diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00002/debug.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00002/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..9b2b04d11492fbf5e582aefff279daa8c71e64de
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00002/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f80d9edb3e7e70f9c3fc837d377403c84ea999052e9231c82cebd97a02c4a994
+size 1466998
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00002/depth.npy b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00002/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..656c821217c9132bd50d2dbe36d7184ce497c78f
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00002/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:078474d0cf509286afe5834f9a8e0c9934f278d8e09d463d322ab3e1b5a95905
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00002/instance.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00002/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..5131bba8aa04754b60df6a4c1ec1c9bb2ec57482
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00002/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fc17ba4cc68d07e1b97489f285f84ce33bf581fbff0dcc0a9f7696244253e48b
+size 49101
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00002/rgb.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00002/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..e2761cef7197b485797fb0ede2d882781e1d045f
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00002/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:92d442aeebeb6c3ea2cdd48c5c486520987d59797810b9d24f3a4d777e8559f6
+size 1396236
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00003/debug.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00003/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..cafaa9279bd04173ecef34da068c920b28ee5907
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00003/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5dd60af40d852571b2272672c6166bd0c6510e3d60b8028642b34d819b7ecc25
+size 1468854
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00003/depth.npy b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00003/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..27ac46c408b4fabd8e051c19d4c7ad2010ea89c3
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00003/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c774a41378fd7b0fc2a6066b980295b1695b1fa168bfaf6939925cdfb856b9a2
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00003/instance.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00003/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..a793cdc60a066cfe3ed80a9b3672249d631ca2c5
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00003/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aebca96c5d3aa9b7fd6982b9cb953bbe081eb779366602a1c80894f97123b3da
+size 46313
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00003/rgb.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00003/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..3f3bd2ededd071cdb78eeb5b3e312beb574ba7ef
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00003/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:173e081df59edf0a8c444ee4202117d3cb298b69a7835fb451f2297ed99c70c0
+size 1386591
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00006/debug.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00006/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..06c72a0183923bbee3f297f59960aaf79ad345ea
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00006/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:020672644a1e4a54616f041a53286da1214d1b3a5b0a3df682ac3454078fd16f
+size 1486053
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00006/depth.npy b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00006/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..6a89f28810f20d95a6e573aefb787c6952974711
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00006/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aa6016dafba7e5dcbfa7118ea2f03759d1d59a182d2de1ff88e07c4781d3d805
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00006/instance.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00006/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..a507e74f2597aacedf1b0b1e247d3c5972bb854e
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00006/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2bd7316fe385c93643356c6a3b0df45998ea3b8aadc185f8b9487c35dacc585c
+size 45152
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00006/rgb.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00006/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..e3395aca8ad22360f491ac6288299a2e755aadfe
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00006/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:78bb951fce7939585d3df97fec7019f18b7c06ba7ccbbfbd7628d24ff3b85abb
+size 1399125
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00011/debug.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00011/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..9c156cdf4cf3ef5b110a9f5ec8eaecd0d8b74ae8
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00011/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7e7c9fb77ca651a2edcc5d11eb70c6b5d9c86a99798be4d079ed78a697df7cd6
+size 1490739
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00011/depth.npy b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00011/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..bf74df5c4dc804ed6bb273844c63fe880991e787
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00011/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c3c88f47ca52e3d34a7020cd28613949095a0f4ae5cc863486d49d18231a0543
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00011/instance.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00011/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..b127b43d0ea42b05096756d558264dbb7678355a
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00011/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8974b84d9b6b60c6518f499500c6d0fd01e7dfa574d88381aeb2384810909e26
+size 47919
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00011/rgb.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00011/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..966f6aab803972732eb740af51cbbe79e446c789
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00011/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f65890e7f5e9f880ab82e47357c27a01249eb71e5d14517315236fd8bb40ae94
+size 1421146
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00013/debug.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00013/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..900bf3c2e417cbd4c2bae5696475134cbdb66db0
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00013/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dd2211b2b4626c8a99e57d98fd6d3ba6d48b8f04009d560a98e2cafaa2ad0aa1
+size 1491424
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00013/depth.npy b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00013/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..b5af6109c00b4cc1a119c400c71965e1ba4b885c
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00013/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5f1553e3e2de119e8cd73b6b5ec09b1abe656c25920703798d0b05a91fe59d89
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00013/instance.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00013/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..2f01a7f73952a9d093a499a73a7f8a019911c1a6
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00013/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:26affd849830e43a40f158806538e23b034c90c55e92048ecd6dd0955b1ba50d
+size 49018
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00013/rgb.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00013/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..8070b264474aed2c53fb8331631ca2a01d79f10e
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00013/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:33b6733cc48506779800d5e5daf14fa04b09c89aa13354d3cc9e4d5571e4e5a9
+size 1420154
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00014/debug.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00014/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..6d19c728d5cd71390daa26a35883842763f45c40
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00014/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:420614bb9352daf18a02d8879c1c44e5f5434194e8d13ac8db6501e2d4bcda7a
+size 1467484
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00014/depth.npy b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00014/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..2904e127963fff4b7d75d4b3244855b8e7d2869f
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00014/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6c52b9d6221ee0dfdd94df309974c512bbd7d9027a8ca64bcf1be01be156f485
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00014/instance.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00014/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..00b7fc1f3e6c7f0925a238a9f8c64f0afad63b51
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00014/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0b7e58201735aacabb68e9e7ac9106ba998d5c8a83bb8238f409c6a55b27efac
+size 44212
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00014/rgb.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00014/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..7a53fc7e0f93ceb272e68d960a28e5c08d373f1e
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00014/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:720bafc7703648d3f0689bc1bf8ee5166a8cad7a2587f249ec6882586be665fc
+size 1407667
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00018/debug.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00018/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..b21363a2a0f2e3aaea294e210cc67288807f9489
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00018/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:36e96a24101235d7129ff23532dbdc29b53debdbc6e059521ab5139dec5a49fe
+size 1499046
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00018/depth.npy b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00018/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..46e3d2a6810e7ff1930b2cdd43fd971be9c9a1a4
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00018/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b98ca9348dcbe29b670c284b88a0f9696d46b7fcd575383ef22741eafe40ce5a
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00018/instance.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00018/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..7a3130bdeee7ef47107247096261e8c467a74d81
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00018/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d422353b037ba12b8d5f36347e975a8abb02666995d189c7a989eed1f3321b71
+size 45552
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00018/rgb.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00018/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..0f2f5d8e917c67d42a9fee299a932411555cd7e2
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00018/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dbafa6e417da7bfcb40476bc8141eba59a20f15e6555bdc22c909922be8667fd
+size 1421509
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00019/debug.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00019/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..6411f2ec6f84f96f43105dbe226593987ce77d98
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00019/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9e4a51dd9ad4b1f4d1a0d1864e41ea68768bcc29c6c311ab4d42dc7471eedd3e
+size 1478264
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00019/depth.npy b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00019/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..b4a1d1e5f61372303709c8bf8d8a9bf1180b15f4
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00019/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:50b4b5a02fa7f67a8b62a9164427d4290894c85cbac636c645910197fa83a87f
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00019/instance.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00019/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..deab3212fa9bf603918212e2d8b6e20c1c57f16d
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00019/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1548437ed93c59b7593c489fa3306d5d6fb4572211a2de1b1eefafb2a14f0d77
+size 47159
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00019/rgb.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00019/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..a44406ab5539ceb0192a6563bd6d62a7b854830a
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00019/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ba3e194711122df578324e92ce72cfdba2b1b49a4fe2be640e98be35794fc118
+size 1401495
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00024/debug.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00024/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..e80c7f71bdbf1e03bf70392f5cc612dd43783fa4
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00024/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:01a7687ea6d33a62dcf654c1f03384320f255b493aead790261880987edc148d
+size 1517473
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00024/depth.npy b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00024/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..3c61cc883744f046d661d0638e8b93da169752d2
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00024/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5a1722c1e21708c9a503745ac03631af403f6f1a2501371ffa327156e6b577c5
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00024/instance.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00024/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..0845fabc3fb3e5001251bffb43462a3f0b86a9d1
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00024/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fd324a0b1d2d7e522fe0930ac1d86b4fe7cf60ca5a995249b881e97dce578daf
+size 48310
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00024/rgb.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00024/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..a94375ef8fac098a0657c2aa0e0afe2a78874f8f
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00024/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:deefb1f4c1143850fdc87952e2b4dade4bc53f85e64fca408cdb71fa52754636
+size 1437625
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00025/debug.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00025/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..0cec5e0a54f19f53877a25e84b154aa4622033c0
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00025/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9d0027f65b9e057aca67620fbe233f5aa70427f856db90769b5e525f29426698
+size 1511183
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00025/depth.npy b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00025/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..50b5f44f2ebdae24dbc0cabba527f6d92ac21620
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00025/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:43d22fed24d69e9176c072a860870655eebc332cdb682b4605811e482f3019ca
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00025/instance.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00025/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..07c931d585c9b13e480060352d7200df8ebbbdbb
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00025/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:85bf7258d60ed2c3485a1591488dc670182b4728bee621ee2a96de83f3ef2546
+size 48238
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00025/rgb.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00025/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..23363778ecde406860dbd45530de7a357eed6416
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00025/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:459f4964ca9d3d71bd52844727ab0c0ce46523083379ef71e73074a9086c9dd1
+size 1434795
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00029/debug.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00029/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..b325caacc544ccbc9076eef2c2b998f1ffc95e0b
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00029/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1c6ce013f2caeb10cdcc1db719efb1101fa987b10b19f849a10946bb275f35c6
+size 1519260
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00029/depth.npy b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00029/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..f2ef682e52aae62eda16715a757f243a6f353979
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00029/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1dc570c82be1bfd3667cec088231441aa31bf7ddbaa194349ac4b9a6a6673c56
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00029/instance.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00029/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..1ec03385295aa1971c4a8ca35024cfdeb5dab8dc
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00029/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6beaf6dde31ce613adf1fc0d17c6e0861f8836dd213581423717e853a5ad1aad
+size 51196
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00029/rgb.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00029/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..9b628857e1f828ceb42ac4bbfd0ca9fd0759ae44
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00029/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c4983d9affcca7827a0edae8d2278bafd410033fe6c4adf0db335248beed032a
+size 1424456
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00030/debug.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00030/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..2fe944b4c73e514705452906f981727226015561
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00030/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d334a7c07646ac4405aa63739a616d5f17a8f1181cb7a4508bb91e598365b4b2
+size 1520061
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00030/depth.npy b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00030/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..05b69fec08d00fcb777975c17de26ee45af268f8
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00030/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:38d90390963ddad8a14d0007711a0093e31ef4a3aba54a04b6ffd0f045ff08e8
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00030/instance.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00030/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..0440cc0e452d36a6d4c18ba24288fbfaa14b6f82
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00030/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:492656f25990a61c9b07dc985f910dc9650544ba27ca701c9f1de8003ebf8af1
+size 47932
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00030/rgb.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00030/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..c863c4f7084873b80e58b1ea9501ea2b17327eca
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00030/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ddc9cded85570a9421f4e642436de401739e0ad24f5f24bfc0acc9266ca1e840
+size 1427607
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00031/debug.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00031/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..23562a025be9ba64344e0fc5448f07f682424f8c
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00031/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bde712035a5990778b703d93310982bb67d5280ec631ff068c7f0c70f2c9ace6
+size 1488933
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00031/depth.npy b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00031/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..9a026d7e5af97429a48a094c0c26a421e21f328d
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00031/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:937cd4a57b00cd9d165b5c7affa3178f118fecd2990a6f479dce216d13ed79ef
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00031/instance.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00031/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..538bd619d6dc7bb79ea62e596f3a643adbca2ffb
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00031/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b9d80fda0c94b74d5be04f587537de97bd360518b2501f7fb38de4917c50c55b
+size 51449
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00031/rgb.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00031/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..a5a2b803b6b1faf1ab111b837006bb11abf0b7a1
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00031/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:85702b7b7d3a5f7a96f4043494cef6f62902f9cbcc7845b4d9cf39dbcf72468f
+size 1408088
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00033/debug.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00033/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..d797142ab54cb9e9c2028919ec677599c75a3b62
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00033/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2c81f7ad766819821e0f12e0aca58a09472ef15f621a176977a0a9c4c7385774
+size 1485621
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00033/depth.npy b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00033/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..7461804dc4017fbb259275c4a12e99cd3b1a4710
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00033/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3ff70435a3c62164553cfa74e009786e0cfa2cdcc7511899300e81eb60df6a2a
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00033/instance.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00033/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..5f795e405921f4bd0af4880261ee32ea54a71f8a
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00033/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7651141c6030bdf72f8f7d3a9ca0db2e37d004623f2ba4fa936ce8e37ac6369f
+size 54882
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00033/rgb.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00033/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..c041bc789ad8ba7e89916695d2607c46a3ad48d3
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00033/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dc15fd705be682440bae76b9acce4a5f0b655a3f6922efd60f41081a92a92bb0
+size 1385858
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00035/debug.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00035/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..3b3edc2a8eb68a8a3aba3c6315f3984be8d35bc6
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00035/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:18d9c52e2de15681825c9163f6b79ebaa18998289eb4b339db734ac6b9978dba
+size 1504969
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00035/depth.npy b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00035/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..963074276fdfad57e6834651d48fcd585db187d8
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00035/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c002dac887c8dc8a460cb5a119c1be50a215b5ec9b0faa07649d9decf9e89599
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00035/instance.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00035/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..93dac46dba1ac6b5d022ff268c534ef1a1e4842d
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00035/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fee8e762e7cc102396922a313fe10a8f1d92ea31755ac5dd60e64be11dd74fe9
+size 51066
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00035/rgb.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00035/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..936cc1c6d17afc189a2b96e4f982589f23e3abcd
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00035/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4fd8b29e01d39f33ed1851665a319ee1bd48c7d453f19ad8a33dce332d11b02f
+size 1421998
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00036/debug.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00036/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..6597a404d2551ec6db66db7c9027c0eb497c385c
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00036/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d75e60731e547068fa9afd51c4d83608204743b9ce1813faf3e1b5dda7be72aa
+size 1487894
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00036/depth.npy b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00036/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..de0a08e77752569eaaf6802c08b414c8412564b8
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00036/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c8b6c7f58f8c5a0d4c1bdb7b80d44aa0fc83f1e2012e81c3cfb855b6d21928d3
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00036/instance.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00036/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..b5ab26a27d1429be359ced5a6f3b02e815f8d193
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00036/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1ab7dac701cc1adbccb4d399285f10349e9b8aa92ce6c18ee4cd1dffba3f9368
+size 50821
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00036/rgb.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00036/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..0311e0b72df276b9585523b8b35c6ac934668ad6
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00036/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eadb7e41fe3e9bde035cdacda676fec7dccdfe1a1e27385961dfbfe4c33e5844
+size 1406747
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00038/debug.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00038/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..097b2a3725f3b95710a61381125060a39875e85e
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00038/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1189cf042d91ec75c3d365d17d20373f746109b75be2d1a7c8b184503c686051
+size 1510789
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00038/depth.npy b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00038/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..0fd4b7d74dafc3715237980df20f94e9e180a4a9
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00038/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:29be5911c1a74fdae4d2842e35174d79a6d9d0e737a7cac1a2a227c2f05b992d
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00038/instance.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00038/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..7ca707c9804b00b3e841df601563f31a5002239e
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00038/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:210c6af5d31ee76353e7c0d87bc83d549a62465fea11a855e1eaace07a9c7985
+size 52841
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00038/rgb.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00038/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..cd56a296131ce9abeb9d0ec5b8ca293b8a2d0b8f
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00038/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c646fd78ed0e7a7ac42173a45fba76d94badc0dc793aed04a9da57891995079b
+size 1416390
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00043/debug.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00043/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..9b815830289b9a4c3b7b04d33526920f33ec1107
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00043/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8c24184f3dc1fa255710a1915918a3bc6ec5212b660263ca20657a4c61b07e8b
+size 1477870
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00043/depth.npy b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00043/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..d56891b702a7579b12e80c9e38e663f6742df06e
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00043/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:309207bb66614579e6324ffd5893998c331f0a8ada1cf3cc236cb95ac7ece0c6
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00043/instance.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00043/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..6a170a543690c87cb3eb3ec8bbc129ce0f091057
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00043/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3d98d6082850ee417504a96ac2fe70ee11923955be228864534304f6a710fee7
+size 49580
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00043/rgb.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00043/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..2f905e57bae57bce97e3591f48d0494dbca31979
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00043/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f800660d9a4f960a458803666e3d86a424d9f96ab934a96c35f1ecb679532569
+size 1401307
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00050/debug.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00050/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..1e07e6ef63df8fe24f6a5c30250cebb52be1a8ca
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00050/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a7e9559e4f2c9b943bef5541f3007c14e621663d9446d11e51b5c028ee56e352
+size 1527825
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00050/depth.npy b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00050/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..28b7be2cd985c25a239361b124c9fd518b201465
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00050/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:40376ece7861f5336a5e4067d5f139ff43bf6949930254b896ea6976856e8ea3
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00050/instance.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00050/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..a30416c730917a741f48ac2cc1aef340fdd69944
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00050/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0aba659b9fb55c9c149be5c5f7709a1b3e065633241c233aee65fbb0ad7e246b
+size 47367
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00050/rgb.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00050/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..683baaff0bc36c26abe55005945921f9a857f42f
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00050/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:25bb5e47e6c5d773e2e534f6152080fe61aaf0d6cb1fbb217a20c89583d9d672
+size 1430955
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00054/debug.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00054/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..60683e7b66caa0575be6c6f31f6e033fadd137cb
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00054/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:500a608dce23b7d70789e9bff2a5a2c7090d6f109c8c03ddb0e09146e65eab7b
+size 1457999
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00054/depth.npy b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00054/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..3136d6573fbba58e3680eacf34bdb8caea21200d
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00054/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:84bb3e893f61645603c210deedaf3bf3312d134bfcb1dcb327358f33ec773fc7
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00054/instance.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00054/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..98b0c8e542a45c568e6d66c7f2168270cdeb1580
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00054/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5a5230f39b998850b6120b76eab4b4227abc8a426d3fb6f9209b3a201afa670c
+size 47136
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00054/rgb.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00054/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..1c634046bd6dd1e7f78b197d8ff42a24368f5f18
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00054/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6c4e4689997fc2d7049c4562ee4c96695d2d817a331e84ef756109a74593cfc5
+size 1388596
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00056/debug.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00056/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..6d51922592b8c1a1401348bc94280d94f5b5adb9
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00056/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:01fbddaf3d55ac9e21389eda97735fb3fb2d98fe679b1fff2db6e80be07a29b7
+size 1443369
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00056/depth.npy b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00056/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..0b8da2ffcc8e074dd98b321ea984d47335bd652f
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00056/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9c202b279e61ecb404669cd04cb94a34ca377a76d2d98acb119cea04bf1df441
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00056/instance.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00056/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..0bebc6cf0ec27f5b2c766ee79f1f46e79341bd3b
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00056/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8afe42638bbd53afc6aa284a5f38867098dad7c058eee2b05981fff476dbc1ed
+size 48858
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00056/rgb.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00056/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..1d0a1342b2d53317747c9f6f5795434b9f95c4a2
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00056/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:883a79be6df8bef6e452abc0948c8b629f7b0c08ec8450c1f00a48cae13c69e7
+size 1379693
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00057/debug.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00057/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..f20870df12752b80cb29e2b8f9db3ae65d905f19
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00057/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:caf93b784f9ee5e529a2e336fb1e739eabfbe628e8a3dbe7cc87410ffb1f7acb
+size 1447405
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00057/depth.npy b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00057/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..d8f40279735209664bb3ce81cb7e0884870f3e8d
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00057/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c44b0e5b37a1c8b2e0019a188719c9bbf2cc27a68bd91c498cca4f5481af6479
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00057/instance.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00057/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..6aba00200f51b8d0397805f8b89406613c47e671
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00057/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b20e705e942d088cf07f12263b4a79c9ae3d23a89f158d7b2bc73b28f7ba33f6
+size 46438
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00057/rgb.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00057/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..419e9a2e547c3aa9ccc81ba12d7247de33f97e92
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00057/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0f815ca28d68a7da2d9eb1adc61ede8ec38f00dab8aa96735f4fa2ea9c27d9b7
+size 1381031
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00061/debug.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00061/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..e489d0516a4703a62d772599eddf6c93b99e07ac
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00061/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9316c90374b505e90cbc62f254a3d673bfd35d5b6aea178ff0665924d2bd88bc
+size 1418861
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00061/depth.npy b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00061/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..188360c0631bcc3d1cfbf93adfaa63d7b69623e5
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00061/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:96fb84a1400a39d7d2a250ef442ccf7c0cf422198fc0178f0808a548b32f4794
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00061/instance.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00061/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..b2aaa3f6157d9b8919d0bcd939e4e604e63cdbc7
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00061/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d4df53305debcc902b809a8e0e56b4f812eadf254f74e247b30c081c29ee3471
+size 46022
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00061/rgb.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00061/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..111ff1679d05a5f46ba7b7c0af7a1a9befe8591d
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00061/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fd9fd1242ec316a8ce2f8dee63235d85df384a2d5cfab1a5a3e58abc30f576dd
+size 1340155
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00064/debug.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00064/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..7b982e780b0631ab49730616493f0ac237b8aeae
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00064/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:73832c70f2a9276a5cd74ac08833e3c140c8c4053de17ca12915e0db7ecbba78
+size 1412855
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00064/depth.npy b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00064/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..a7bd63510f7c1065df1ca0ce046009978a99f61a
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00064/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9a448bf299f9b5a578f271c6ee3e01e1ebab7b66bdac393a3e9c811fcbb8502d
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00064/instance.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00064/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..e11f0e46658959967c07c05e011f82aa04aa6dc5
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00064/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eb0c07e18b0d44d8395dd852ede0f5ec10f9f2802567188824ebeded9da02892
+size 47533
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00064/rgb.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00064/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..833a5aa8fb1b3f7417e06f1609a4330950d90e45
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00064/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9b06a6a1582cbac9cdb0b6f47b5a453ea0ec70f33ecb602e0ac4ad7d8439ecc5
+size 1348978
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00065/debug.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00065/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..b2e3e1cc3a989bdc7692095e529092e27d351820
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00065/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d7379376ccc5cdf259b17223f9ea590cd379e854a95e7e682bcf676ac136a795
+size 1419693
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00065/depth.npy b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00065/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..21b752b97952c1a4c02c78f653b98fbd846cba32
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00065/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:659422d9b32017d6bfe165b730007ffd776efa964311f1e770eaa82f422e2b84
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00065/instance.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00065/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..651f1b29c6bb390a7348c121f6f5a65e3ed6c4cb
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00065/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0f6d1bac3d01fa1fd173bd0b3ea5e16f358f5511143441dcba70a33351dd4446
+size 50940
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00065/rgb.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00065/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..e340e89a08805dbbe7b650d8ef0725cfb9d6ca65
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00065/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7aa1ea700ecb21a5febb828fd0009913bdb26932981e0452e4b5cdf93782fd7d
+size 1337987
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00066/debug.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00066/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..795b974585eb0ac316e61040287c910050fb11cc
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00066/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:103633e1d1bca5d233aa08ad8862aab102c07578e7347a38f8f0dab2a48d8af0
+size 1405205
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00066/depth.npy b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00066/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..f8b12cd45d507a3ee5b3c28822b7f24b78024d96
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00066/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:63c876d3cb99cd2a6e076b4b9f386bc12e1d4e53a59c7e6e233876ecff14edb5
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00066/instance.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00066/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..99a85f4232113251dec80913327f7fd6def46250
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00066/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0161b73eb5b8c7232dc058b3bd5c339b782785294ee8231dd268a12f91d91ffa
+size 43330
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00066/rgb.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00066/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..763301568781b488b497af3d899de3d2175cb4de
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00066/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3917f13f8b54467bf1393ba3e3bd675cc6bbb59e886e98b7a92da6220d13c5c8
+size 1360572
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00068/debug.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00068/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..7ef7544f70c467946cd9fbb408e8f358b63f3099
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00068/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:85a35b5dd9b1d13d83700d63f9b15b5b93e3380a6255b454762222b62bc2303f
+size 1420995
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00068/depth.npy b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00068/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..7ac042d9eed7a19f971df0ea7bb6e7b68297a53c
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00068/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:74a9bcf54e208453784722cca0fc774b2bdd4d8ff25bb59493fc447dad6840e6
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00068/instance.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00068/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..fd136495ea88339487115727e05b33435ad2f303
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00068/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b182c49ace23e1051d37392f011ddc5587528464ff7bea4392bfef5016e0c9d7
+size 43048
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00068/rgb.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00068/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..787fcf4c90628d85672a20c1f17cef24e01238d3
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00068/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:df9fc0a5b3e7566fc0e2eba1b2159c7195f124b51718f8418f366f2064b37beb
+size 1364822
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00070/debug.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00070/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..3a07ffb15bbb4d3d5e373668e0fcf7812239063f
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00070/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0f70d4cc43775471e449d0f436e097aa43428226671883f7505010b22a708e65
+size 1398884
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00070/depth.npy b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00070/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..0119c98bfc2f5108ac00803443b8f6b868d6f114
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00070/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4a7f71603a1ca0dc9fb38f7a2cbc393f249a13f8adf04b3ee686950b162a3916
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00070/instance.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00070/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..1bba7c8b5cb69b9b0e1856b28d80c0aaf4b0255d
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00070/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c9b5761d898887bb3c8860bec08518dfd9b6f811c0f2fd997fe0893abc209cda
+size 46469
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00070/rgb.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00070/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..c819d9a001ec1f474a2bc73ca89099efe77fa0aa
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00070/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a9947273c26c9b92979c52679c2e672e92038dd332c53fb7d6f416d3b9320cb7
+size 1335004
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00071/debug.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00071/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..c72ee154af6440fc94c324603ddabe1b664b451b
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00071/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:21c13940bcf6fc87404752b997860a854e658a17793467b883eb4c89f6101e7b
+size 1419727
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00071/depth.npy b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00071/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..6e432773e9d1b8739d2b73640596c74262e2b920
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00071/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f4bba647072b9f26bda7763bcb70b765d881dea4ec847d294cdcad5cf76d62ad
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00071/instance.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00071/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..77c4b99b9b95094ea0691b4338ba05e198db1fed
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00071/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0451b83a08038ab0624dd0804ae94b30df8d134587fb985fb9280cb442194403
+size 46587
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00071/rgb.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00071/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..227f94caa87b9ec5df7a7a5c11afa780a31cdcdb
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00071/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f069629f81b6748ade1dff12b7e1369618f2ad5359c6ebd9fbf33681cb45efca
+size 1351944
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00072/debug.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00072/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..b9177d125661e5e3394bc05024b2794e62ef97a9
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00072/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:930f026c225381c4ab06040db9f7aae493b23d7ed73365ac084227cfdc9ca927
+size 1439104
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00072/depth.npy b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00072/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..b471077b1170b45bdef42ac79c3d548b02f66cd5
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00072/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1b45941f4a702694213089d7df258028de40c9893c0a4fb07ccc143709ed7b0a
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00072/instance.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00072/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..b74eac817145be95b366f341a7030086f3103009
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00072/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:02a4f0375ab2bc66fc836bf1b3fefbae3ddc18f95fd87a1ff2ddbccb15687995
+size 45540
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00072/rgb.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00072/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..93578ee9667b1cb886b9f2b180349a6f93129526
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00072/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bec18b081b565984a10297a3187f942c357e824fdddc7fe71808408dc9475c71
+size 1371407
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00077/debug.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00077/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..c579efb3d9cf387422f98dac154d3445ae6d0878
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00077/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bef2556cbace93a2b7e662ac3c4b973929d23c04f19e3660bfcfe35a69d45e2f
+size 1389843
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00077/depth.npy b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00077/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..0099de84dba01be6ccd0a64437053fe4751372ee
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00077/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0196fe242b231cac1671f333c9522d51a4dc69cf17a8c071748f8f58824fa1b3
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00077/instance.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00077/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..e77724c5aadd2fc5f83f3a28c09f7303b348af86
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00077/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f7da29fe6cad2014e313234bd197f8af59c9e8d3bb2396a3269e599f3d4a8383
+size 43898
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00077/rgb.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00077/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..79d853edcb2a0ae3975868ede96693521042d126
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00077/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8dd6e8ec0ea4d7edec51d7a81e6c1d976eb4dfaab32648defbeeada07c61d489
+size 1347037
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00079/debug.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00079/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..18d87c098effafdd2d74b856bf623acc476abdbe
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00079/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:175ab3ec36bd0d59de190323c1115a3fca4f540539390214ba462aee821abfc3
+size 1417259
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00079/depth.npy b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00079/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..c1f57827e338b70b2c7b6f50a2016027bacb9c0b
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00079/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0426396e90b4c7d4eb25937916ab337c46d92725889f897c88a48debc31231be
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00079/instance.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00079/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..01352a71970cd2d2dde6857f11038a3e7aef47f4
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00079/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f53c06c6632b28b47959087a8c57c40d0912825138a5ddf67605a59aa1d608e7
+size 43175
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00079/rgb.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00079/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..1ffc83e296eb07acbfff1d83f665c74d716d3d67
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00079/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0e7f1381e7a2f86b6a68b5e0c937b857816a466b81fa2eb0dab3613d9da21363
+size 1367211
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00081/debug.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00081/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..068308d0ec91a07b5d0208473ded488cf8b4d422
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00081/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2ed84f5c7571ac2d75a4af318d900f8c5e16de3f5bf7aef17c3b5f969b268b79
+size 1427119
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00081/depth.npy b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00081/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..3e881cc7655bf991a98be28a1cb9448e38d2bf02
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00081/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f50c8ce09330b1adeec869f73bf7e206196f10a1e0b8cfc67017ce1482b8b89e
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00081/instance.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00081/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..318fdc990515fdc73e555bc2a41894230aefe9bd
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00081/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7f9039546181589a01eec76d255d69c8514245477e32938431b7352d78ec9418
+size 46058
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00081/rgb.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00081/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..244010814d9ce50279038e81899665893ee5520a
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00081/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fcd9c159b5a90233f038f07757e6cdfce96a0a7184f691ffa772ba140e52984f
+size 1370745
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00083/debug.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00083/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..4fd5fc3ed0c7e262850ef29fcc0adc4da8f215da
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00083/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:75404eafb333d369860cd1d4827233959088afc2cd05f3aa35c093b16f49adba
+size 1393957
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00083/depth.npy b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00083/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..604c46048b52cbd344fc38a219cb9f41c55ea653
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00083/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5caa722668a41ff8ffb3b77cf27c84052d278395356e89a90965212d8a7c2ae6
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00083/instance.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00083/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..13722c67073b815034044f652ce078a86cc043e5
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00083/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:693084640a3ae0f67b5964444d2d8f745ac1a251d1f68aaf3f6071f5c11a23f9
+size 42509
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00083/rgb.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00083/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..6530d7eb8e7b5c82d460c621ad30210fd8241d50
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00083/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4afcc6a1bc6f3bb49c8f2f1e3970299dbf7f7a3619480b26c1bd84327bcc6bd1
+size 1353650
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00084/debug.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00084/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..39a8adebee03d965420202e2d58c199fbe634a5f
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00084/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eb6235cfd69cefb750f419ea6e94a682a08b5017a72c60120b3015c53fd88826
+size 1439009
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00084/depth.npy b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00084/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..abcbc27cf757de8dd719d8aae1b0302cf467a238
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00084/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a32d04e1c6b97d52abee57a7bbd626003b1459491c2f2798a12ea55c6a7cf5d2
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00084/instance.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00084/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..e65c96f085991156b375e4dd58420246ada9fa50
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00084/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5a4dc51b1efd78f7ecbd12e52d15f72cbea5615dfbbe9d34b9e3701ec1c7a8e9
+size 44869
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00084/rgb.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00084/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..3a2005f3fbf6061591eaea37c258ce2782069adf
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00084/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9b7d4f460445374d13ed30fa7b908c55aff08a69fe2d25038459ca612158725a
+size 1387630
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00093/debug.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00093/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..875b4166dee4e601ccabe49b0145bbb9023a2cca
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00093/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:745f5b1390861a0477b8e051021751199c45bcd35499f84ea0236bbfd78d3bff
+size 1429401
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00093/depth.npy b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00093/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..9aba3c052367af6e347a05ccdcd8ac5704d72ddf
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00093/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f358fc5b2deebc87563defd5dfb428dcad647f65b3464e33c40fe00b148d8fc0
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00093/instance.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00093/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..bf65f66e350945c01aefe20681782e3104b8a6c2
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00093/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2c7b26de6f4de9dc87fabf8ec4c4d948b6d027df6da1ab4f34d1b4cddeda1cc6
+size 42467
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00093/rgb.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00093/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..6a2917994c9df281e571cf9350c73dff8883b683
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00093/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:323e240136bc81dfc2cfad9c34b3cbafd828b2bcfbc37f7786b8bdeb17841d8a
+size 1377938
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00098/debug.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00098/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..7ecaf463a84a3a659dd6b9eca55461891b9ff1b8
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00098/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a59129d4391808e8d12b494f8ec78ea1dd4c8283b00b5cef17d09b6af2ce8c46
+size 1454453
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00098/depth.npy b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00098/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..7418e7e9c372c5f66997fb110a8c2cd95a7ed2aa
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00098/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:26eb75080ca60de94804ec4b2b388127c243e383afc1d47b2b693890bf83eea3
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00098/instance.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00098/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..9e6af4320a4ee3394f29a9db7ed05484a9f8bc65
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00098/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d182bb0a71d20696d7494a7c358d9830e1e47d0f0e7a926211e3e656bb2435b8
+size 42920
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00098/rgb.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00098/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..96d924c2f942f3d4d5978a2915b613c31dc8a6a2
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00098/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9ef79363983f25c190aad0a9587756ceb47d10f0205ab99fe10b738f75b90a88
+size 1385699
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00102/debug.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00102/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..3a2a01b352906ce71049d262531f61754a5b339f
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00102/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bcd19ce94a4aafffb59d0fc0040827e19a921b7adf6459726b9bb02f4365e2aa
+size 1452485
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00102/depth.npy b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00102/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..84a0763775c349b8412f21346308abd8eac312b5
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00102/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e88ebf5950a8bc5c90c196a6b67237a0fec1b6999b8f154cca5e2203f701e2c7
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00102/instance.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00102/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..325115637b70474deeeb3e77f377a2c330e564e4
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00102/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1ac5f1a8f515556a640cfdd71edbefc9b5418b56ac1cdf236241509c13e52264
+size 45753
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00102/rgb.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00102/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..52fb27fad144805c91a272ec28a7a40008da2fb1
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00102/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:05d256de3724a154fe3ad57279fa8d6358aa1cc813ff5c48c5bdaec9764955d0
+size 1372460
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00103/debug.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00103/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..7f82df2bb0c17051bb8ad88b83357071258527e5
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00103/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1a4b84b04c413578211d3cf5f814a3a5ae86e5a7248777759c8685a02da5f97e
+size 1452398
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00103/depth.npy b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00103/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..92d5f394f828e2c98c50804f8c6539c58bca02aa
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00103/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:471ac1c513c775ccab1e64e5fae00b2e680adcbd6fe5d1cec8cf677fe5024f4d
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00103/instance.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00103/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..fec4a113020d4aeb2f8fb6286abc7ef63728234b
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00103/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:57c8014f0c1efad19dddfa406e1665955d53c481c634a51dfc0766ae52c3e2ed
+size 42363
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00103/rgb.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00103/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..8cbbbf0a3815dc9ee39ee89c4ea5f42216a2d55b
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00103/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0174e8b75357b0d70d016eaee8cbecdf99c92da01597d6deb6acde9850cb30bc
+size 1375303
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00104/debug.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00104/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..3920cdfa3f1bbf1d963277c340cc9d17b5cd772b
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00104/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bafb21afe04932da0cb84fa3c7175928214c913d0c1c52f37e85b8a67e8674e6
+size 1440617
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00104/depth.npy b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00104/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..e476fe0129ef6288893d00f2233061e2cf1f001d
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00104/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e87388c9d974de708b6639ceb02ae08f23a9e24949c49c06a52b504b1c6c7518
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00104/instance.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00104/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..28ea300c9bc75aa10bef5e5b25171719b6a714cf
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00104/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f3c7b4567a6a837ef5404c40a92b1d0ce308533af582fa4f8c2486f9060748a3
+size 39802
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00104/rgb.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00104/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..6f15c8994281f6e3c8bcd5760d004b0dca3b90c4
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00104/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2211b25601971faff66d534326827e764bf161123ac20dae60c086c73c6f1982
+size 1372478
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00106/debug.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00106/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..53a9dda3cd290d14bdc5a123851f61ee8b752a32
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00106/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7dfae1745f81cdfe7b5978fda0dc06bf27d3b5e5fba6abaf7034aa833c4e3f78
+size 1453546
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00106/depth.npy b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00106/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..843186a2859d035c0ec573f9d7f3fb3d1fd5e32a
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00106/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:37c363bde7e5ab232f7d92058fbd19d31b254165023f6b87a66ffe3ec36d1a29
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00106/instance.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00106/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..745b0446a0ad7241cde0d83bb281f8021b61b71c
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00106/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3769bba754c69a0f9c818ec9d643322f0aba5cfe3f8b2c7f74abdc966902d68d
+size 41434
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00106/rgb.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00106/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..7124b1c5440abbc5562a820b00c9eb11fa17d8c8
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00106/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e0961d0186b21a3836c69182eeefc26df80b923cfb33278383e15511490cd231
+size 1389009
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00108/debug.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00108/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..a31f17b65c53a354d785bc34aa6bfc2a985fc52d
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00108/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:87a8366d97a5b3e9316c02a67d994a717401fe381f693a40be3ada8257b21102
+size 1444128
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00108/depth.npy b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00108/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..8607044455ae3556e71890754200f28f5a195c8a
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00108/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:982be0387a0dfd288620e6496138c151533b4b579c79d1c6292493c8568d5f75
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00108/instance.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00108/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..b5e8ebb41d23c91b37f4704e84b4a8ddad630d09
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00108/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:26c7f8854b67d93d548e583a03b88b7a9ab36e3e556355ce9f32c53ffa1c5586
+size 42573
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00108/rgb.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00108/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..59d92db1205e43a914b03324fc14fab5243cae32
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00108/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5929e5b67500e9f88ba0f219582fbc6c6c8b11c101425a291bce99439b73ec59
+size 1371208
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00109/debug.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00109/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..d8525eaa4f0f72e860054fe9ab9aaeaa53a96c98
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00109/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9c60ac093b7e586f2b5914adb28591f98701b5784beb5166e195308ca0581521
+size 1452507
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00109/depth.npy b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00109/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..e03c8a2a1db38b61309e70659fd10ba957d4908c
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00109/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1a111142cfea054eb928cda6c6966e0acdcfaffeb340e3229fc77b0ada36025d
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00109/instance.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00109/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..e41e823393797c61115c16c18ce0f9477244f89e
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00109/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:71971358e459ed5d05e7cf88e056f531e2bbc71f427b58bcde80f17c733a1566
+size 43272
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00109/rgb.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00109/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..01bf9c02f21c2f602a74e547d85ad0176c66bbee
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00109/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:449d85af945143875c645d44456d39677931b00f5d4e3593762286be9cfc1112
+size 1377334
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00110/debug.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00110/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..bec150ca79b81de0fdb3f769cfbc7e789c278b7e
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00110/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2731cd005c3d2efbe9a7c42e49825256cbf18c971ac28a4999e677bc67294925
+size 1443343
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00110/depth.npy b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00110/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..d1262f9040bdbb3bd6321b7c34226bb73bb441de
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00110/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:38bc6103650f16c7f4c0711c7010e3f93b523ec6059e6b9307ff7dc5c9e59958
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00110/instance.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00110/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..a8df0d856d283fa267518ff6f1a13530a645449d
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00110/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:322b2b46d1316e07849dff483c3ba43f91ac8616085e55102a4386a55eb3c6e2
+size 44330
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00110/rgb.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00110/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..fd5a0316c561fb64713ab1cf3f5d0040cf8dca9a
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00110/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c2f83e0e8433a8a83bae809cc75e136c6ff00a1caf6d75cf0a9e9c095afcae0e
+size 1372156
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00114/debug.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00114/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..5110330c2dcfd27a27194e5ea12fd536f38172c7
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00114/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:905218aee9a88e9f86716ee2f4fc53ba2de72fd83a959f6204959b23dadcfa81
+size 1454659
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00114/depth.npy b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00114/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..08169282c36c607a40ac84ec4ef1e9b3216a402c
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00114/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8c0ba048847770b80d1a80cfb1262c30eb3a60557c9e193ffc8fe7e4f0318196
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00114/instance.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00114/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..dac18922d2b7c4dd72c8fad72f46fffa2a62325a
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00114/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cc172b7607875a2a00e509519a021dc104ff4d020f01cbd999dea7efbb60c07d
+size 43579
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00114/rgb.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00114/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..80fed7a74352ef5820bd213ff09d21c5bc3c27ea
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00114/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d732c42fc5d5500712f27e09344354b32886210b7f3eb5769a4956e50c3c815e
+size 1377459
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00115/debug.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00115/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..f6756e3a61d5cc6a68e769282231106e9143ff5a
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00115/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dbb6650741db857a7b359f1fdee1ac8188daed3b2fcd6e40415fe70d4b273c1d
+size 1477943
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00115/depth.npy b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00115/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..62704db151ba7b57b5332d8bb20c5d33a298db37
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00115/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:314e135f65a986f9e9e1af95d4d0722f4cef5d2de02eb3428fefa45298db35c6
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00115/instance.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00115/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..07f9e83269b8b315631f63fed023c8d45f680cb1
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00115/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5769a2b91463c07bfedaf9a6eb5d2723e754a377d79a435eba70acb4c7089962
+size 43764
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00115/rgb.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00115/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..1ea529f6b172ddd8fcce757cb690bcff9b86aada
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00115/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:61cd9581bef23da9a8152cbd7fed5bab550d33f3b6b971b07cdf49b7418d3110
+size 1392178
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00118/debug.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00118/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..4bd3ae472744fe19bf64b180dd193cfdcfc50c12
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00118/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:25e87b5bc3e67140c970410d45dd3c627aa0ff91ac17c6341ca361d6452be38f
+size 1503130
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00118/depth.npy b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00118/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..92ce1c0203f66eed4643b4bb07fa190f70b23262
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00118/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ad7504b25a23e9727242e592a23cd9ce7ae5746302c54a2873dbf248e1ab8d7a
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00118/instance.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00118/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..b2ae446311d1a97b0157c816d01883ea7228a627
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00118/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d203aa89679a9c78db7b90e33feaa90b67fdc74ae2564caa8cc1e2bc85fbb1a0
+size 45251
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00118/rgb.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00118/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..41b33a35ea6cea0b8c28f76b4530d90df7cf0917
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00118/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8102bf304f1aab6858165c9224d3deb8014fd145aa214cf8986d49edacf708d8
+size 1416267
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00124/debug.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00124/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..f8708093bb95e2a7686bcebed011d11671155dc3
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00124/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bf4d415dceb401a5fb856a93a0b4de8b66374e6241b6091fbb9340ac66e176ac
+size 1499568
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00124/depth.npy b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00124/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..bbb2df008ca9876a83eaee2887515daef7bb99e5
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00124/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f5574731d06ae0aca88020bd981f4650378cf17a69e0cfd3585478e9e7462820
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00124/instance.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00124/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..9fb80af88b45aa01960c2ce9cea3dd645e9b6ba8
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00124/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:293c4770c9f6a51d3014b2bcb111b4e72eb7151d97e838603d5d15580c238811
+size 44685
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00124/rgb.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00124/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..9e679cd7c4190ac7e937d2027fc288004e48a34f
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00124/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:da84234f560cd57a0b7842ce65c6e4260b52ae8d707bce2091701206c83310ae
+size 1399549
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00131/debug.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00131/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..536447676347740aefdd3c4afdcff6088408176d
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00131/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:932ec85dbf415e936ee08c494b4e4616f952d3bbe050447f2db03ccf082cf5f1
+size 1559987
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00131/depth.npy b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00131/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..44e076778827ed0a638386f4c892cb3107f1fc44
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00131/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3679496aac0b79ba12615a9ad39153c51e29f5252ba571d666902ca17fd24ede
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00131/instance.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00131/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..5ae19a8db0cba87db8bbeb6dc0bc6a45f24dc061
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00131/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8538b4c2fedaa706617b12b6903f3f81d1219e7df6ca0b18d9d95620f3a8bd55
+size 50298
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00131/rgb.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00131/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..ce7b6b9da094567948c0fd19869cfc78d075f378
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00131/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5616e62cd6e4b750fee20f3aa7a14264ec404782b9000a880c840dc3de1961a4
+size 1454088
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00134/debug.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00134/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..e57d3fe7c7adc50a470c210873b04775925a9154
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00134/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7637c76b6cc87d7ac48e1455f40365e69469df7bfa40c773ce3975e8aee03cf2
+size 1551671
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00134/depth.npy b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00134/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..91514af173edb18cfefc3fc75ea494873d9cbe16
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00134/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8269a315faaa00d95c2c2f8b2303116110fb3cbcaa09e2579c7ed15ae49f1a81
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00134/instance.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00134/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..02e11b3088a54f8269b6867c70c8472466e05c06
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00134/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5f5cd264a32ab77666879bd9246db4665305ba6f5732a9fd6fd5b33308b05006
+size 46817
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00134/rgb.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00134/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..9edea0ba62a864191d8833edde6571e293bf149c
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00134/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1308e29153eb5bce6d6a6440f4c32ead1c83b4f3afdfb3486e311a570c2be4fc
+size 1449736
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00139/debug.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00139/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..f7663d220834bb44223340261725e650bd082620
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00139/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b9ebfa13094ac79b7e541ec9b26b3a2a41231080d2080c6bcfbfb7ae74a71714
+size 1526984
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00139/depth.npy b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00139/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..1c997ec7080633a7ba35b31383e83b4fba57066c
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00139/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5fbb6d940e77c4f19e5f1284fa0e43bb77a037afd66812881ac0e5978969671a
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00139/instance.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00139/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..e60917ff60f3d7833bace84fdc3d012b470b1d62
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00139/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d1aeab61cf8f400b5e4c8f274c45889b25245e26b0f0ab2d1630f7ed66113564
+size 47335
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00139/rgb.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00139/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..1cb4569e7bdadda8c3ffda0e4a7b5ca79a5d2063
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00139/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6a5fb8436c9af6a853734fe171269788ca26f61b8bf7e111926e78f61d2588b9
+size 1446665
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00140/debug.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00140/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..62199a86d569c9c8f59f1f073a139a5af4a006da
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00140/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f4b2e71e3367ec0b7c25329dcfaabd830dfeb22acbac7843933ed1eb4ce7022b
+size 1551251
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00140/depth.npy b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00140/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..7f06ca3b4e7b5440f40991d0ae3eebd0c7dc9168
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00140/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c934ea3fcc173c57bcde7fa140d41ac3cab814457ad4e21ab15f6eb585e9b992
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00140/instance.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00140/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..b45491219cc8f98981d181c1845cd657d55ed807
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00140/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8becbe37d57f27b8d65cb145a80b0dce827a0e09fd63ae88f6f47abe0edc39f5
+size 45927
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00140/rgb.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00140/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..8e94577fae088d292b4804fc260dc8b932c91db7
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00140/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2ee4bfe3173da110e3704426aca62f11441fa2a7ba1f754f27711727a4ee2ccf
+size 1461600
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00143/debug.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00143/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..f4d66e38641a8030ed86fda153e6ee3fdcc12b40
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00143/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ae47a8b91331d12f519972a215d5a06472b50241256e0a1045b55a78708c6e20
+size 1551584
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00143/depth.npy b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00143/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..aec060128f21c671260422138dc14e30d5f95f44
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00143/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7199bae9e64fbf2f3651fa3f8e689807d985a16e4eea8c9e9e895fd8e6c0bc6f
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00143/instance.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00143/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..312a6965ff72125800b2cc7834aac8c7531dbb74
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00143/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:52c481fabaf3c93ad83efbd46a87848255587c4c0b852b719056e7d47ff5015f
+size 43613
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00143/rgb.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00143/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..fb2dfe649aec0472662fa9506f59aaf13a7f9371
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00143/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a209821688ed89ceba02461461605cf3d56697f88f6ee9d62730b58d514b82dc
+size 1449751
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00145/debug.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00145/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..c13dc33a6808f9e17634c008ec961b68d1ec6088
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00145/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:51bc1334974bcad2cea96ecd948cc975da203fa9ec155222b5854295a6d2a25d
+size 1542933
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00145/depth.npy b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00145/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..2dd9abf70aa6f0a91370912a299c41ffe7c5a9e8
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00145/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ed2dd3847291b38a817cad92f3d6a139689fe827aad999139e9ecd8d34f4120f
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00145/instance.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00145/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..a3b9876d7ece08999b317f18e2217f32650c4711
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00145/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:51a30c5ebe0e1b19c09340dd86ba2c7821da7f6179fb79a5cfeacec8317d3a41
+size 41453
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00145/rgb.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00145/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..8f1736978ee25ac9d0c5d7fd300c758dec0923d6
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00145/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b41a1c74396cba51881a7efd7fd3bb4f8e549d210bbdd388d7699f8a948d8be8
+size 1458299
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00146/debug.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00146/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..c51a499fec85ce6742c743d53d225217ea0c71df
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00146/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6cc1550aaa7081f5a709483d485e140ee15dc39d0657d23d5d0fbd3907045964
+size 1536961
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00146/depth.npy b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00146/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..4765f757302c69944dbcc9fc8ce75cd6dddd321c
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00146/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8339d2ed66828fbfdb1b94fd66054d6abb36c73d12bf60781e1cd43cca781e5f
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00146/instance.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00146/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..8a29114152b29d828f3fb7d1369863b5a4b55b7c
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00146/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d59a1b4925f0d62f77f038100fe742df0d6973db16c17ccaa76dad87971ebdad
+size 38135
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00146/rgb.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00146/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..74e24b63a10292a152006c749b7ac1e6bd51625c
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00146/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c21b294e2ba4e9c7703e83dd8cdb6031019674709e06fb259a8d63fe7286359d
+size 1453202
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00147/debug.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00147/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..e3153413f16d54d6b0134bfcb3d7082ba9ff3e09
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00147/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f1d365ade8f89c7c4fcdfe1a022dba742d8298d273cd058e50d5063e52f519fb
+size 1531856
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00147/depth.npy b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00147/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..feec2b67b9f4da59742c8376501b7525c21d2db9
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00147/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ae3ef987ee2800374a185974da67b84a0f5d60ff688cb5292b1840feda27355b
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00147/instance.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00147/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..905e79cb5d58737d8b90e9bf564330edc0413fe5
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00147/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4b9aab2662c1fd3878e61732cf278541f9f4268373dac3e66c8943a602694fa9
+size 44118
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00147/rgb.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00147/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..e62085e6906b251a8b67d2e3a2708f8fd0af29bb
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00147/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0beab72885d24b97c57239a860a97ca18d6724d1a434e366cde82fd96f28964c
+size 1447770
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00148/debug.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00148/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..cf576851ed39adc3da76b121934765c2e650eacc
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00148/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d484245a7872074e04352c382675ee21d0016986a5ec785d583fa211dd7db738
+size 1552776
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00148/depth.npy b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00148/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..f47bf2be04d3b7c882c1d8ea78f51c86f87dfe9d
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00148/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:27ad93dd8e05c5558596e42b7ef78e5a748debf6aac9ab078f5ba4dae7b903f2
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00148/instance.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00148/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..c65970e3c2556fd4fea0f687b481feb6f964dd69
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00148/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6a4252cee9a8f11817bd947f792702e58619d66de8e1577ed4cde7906c4e8cdc
+size 50467
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00148/rgb.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00148/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..64e4c532abc3bc8592d1d53d32231879df5a970f
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00148/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dd7c3570ce7dc08ae5e4599a6711716de38420a41d28619ca09274c4fd901904
+size 1457470
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00150/debug.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00150/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..8d6c3a660514c2a12ea38e25ab38e20e2f448857
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00150/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bf3f36306e6bd14eb02683a275b1ad7f5485b967a760a163ff31a4ea667efd69
+size 1556138
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00150/depth.npy b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00150/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..f27b4a1d6646cd3378aeb26dfc740c946a3ab3a2
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00150/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:da8b028f54c12806c2f0f3bde1359897cbe531c3da024cbcbba4ec163b62662d
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00150/instance.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00150/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..74e857746546aed33349861ca7c4e575f7e43768
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00150/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e891afa2bd41a3ccc422b3ba24cbeaec233f11d89d007d3b3f208d3d1f9ea3bc
+size 55311
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00150/rgb.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00150/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..c0880060f73663e5379bf42658ff430dc7640d1d
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00150/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d42f7beee270aec5b2a9257d83bbcff3d384c0f6a78c363482af842c5fa1aff3
+size 1460949
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00151/debug.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00151/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..91c634789d69a06f98a239da7452d7f4ef24bf4f
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00151/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d683015403bbab0f82c1bf6f48010dfdf7c0c908c38f9f963dad3af5606511c5
+size 1559806
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00151/depth.npy b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00151/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..3729864b3d5ed453753dc79878bbcfc997435043
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00151/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b4899d817f7857b4ec2846001484328d5ec659c4cf68c3893ddaf4a9ec392878
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00151/instance.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00151/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..de4b86da5f72bed19195f8c7ff91d52afab34da7
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00151/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2cf5f377beb4a5e58670a973869f6b950088b8bdcd5bb6e8eee7bb8374e12d2e
+size 47481
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00151/rgb.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00151/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..cfce857ed5edb2eaff2dfd09c8616374cac7eacb
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00151/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:17f5d929e25e8f989af56da4a165aef0b7abbf85394c9807e4e1e6f6ce3b6bdd
+size 1475464
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00154/debug.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00154/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..8f577e2353fa97614088fa6de121b4c04abe2b23
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00154/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b2bba74b9ff36d693e00e7a18939d0c82c2913eac8f1ae6f2f97cfc64ffb98cb
+size 1575667
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00154/depth.npy b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00154/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..6f2ac710abdbb8799e508ea6bd73483bd2493bf6
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00154/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:90c50cb3d1f13943ce61a252bac4619b6be62bd3a722b5dcfa877fc22ee89b74
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00154/instance.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00154/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..00fefdc3470e8462e78823ed563369726df97623
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00154/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:19461a9fd60e20a1baceff1b5447186b8d4f2766c69df6d70ad4479a9dacc45c
+size 59192
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00154/rgb.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00154/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..55aeeb37cc34499e6044f32828243e96a86737d5
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00154/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:30560a2bdf887a429ba72e00f62b961bb8f07498f72c3378c7cc6b0422ef8c18
+size 1480669
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00162/debug.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00162/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..dbed57df281469106efc1c495dc3cc6ed71d840d
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00162/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:acf983c94981f0afdf45c663d5944e249c70f076fabfcb9a5a21ea9f9a87566b
+size 1577487
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00162/depth.npy b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00162/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..24cb7b4d0c1a2c72908e7a4dc71b291f222eacb3
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00162/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:12b8c0a1a81abbc015ea309a8421f0b06bba8edf75aef704743346f7e2af6b3e
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00162/instance.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00162/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..d382c719dae7501df1a5c88f530f3b0f365dec72
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00162/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0e54fad85470cb822068123b36a879f3a7a27ec1fc7c7ac7788446e488359e07
+size 59835
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00162/rgb.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00162/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..71d6eb0844c17c5128b61febb317344e7bfe0c43
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00162/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:11ea8b46e4a6008232970521352968ba4f537dc8c2cb16db33653ee1fe689e78
+size 1500490
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00176/debug.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00176/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..4a7e12dc636fd1b7033a0af95909a5a897fa844f
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00176/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e13651b0b994b5f91abe2dd34cc6450a2426d831dd6f9dd3097a336df4365b5a
+size 1468884
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00176/depth.npy b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00176/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..d0966a3549bd57eab5bea0cb213ae242a6599f1d
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00176/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1aaac411275723ee7544ee42b8b3c146918024e9beb4b0d9eab89e800e83b4d5
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00176/instance.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00176/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..e26f33defd754b5bd00be7101e0dbf5170bbd764
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00176/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3f7f9b8e882552a75704b0c551d71b07c6a5d7f6f951319b49b7dbab3f5c1f5c
+size 36041
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00176/rgb.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00176/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..421477ee86d681797ae8509eb015d6c3ebf49581
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00176/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ac66cfeaee68a766626efa1d38da85bd8d76bbdf8c33804ba04a166a5f32b3df
+size 1369105
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00177/debug.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00177/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..4c7b5c93b99569af3ca135dfdb4d0eb4695befbc
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00177/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fe9d752d99213cdd9518d0c0fbf9721e314acf1efd59b6fff46e0d12286373fa
+size 1461624
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00177/depth.npy b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00177/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..796852689361cc87d7876342edce92762da0a285
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00177/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a15fa40e8fe4dc00dd1a84ea422308ecf9f126aff6916dfea95fd36d9f65b95c
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00177/instance.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00177/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..1776d61828877ecf8542055b97bcb8468b64dd90
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00177/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:00a5501a4a6e42449c0d5b0a9f588b4df59df8e2088ad01d6de5f267067d5ec4
+size 34292
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00177/rgb.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00177/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..c02c62101d8735d2d81c586521b3b4203186326d
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00177/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4dbe6891ffc1088498a92cfeeeb992bd0ec3543a40c34f83dbf2e5d4fed5af0b
+size 1365517
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00180/debug.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00180/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..454db614f2e5fad93471857045714e662ddd63d3
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00180/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d1477c435144c724cde3a88a238581382efe522040b2943604b657825abfc424
+size 1458110
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00180/depth.npy b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00180/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..2bd363cb03c533ec10e13d19cd9999394b1b744d
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00180/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b3a2b65fdb7e2aa8323dc6975dffb58715c4c1946b2f1e73fd4765360bc2f875
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00180/instance.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00180/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..f8bb81dd1f4692246c48abbe014d5ff59198af60
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00180/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5a2b26a6148fb8e7ffe51d3ac84adef2273e4d8d2d58c3097d203d9bd51f7d63
+size 32105
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00180/rgb.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00180/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..1e9ba79483aac6f7a8112e4a1dfed99bc182ae74
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00180/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cb7ef6a7b9cb02306e3fc566c2989c5dd33b3827780911746532cde4a58d1bff
+size 1360463