450fd8
+size 1860221
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00042/depth.npy b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00042/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..c82a6d80abc912995d728ae3163ae58bdc31c1a4
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00042/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4f8f4345640a0fd0c1a0558191c1b38b2439343ffb975874dcd62352daf485bb
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00042/instance.png b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00042/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..38b6faab4d02083f93ce93bac9c3ae6d94665e1c
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00042/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cf5b2afcee31bde5d37660948195bceb5ac026efc2fad1058780a9c177b4b2d7
+size 88578
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00042/rgb.png b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00042/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..f13d6cb88607e35dcf205b7fcdd9983884beeff7
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00042/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e3e2f0044ec49aaf792e5a5d4e7afa94c0e8f4c00f0f41966f0c8f1ae016f198
+size 1671772
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00044/debug.png b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00044/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..44707dc8f3db235bc46a89c0467142b8c910697c
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00044/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fcebc22e7d1b67ed38755b026bae9d8c3e9daa77129bbcd8e8a8d6cd7535879b
+size 1792471
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00044/depth.npy b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00044/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..15ee4586b8c9d7d834c62c11058b84f428e83286
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00044/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f22da9dadb08ad91cf09cbb77d8eb396e341335469518f2f8c548b5014bba77f
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00044/instance.png b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00044/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..93fe87eab7038b0475e25db3fea0735a8c21ee90
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00044/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b9849f741ebf9376672a12778bfcb6be9bbcdf10553d24c4fc297dd98d301ccf
+size 86310
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00044/rgb.png b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00044/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..fee2a92f841f1696949dc6527ea533684d64ca80
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00044/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b0e9d994cb5b03c6e14cc56f00bace31c9cf5d93ce8b7026181263c9ff9f6683
+size 1621845
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00046/debug.png b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00046/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..3808b32e13d345358558af21c42b7aee100d7fe9
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00046/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:78bf65bad0197c8a2629d41981cc740b954e2a2869591e95054e5c6c16dace60
+size 1791067
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00046/depth.npy b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00046/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..4def50e1e3524bba3bcec6e6fb0eabf64fd69c9b
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00046/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:16838011af6756d149b76f348621d2836e27387cf0d321a093dfc783877047aa
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00046/instance.png b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00046/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..2c4a575a1dd8df81ce1456a662cd521de4a0be11
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00046/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5ee980bf02a09d010b88a22184c882d562f227ed7a359d0cd297b92e7a8eb99a
+size 84188
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00046/rgb.png b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00046/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..f4d126fdb420f28c899cef19064c28889c6b3ecb
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00046/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c86cf259c0d1da19d86d1790312ee7662ed58e52cfa693dc9d762da4ab92235c
+size 1613732
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00049/debug.png b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00049/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..13a771dbe7bbeac5017a6c858612f600a84a0ebc
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00049/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8424a231ad528da2fc4dbac323b5afca2e5784260bf4b2cecc75a0f8e8ad515a
+size 1664056
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00049/depth.npy b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00049/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..51f0609ef5dc22650af6fd31755e135b94ace798
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00049/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0cc5be6e36bba97af5fb77f46c43e0fb84c8d46029562344ca1f17fb9561edae
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00049/instance.png b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00049/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..9e5d489b289fbd4fed850b8818b103811b5102f8
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00049/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d87f9a7c7cfb3805c8fb899db546da307fc9f11a00b9e33c58ee38766f723780
+size 59932
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00049/rgb.png b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00049/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..0b726c474a17c10313e563d76977c23a2ca76471
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00049/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:41fd4f9e71ce32d8a361b16efa8db97364e4509b75a55a428f77e1790fab86da
+size 1500647
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00051/debug.png b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00051/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..9a4366bf454532ae9eafdd9e829bce038a51d29b
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00051/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b1520aa3796018ed7bde278dbd4bbd4b269dbdbd754b560f8f3088ec4f358d29
+size 1697348
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00051/depth.npy b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00051/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..942aef3b826e9a71ba7b4bd289b2d1ce4e0d09eb
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00051/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5e7fd553bae9a70bdf09e5380ea7f8c12e9606e07217f99b89951126cb709e3c
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00051/instance.png b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00051/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..94cee995bb063de2aaf112bc02cc328d369a1690
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00051/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c34a720ee19d24c8d404995f729c4794752d75306f557b5d5c7a56bf1031d49d
+size 66014
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00051/rgb.png b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00051/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..37886a084a562172a002a89ff24a4bc76be82afa
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00051/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5dc8a2fe178605dc5ecad176f038989613d2365d703d9d6f6e43b87e5902551c
+size 1533711
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00053/instance.png b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00053/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..00da09168413ff30083c81e495e1878ff5fca088
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00053/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:582e2f673eca0c99fb1b70aa10782d5b416ea5d61d2ffc8f13f89f04ae5518e4
+size 69158
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00054/debug.png b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00054/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..2a04365ceab014443a0854a534c6e35371e575ce
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00054/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:babdc1f71049adf37eac9053b7f93a187ab5d1aabea874ec8ad2337a986914cd
+size 1703085
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00054/depth.npy b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00054/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..87bc78acfaccbaf170e27d60fa603db913be809d
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00054/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:85f7b22320c98cd650351c9988126b573e5687a7c153c876dc2fde6ed41882ec
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00054/instance.png b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00054/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..0dbf6c16ededc25e1e2754d8f773eca9feb1ddd3
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00054/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:68702a8c482800f5e492543f505e74c163c10b8cd06c423cbc012b29400a5f3d
+size 64181
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00054/rgb.png b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00054/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..a85eb614cfd5a78e741d55daadf0c567e9809780
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00054/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1ea890aa1358b15cb5b15bc21c81f0473ec18ac30f01e48eefd72361ce444a7c
+size 1547335
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00055/debug.png b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00055/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..5d95f2c770d90bc47da6300e48dd82a14e01e793
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00055/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7489bdae5f6e6d675e9a803f5dd52c50b3c31dce5b7eb27e78625f936357226f
+size 1712029
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00055/depth.npy b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00055/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..26db8387137689a024dcc7bc206517d41f77fabc
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00055/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e27db94ff77a48496bd2f2fe2f9a0ed4686cfa08049a4103080741163398d760
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00055/instance.png b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00055/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..fd98326d06ea411a0487bf476d8dcee91388442d
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00055/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aac7d040366932b858fb2c4848922a06aece64f981a45f97418a37edb1ab9245
+size 64040
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00055/rgb.png b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00055/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..7ee420452ca272ffd4ef2dc754390c2f04c34ace
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00055/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ffc4732fbefeb214b3c2781ccc4df3073843deaa50dba6c396a96ac6f7c155f0
+size 1544920
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00056/debug.png b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00056/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..1746b0d84ef6db351ab23139dc25b2525721deaf
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00056/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4974475483ce2d31d000ac6c37bd755e59cf21399f5cc52b51cd06a3fdf7e5e3
+size 1717486
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00056/rgb.png b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00056/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..1595d6699628166ebcff91b628f93eaee21e8b77
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00056/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e4290446d89a0685d7f1f5688ec60f60112ed56783b7f1f662094b7013ce3e89
+size 1558900
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00059/debug.png b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00059/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..331be8ab1ff551fa3dfbd43dfbf6d80b22efceb7
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00059/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:650582c97f4c6187eedf76790fcfc4e92b73aeb6b69453c7df1c51fd7128636d
+size 1686468
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00059/depth.npy b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00059/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..7865dc559a31f9808efaa1b7aa7947c0e1eba477
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00059/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:541d3a54ff41ed1ebc3f82bb119db1027d6b7e739d640f0ba9e1d5c5a188185b
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00059/instance.png b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00059/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..a68c6ed8ef323b72deb6f16a2fff4a42208c6204
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00059/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bbb3d57ebed4f02c56b3ed316712db54ce8cb8aa21d15f8309d780b13493eec4
+size 55971
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00059/rgb.png b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00059/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..df7f7d9624c2316f41c9523fb9b7c84e1f6c6277
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00059/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d28ce1852f72584c9941fcfc1adcac322632fd9f0a10583be3df8bb7ff7fba79
+size 1530338
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00060/debug.png b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00060/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..930f8d3a3d301f7a37fa32a9fd963cecd790a736
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00060/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2854b0713ecaf62994e7725f1a8cddab03a3d4c15c7217455f2227c372ff27f2
+size 1706192
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00060/depth.npy b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00060/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..fd0a752663c617e416c706e8911c922f234491bf
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00060/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:717c0383ef43ce7712026937a938b70eb8fcd24f9bb90e12d55c64dd3348b7c0
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00060/instance.png b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00060/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..bfdbd76719d8c8e101da72b45afa30b555054157
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00060/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4b8534e7db1d3a6187a0017069c67b2737fbb1b8ea4e30d6dd65f8ed89ff8615
+size 63243
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00060/rgb.png b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00060/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..44913737d7f95969dbb50113c5c26b96105958e5
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00060/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:42720852f4a06e8689b1fc3532b1cebed4f88e3c458dc0ba7f264bf51cefcb66
+size 1554789
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00061/debug.png b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00061/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..e64a32fc4b0d3876b5001b231620b5a6169292e9
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00061/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:653f9f71305d1b72e3f59b46437719c27e56ee4926f4b04491864b3766351e38
+size 1705426
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00061/depth.npy b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00061/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..6e83678f835d8e9d583a42f2f8f24c18cf278f85
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00061/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:71e353cedc2f8b8d278ba15c069757df2eae2a6a8687587d144a40f58ab5365d
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00061/instance.png b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00061/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..488e898214d94dc8dddda019f90d9dabd9bddae6
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00061/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eb83136a43de4ed166aaf6c36f62f0ef2c620723129b1c2a9de1404d87fef8de
+size 62824
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00061/rgb.png b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00061/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..89ea2f5349c272be2df390ffa142ef1b7435f546
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00061/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c8db2391adf115288fdf6615fab8e963f93330d494835b6223d9faa398144ec4
+size 1552449
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00063/debug.png b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00063/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..8c963d73f967e3e08726f7dbbbdbd0dfbd4d33e8
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00063/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1ec10976f7bf6b54e18a5c2de9a26b03cc311dfce38007ccccdcac4b5ec0090b
+size 1710367
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00063/depth.npy b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00063/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..0df21719d147de0dfc4e69594bfb65818260de83
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00063/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:074c9185e474eed5a493fa49c975ef9480cc82ab4b34809448238e59371692f8
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00063/instance.png b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00063/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..aa261ac4ceb9adb6751cab54f17fc0ca7870bbf2
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00063/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:94a96ab33fe857aa69c01723a705daa95151c13136feaaeac8ac22eeb67e018e
+size 56732
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00063/rgb.png b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00063/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..7b5015e08e64af8937af83ba77a6534b46aa720d
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00063/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fc5133eb603da1a562840d7b89242ab3066731da1cdc5e88051198decde311c6
+size 1536735
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00065/debug.png b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00065/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..aa4e3d46d49a73a5a00cca333aad8993677c958d
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00065/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b61a2712b97cab7de6dfeb06ece01ae1b2b0f0927498ca8063ebf90e421e1a9d
+size 1705946
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00065/depth.npy b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00065/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..6745d6bd9db22348dce8ea18d37b5ed8f1a65bbf
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00065/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:200ea2c0915e0c9a24234637a2af5c5e8a298972f4dfaec66a37ec4f4539fc98
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00065/instance.png b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00065/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..05193020d19ea8ac6e381644d39986562ae0f053
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00065/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:76949ad466ab8e9f3fe10bd0d3a94c76dbce835f6c4e9dd38535460e51f8abb7
+size 62082
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00065/rgb.png b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00065/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..8e4cf5d091883f4e4644c1c569c01354b6615938
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00065/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0ecfa45f671433ea4545953c0d4f1b7f0a32fe4cdedc9ee4532b265ead9898ce
+size 1542609
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00066/debug.png b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00066/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..7a4776f3cf865d62164817c53fde92b59ee8f735
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00066/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:008439dc54a4599d25d797b95a3a7d3d137f61cbfc58897f2f7e5d0963605fee
+size 1729677
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00066/depth.npy b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00066/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..f935565795510597ba187e8f82c7e715ea14597c
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00066/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:619842f6c56d95b3be47d4cef2667b4a2170e93a211660e0654fb8796fe330d2
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00066/instance.png b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00066/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..4f79dfb0a232719dd581e0320469da90b2ebea92
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00066/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:76957bf37b0cb8679a37ca030c254974ecb2304fec1c057230220700dbb20eee
+size 63766
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00066/rgb.png b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00066/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..af96fe6789f7df3df111bc5be94f4b13b9ba2089
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00066/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b9697ca400ac2666524930840549566de26d10c769622b0386d59bdf353bdf95
+size 1542921
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00068/debug.png b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00068/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..a92fd4191d812a68dc91a93da6f675ef08273fdd
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00068/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:95edda1715a85d8f35f599846b7625984ab7fb0624eb0da995fc65dd709fde3c
+size 1680424
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00068/depth.npy b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00068/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..6eece2d590394455c72c5090643d1fb9774d369d
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00068/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2969ec3c8710f5d73dc3b4a9dfaeb2bf5791302a9e18a57406ed7e3c5d99d6dc
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00068/instance.png b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00068/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..8370f2c76100285587007a659f7f8f8bb51afffc
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00068/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:916afee640f004103789109c70dbb1a19c9a2d7afa291d3afbe6b6341ebbc26f
+size 59112
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00068/rgb.png b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00068/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..8d4e67740b6a0b292f1a2427d1f15a7d52b40e9f
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00068/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4d5b407ec018606a0adfd7576d31a1b94e4469a62f79cf53f2fb5931bb1d77a4
+size 1527505
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00070/debug.png b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00070/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..4896fde01ad165925c758e0f4c6957b47ca25af2
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00070/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:605becfb8002280c52ae7437cc9eb8e894d9d90395f97d79e51bd7938e764694
+size 1687788
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00070/depth.npy b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00070/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..f3f6686db1c89bdca1bfb060bd4b08571768c7b8
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00070/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c5cb3fc206ba274ad998fca4fd76edd241c549bb2d039351d201598b06674591
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00070/instance.png b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00070/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..56475a01f3ea621eb53c1d6a3868131308116fe2
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00070/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:79ba4f63b4628c582aeadc43773d055e554b98e71dcd2a7bcfa90cec3a5da03e
+size 62848
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00070/rgb.png b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00070/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..6567a811a7ad8f25fefb57505748c34adc79544a
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00070/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ee432ec372fdbfc20e10d7beca633c7d5da605f59b7f84d6b304b477814fd65a
+size 1515039
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00071/debug.png b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00071/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..81fd03e144e76562a97c4c167c5a8532f43e88b3
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00071/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1da5c3c833039dc77a4e4dd9d3fe752a85dbaf07e72dc35b2753eab54da0e766
+size 1684484
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00071/depth.npy b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00071/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..cd42000ef40779202f78a6f39e533574ba5bac09
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00071/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bf1bb5c3080f4d14c179a353a2158ae79f07e8046e2b0fcd2cc3e8b13a555a9a
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00071/instance.png b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00071/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..4c7d5bc80728c9c44999504f17d205565389becc
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00071/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6ac1fd95740735a2923ed93b4f14ff170b860cd06903c599dba2ce568dcca921
+size 60099
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00071/rgb.png b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00071/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..7223f887f5aad9c1b712e785feb0528257153674
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00071/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aa670555c473ad8c898f23a73cdf14b4c4516abcb124036811e6f3520f9b1317
+size 1527461
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00074/debug.png b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00074/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..7369b50e45365420d626e2bd33b1e25f9d7d5802
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00074/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:412844691f30d33bb12310e350a04de9fd0b56650613761904f1f4edd728b85d
+size 1652808
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00074/depth.npy b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00074/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..d59893b4d2017e6b740e1212c2dbd9fb60246ee0
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00074/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7c355955afbfc8009e787d73e6f3579c50e9fea8eedff5046a075ccdd21b5994
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00074/instance.png b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00074/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..daf5c387009600754a1f70ac57416ddf89157597
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00074/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a76760b779acb219d1225bc52daf51385016036da65ce36230ed36d4b81072d3
+size 65298
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00074/rgb.png b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00074/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..0120366d413fc77a6cd273e8148a0ea0eccf0bbe
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00074/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0f9f5aaec49d8ab5575ce13fbb54bcf3f0b917a61bc1391a050add2768100d26
+size 1515804
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00075/debug.png b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00075/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..5c097b0720b390cb3c0ee638ea1ed5a00b9c123a
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00075/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e6a1fbbe70fbbe97d3889d6056282faa3952fe4fb8e8353cc7d4b51ee28984a8
+size 1654054
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00075/depth.npy b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00075/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..489175a6c6d2643d5515eb01461bd1c1b6b3d410
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00075/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:be4d1d592516dde98af68baea8d83a87211264772f26f6c66c72c0f19799f6fb
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00075/instance.png b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00075/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..aa84be93863ece59c2bd3a72c17b4af90befba73
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00075/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f23162978d87cd610166d084f00d84086916f49106c0a292ed0b8895435e8b57
+size 65949
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00075/rgb.png b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00075/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..a106ae2167c2e59f2db99e3af61bc921925dd4c6
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00075/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:85b2c7f7fd6bda59e38bf1ebebcc93b35667b633e3f62269b7affb8a731f7749
+size 1510192
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00076/debug.png b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00076/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..9002edea9aa6dc5fc6db60563c966cf886cb72cc
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00076/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8474d68e9dcbd023831c90156229abf86ef86b97b295ffdc73568b8d771ef63d
+size 1652662
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00076/depth.npy b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00076/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..7e46e068c65740a1670ef773fce6c3d03284b63d
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00076/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3f598bfc7ed541ac33b3caf4287120ff996cf320f99e4dd8d55f6e8389863e59
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00076/instance.png b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00076/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..6f6a34ec63345ca66cd411e2f526bc6f262a8698
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00076/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1dafb5f639569684d48e05ad65298c27d210121a7c52fa6d03b87831b0d90d6e
+size 67856
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00076/rgb.png b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00076/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..85250501d2936ff6c971de2cf296e9ae58f211b6
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00076/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:00b9d03ec95a01d62afb42d23f973d0c55557f2fe40b1f84bf2bd17cd9c8e617
+size 1508601
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00078/debug.png b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00078/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..7057e1c913419ef220de0ababa51eb7fc1127db6
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00078/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:97943a3d48f6610f349ad432469c31866dfb3a4787b6ef1c5592f6155bbb2d73
+size 1643479
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00078/depth.npy b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00078/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..731b723d0a430ebb8b1d0920d6ace11e9f118e55
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00078/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5175b965aab558e4e49fdf8d3427192250904c5565a84f141d541f59b61b1f0d
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00078/instance.png b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00078/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..174d9c17f06a5234b49b100d9ef4ab3ab3f7f5dd
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00078/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f173f7e6a156c9a7314002825e0f267498b29fd06d3410819f60cb102d61ff31
+size 65026
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00078/rgb.png b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00078/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..a0e3f2fb871e51c3223130431b67f5c687994d9b
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00078/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:22e43e51936b7bb4008bc36fe385182510ab19d417ab1bc5e0dc2cdf0444057a
+size 1502694
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00079/debug.png b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00079/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..53ed578182c39e8eca8e6ab6822966e53f4aa271
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00079/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8ee5faf740611ad235c29ad2fb8ee9f75374430b59cf396bd76dfd9ec37068f2
+size 1664979
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00079/depth.npy b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00079/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..c552b99e5097dab4548e06138971314a01423268
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00079/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:81b2190924946be3595d97fff24887e5db92a874cf9ec75331065e00a3c0dfd8
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00079/instance.png b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00079/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..9213314679595722a6b4b0d33426f28c3b1c0bd3
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00079/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a71e5d10ecf6c95e7e319e874eab64dd2bc7ba92eae3947262b6668c96c01b2f
+size 63799
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00079/rgb.png b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00079/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..ea677682f8677ed75c3d720b2d8bcfa588feeed6
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00079/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c329c2d0f5b05188866c66c5d96d32bc3b1be97801f4bd4ed99a2f0122c0056d
+size 1497851
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00080/debug.png b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00080/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..d66b6e7504d33e23e55bcdc5c9ac80b36910685c
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00080/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:956d1994d99ac6fc4d79651f4950c8337347e2a8c4e235c9d67363c59cc79a85
+size 1663594
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00080/depth.npy b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00080/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..28c66198739c434e7dae504cbab2bc11ec5d5ce0
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00080/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:45685e2502452c894f92832df9f9e80d72c1eee6454dbe2337700c9ffe3de11e
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00080/instance.png b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00080/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..62fd5ca83ea2d8dc4e6015f55a99608113f9ec15
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00080/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a92cf9affe17c1639221b8787b2e96c5d6cee1fc5244d8694a149555736173e7
+size 60403
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00080/rgb.png b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00080/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..4096f3fcd45df0f65fb73a70df8df0cc02e0f1e8
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00080/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7042f466c62802be21a8598ddebf90409f2d4a706e79cd4c3d993a4f81abd6f9
+size 1510465
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00081/debug.png b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00081/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..c8e3e591655f0dfb60c7a5a1225207ea9012986b
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00081/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a84496260495242ae935dff25aabf35e3fc0bc90f67aed99d54c2a134769db76
+size 1645303
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00081/depth.npy b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00081/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..644845b7d16670415ffdaa6928b0cc9c395a19ef
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00081/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b65e0f9a6cf0c43ffe06f18c3d11e55cd96383cafcb226cb818ecd56e5857aa3
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00081/instance.png b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00081/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..44ac6f9d1035b011b39dacc8266d4d6ab53cf6c5
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00081/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fad229ae0db43f85b3e671c3bc6dee01bf958bd2ae98a92d3ceeea8748eb6adb
+size 64380
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00081/rgb.png b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00081/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..bc84d4068dd121fb25bedbe9c8aebcb89e0db19d
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00081/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c48ec061cd43517d5828afc2ff260bd95fde2fbddddba47ff672ecc37161d3e9
+size 1493169
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00083/depth.npy b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00083/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..8d3cd92e494729b44c126ac9df17f21eac62a307
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00083/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3cadbd054d46486ef334d51b2ae2758cc81b880f8785d60ba1624834fd41b8be
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00083/instance.png b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00083/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..c5d0ea6d4475aff8f731c25337605976598518a0
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00083/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:22f3ce85d37aaeaa20e1be21d8257f34956fb8329e9a4ecb7bb721cf717992d3
+size 65269
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00084/debug.png b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00084/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..a5bfe651f1ed5542ed22aa92f5d454fcd1316f70
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00084/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fd039d1d8dd49ac9927e61ed7b06b2f58746c4fafc924d317f3664f65af79a9b
+size 1640056
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00084/depth.npy b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00084/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..642793124b75550c6e390335235aaca966f8821b
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00084/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:097f7b0b82b99ffe55c7b5d3516f1fc43be759c356e4faa360354b95a4771bf8
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00084/instance.png b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00084/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..f3da6c4ee9f3fe8c6dd7790655d9036c1eeff367
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00084/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:51b94b064abc205df56078d10de91e6a2066e38686531cdd7a6ea7a00a78a5f5
+size 65292
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00084/rgb.png b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00084/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..66885c4b326d62793198774d3a04fc3430c8c167
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00084/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2a1a0ed7ff39e5d9d86137f3fd02d23468b66a811976edff02b2620d174b9643
+size 1483556
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00086/debug.png b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00086/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..234ba226a8a61c52fcd2f8d6eac22de98633342c
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00086/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c567e681ecd7555e30a46ff7543727d24e865a6da0dcc05a011f0589ae3efdcb
+size 1627199
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00086/depth.npy b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00086/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..1dd925203892420f01f4e1ef1ae60f0da0ae610b
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00086/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aaeff00467da34c7e341e238a3faf34d3bf67037ee41d73cac2a5447e77325f0
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00086/instance.png b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00086/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..29481491d7319ff8990a08d216ac4a9eb746587b
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00086/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2289a348f0aae024bc81b0e3fb87097795828ce979b10ece9ea961155a221bd1
+size 66409
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00086/rgb.png b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00086/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..bbaaa0334fa06a277322d69d38de4009efeb485c
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00086/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:90ce08fd20ad876a4c2fe8af0f000282fc794deeb1edc144ee01ed7fe93102de
+size 1485421
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00088/debug.png b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00088/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..862fc93551b20591b3f61aeefc4ce38afb9c3a4a
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00088/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1a9bad2630e594df87d1262096f4c67cc7fec57f3a29c7d209fdef2fb96bcc57
+size 1648597
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00088/depth.npy b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00088/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..43b59bd0eaf8fc493104d8f82bb053329417c8ca
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00088/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c91561e3f676661e1584835db30f39b6398ba466d02a9805d453ffeaad039867
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00088/instance.png b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00088/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..25418574df8a3e3e470556a68251b335c2ecd0a4
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00088/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b994a695db88d07c42368f19b655feed7282169b0124c1d84bc06ae904a5a003
+size 73231
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00088/rgb.png b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00088/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..459de0a0449583c1e5ff0512396e06d5c2866a02
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00088/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:795114c1932f2f69cfd34804d2b72b87221fdb84c7a247ab635638a4fd95176d
+size 1501391
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00091/debug.png b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00091/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..39e3cfe78a80e579624be4a922a6f9a71a28e432
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00091/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6d8e3b6b7f576645f5ec58bbdad7d934df14cd1bddca4f9dac0e5da8b581d467
+size 1633499
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00091/depth.npy b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00091/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..3ec421c6f9a72ba93525b35efbad4b89ef18cf72
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00091/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:595cfcb9641404dc072d023d3ab72516eeda2c449d8215dfdd4f00a3c5c01a1d
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00091/instance.png b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00091/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..81455d63312586f3e2f9e19e05bc643400ca306c
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00091/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6994f83eb3b8401282c531bd2d3e9a09889d0d0775d5e20f4ecca7291f2dd342
+size 76724
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00091/rgb.png b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00091/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..2f7c78fba9750de305771cc8bb15856c9dbcb696
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00091/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7202d7c256b4000a081a127f4ac7c2640e555f7750fbfa1f88a3105981bcaf01
+size 1499979
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00092/debug.png b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00092/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..1368d75120e80824c5e723f9608739bd1fd957d9
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00092/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0d4321da7b31516543e535f24d815ee1eccc7e7988fb8db348ff71d11b62e880
+size 1624065
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00092/depth.npy b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00092/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..07873bbb2aac16b304de912995e3dd3334ea7591
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00092/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fd77e854b5d25b064a09a4c1b259ad968b08a3cf092c3ef216d651796e9ba9a2
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00092/instance.png b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00092/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..87e9acf46df8c954d50e865329c19697ecfead6e
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00092/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f6d84c058997c8e14d9d4c9ad36fe229031b05996604322837e3fe8bf93708be
+size 68593
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00092/rgb.png b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00092/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..719a158e06d0b9d12d274e3958748c6832f91d51
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00092/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:578285e98fef8b7cf0458568777e6bc281f8fabbe06c2a9ab2b6b2b235e56bad
+size 1503706
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00095/debug.png b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00095/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..03865f0932ef63774de5b4e2721d64d57b2d5688
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00095/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c4856807e8a9df3753428a3c07a3021214aa683e2aebafe8afb9260b42eb15d5
+size 1620682
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00095/depth.npy b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00095/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..6d41cc26484516796b4b7dd730f4675fc7087b12
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00095/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ae62e8f09e8d2aecfd05f5c06a917a577cada04cecd493a9c2123ce7252cf1ca
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00095/instance.png b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00095/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..a832f513ad3302d5df77528604bb1e4814a918db
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00095/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bbe9274243266093fcefe7e68b200389d8f3de3d9a3e600717067cb0deb4dfda
+size 74456
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00095/rgb.png b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00095/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..0c4839748ce116a6b01ce89b50e25499b3b644ef
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00095/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fb8863272fae6386cd7993e7e42e79c38445614eb381efb11d58c7455f976b7f
+size 1511479
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00096/debug.png b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00096/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..37b672dac4f632465c6fb8d122e3156d052f3219
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00096/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:85c4e370a3a2db9ab0d0a408e7c20661bf9daf49bf0a28592b8574e3a1ca6fbb
+size 1613983
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00096/depth.npy b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00096/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..23c094e7d8b129dd3a6263364e47cb41fee74192
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00096/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:144608a0717e482995917b0b07542460a6dc3a8dcfc2cb0f3bf6a5ec9c493ca3
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00096/instance.png b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00096/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..26346fe9ff92fcfa18a1fda2dd0e508e143006e2
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00096/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c139159c4a37f77dbfb650a994d2f47845d01fbf855e1bdf947cb6fca7224003
+size 74507
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00096/rgb.png b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00096/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..c34b3003fc894533c528a265cb3083bf467653e0
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00096/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3c00e0c766906e1ea4663506a5ce1a30942b495bf1bcfb1b571c8e35820a8e51
+size 1500654
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00097/debug.png b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00097/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..73e09916a219a934b029ec6d826f5fb7272e2bc5
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00097/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:26cf01c07493408b8a00e16d84d744d12fe8cc3bf241f77c45eaac2bd6741eff
+size 1627335
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00097/depth.npy b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00097/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..ad221cb6d82cb60b148c7fe80712b1d9e8013ee8
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00097/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:47d0c18b8a65e334df732896452e4f9a522aaa0f1a47673b975ae69878da1873
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00097/instance.png b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00097/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..bfe6feb1ff86cea913f06f2ba79cc400f2db389e
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00097/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b4d84ad8e0dcbcb42d472add9fd85c9350dccafdded613a6257112bec6005417
+size 73373
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00097/rgb.png b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00097/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..1f4835214dd690054213c4f550ec752fca48a128
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00097/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4459c38ebb43f414541f259a3a27df821f1e583f335db8892372e0ad68f3ce31
+size 1513278
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00099/debug.png b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00099/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..01d717d7f02e2965837f54f30e67cd8f6662dc68
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00099/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9f136f01a69ff3a8701565435c15ece8022ce67e337e137bdc47b74b9710006e
+size 1632893
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00099/depth.npy b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00099/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..83902ca89cac13334be584ac9b049d2bc8434a88
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00099/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5d02a74c285cb1f379f071f4048c2fa70fd97d9f28db943ba25238c9df28af30
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00099/instance.png b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00099/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..1e20c1d93de245dc52365d246ec91e0d0616ddfe
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00099/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f438c26fb4560de635563697ab0ef017911d47422318add9e3e352c3c4c01a08
+size 78668
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00099/rgb.png b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00099/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..68bbaef1f8577bb439037150d12f537f17a6e0b5
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00099/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b9407da664628cb31acf5bdc6cf1f122336c31c329b354189bd0f0884d3de25a
+size 1510157
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00100/debug.png b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00100/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..9934bfefbd6cbeb0051b692538c0ed0f5ce05e6d
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00100/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3a1d499ffd8004df047196baf78b88bc150fee42be802aa55c400bfda76f131e
+size 1610248
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00100/depth.npy b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00100/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..f55a99a4302b10e18ecf87c724e4f70883b8cf6c
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00100/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b7ab31b1298deba7d7f62299736c5feb9cf103291f6da15b4fea612e163b76a6
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00100/instance.png b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00100/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..14231342bd2e1e1982451e50d2c481fc96611100
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00100/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:157500569d563e09b57cfc922533c5257ddf6f46eb4b3d8884f6b9ec496ba982
+size 65675
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00100/rgb.png b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00100/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..9abad4ce0a9d4bde89cd179374cf2081cd1b6207
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00100/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:193a7ade6be167f89ed6468aa60022e66439cb07413055bcd8eade8a7aead8bc
+size 1478006
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00101/debug.png b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00101/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..a1e3f6c74928d2233cd3f757633b8067f5cb2d5d
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00101/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:499f89dc3c78f175e591599c1ac3a3d90f9d6868cfbe10f8e26620ef9cf60838
+size 1634368
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00101/depth.npy b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00101/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..af019370331ebbdcbb9ef66b5abf86e5b7823d48
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00101/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:af38c35ffcb54c23473cb348482f55517d554ccd03a44a66cc4e30b649836da8
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00101/instance.png b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00101/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..4718d27a64fc7483cfcad21acd2e56582b4197c9
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00101/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dd181bca4306de7c5f7a1c941d9fc54b4a8d70a0dea3cd7354d1cdad3b7db01d
+size 72113
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00101/rgb.png b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00101/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..311530168ab26ada5c670f6097dabe95ce690a20
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00101/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c36816c2377c51f9ad5afe7bbd46e01da1798667f9021692c7d2ccb789725c7e
+size 1522346
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00102/debug.png b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00102/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..bb00ffa00ffd82f5c87516037bf4c530953bd351
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00102/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d84380d9509a06046df98062388f4a675d3ce4e6192c42327c11546a6401323b
+size 1616806
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00102/depth.npy b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00102/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..245a5b1906cdc4784189e56200b12f7952ad6cd5
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00102/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:39bf9c1189f8c1347acc92477fdd57807709bb158ed869a8b82e2502c2503877
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00102/instance.png b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00102/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..2210f97799f7219a9e0fae501784515f7d74fdfc
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00102/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7fac729601265dcdc04c8062d743ac523b62e72f87224224ad4c0302f6bfa7e7
+size 68828
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00102/rgb.png b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00102/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..65523096cf9fcb377b0d99164e37d8be9b072ed8
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00102/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e9eed068d8dc0c67b064fcb53e07bc7d58270171775bf7dba10be25054ff3a5d
+size 1492825
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00105/debug.png b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00105/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..30d5907a2aad80c7765062e08518a4ec984ea520
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00105/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:037f1121105c1be351a88c1b5e0a5e20420eac61fa1a4ba58177137150d5cf03
+size 1616823
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00105/depth.npy b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00105/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..5077e87028654a4e91eeca27f8bded05cd492bca
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00105/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:85593388542389067b44ec87f59818b9f3cabc4f733c32de22317e5a888ee111
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00105/instance.png b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00105/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..c14ecc0d3d9cdb1ef5c0d535c6f759dc0e5aee27
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00105/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:34ac714bb48a5228bc967aed1887a921f56f73285b547a61e12020a80c2d6df9
+size 66518
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00105/rgb.png b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00105/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..ab8d87d9791c92d0ef80d973e5bf5ec3904a8874
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00105/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:58b7e04e93b5ab58d781e02d810ab0b12be41d4da6431f2861fb05a835fe0216
+size 1502465
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00106/debug.png b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00106/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..595555698046c1ab83b83c153ce26d8024104e4b
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00106/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8f7118ecca99b12b5a29dd3f23ed6e1640a385db6377225e6fe6888aca4b96b8
+size 1628079
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00106/depth.npy b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00106/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..79746ec1893b58f0f7d73f37ddd10502e0d9fe96
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00106/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:063064db9b1dc20814711251b0e986d2b569b3462178341840f83acf1bc926ee
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00106/instance.png b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00106/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..a443ed21742e70b9532ed7c51a7a15fba2a3520d
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00106/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d672e44cb91923a9030ee011c2199c799845c2a2100962fa06b34c5c8d3f8b7e
+size 69949
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00106/rgb.png b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00106/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..ab670249777f88fbc741c3de6e236f1c2d96af0d
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00106/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:da2771cfa9060590f62b748dd047c96349e3099d30dc0361c0b38dc9d8191d12
+size 1508551
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00108/debug.png b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00108/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..28c81df7762c33b1829a318da05457fd1d36211f
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00108/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d8b705ca20c94bf2edc89c20029a1e71e00085cff652d25409f1136e1d6d31b6
+size 1604521
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00108/depth.npy b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00108/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..8f1c866e4b05454e2c5d47c1d45026bdc9ca8c3a
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00108/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1050bc66bd1f82d9bf92a2d6987ef76c61b52d83856b33155a3f7d29ed67cca8
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00108/instance.png b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00108/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..10b68870eb192ae4e950400a7725b753067c2050
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00108/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0e974b6f85b6399f10d89012f527a1e024072b87e1d95aeff85be46f9d81f5cd
+size 55177
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00108/rgb.png b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00108/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..0acffd5b5191ab8821296f2b3c4ad39918dd688e
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00108/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7447f7b87529293bad8285409efe23992e35c613cf8ccb5c19d98569da7ee174
+size 1490869
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00109/debug.png b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00109/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..3fe5e18f6f2cfcdd9e8bf4760e306f5be107ad52
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00109/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d1282ca6d0d3dffc769e108f1915899100f0b329391b7ba4fd1e416c24f4dbbf
+size 1610817
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00109/depth.npy b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00109/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..030a09d81e86c27b8b520112943edfdc829e3237
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00109/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:57c85c8a79f626786f6a7f6e0d50e349f1e58772ac1129756f98eaae55200cf4
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00109/instance.png b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00109/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..f4ce5a7578b766f75b3ae6df4dcefa35f4a619bb
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00109/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b0e7364903ed3fcb75eee28736193a01a28169b0ba414ed67386cf950e95342a
+size 63580
diff --git a/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00109/rgb.png b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00109/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..c3d31971f0cb9c47717333b42e8ff647a761cb27
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777205699/aug_001/frames_playback/frame_00109/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8d1a20eec717317b20cf33afcae290cb0c74f9152e1d37accea74316b968229a
+size 1499532