diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00000/debug.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00000/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..dd535cee3572c8d9369c72187703276418b7302b
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00000/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7a032368f09a38538de82fea4cc7b292fc27502cf5dd471ac126965616f3ed29
+size 1449372
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00000/depth.npy b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00000/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..22b9c700e523d6bd8dde7290ec88774f458ccea9
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00000/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8a728891157e5c7819c14fd13155b74cb03344133d99811b9250de428db43f55
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00000/instance.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00000/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..12b28a0f73713a54a6f69f6f04184226acaf2e1d
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00000/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:495e7ee87421247885446d0250be1e4b73a128cb5e1428c12e5b674904a7e5f0
+size 52544
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00000/rgb.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00000/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..454aed12cd69d12bb085fbd5d663f2ad5963418f
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00000/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8b733e56483a2d25448bb1a4cdf49d0314ba3fa9dc484f7d9d4feae9f709cbff
+size 1379795
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00007/debug.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00007/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..f79ea090697b75f4a82d6c3c73571985c9214e10
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00007/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3a6b36e0be097af7dd2c2897f5803d4d3bc58d9d841b42df8860f4e900b3fff5
+size 1456517
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00007/depth.npy b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00007/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..d6891d548e3a07c67c721b5d7dd7cdebbdd00b10
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00007/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c038a6d5408033ce3e79ed3a97c4447edbda3237b11d67a7ca826a9363634b44
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00007/instance.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00007/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..ba5da067ff5a9501921a24f5e55ad6bd654b98cd
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00007/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e617c66dda97d6fc0b278977c9705c3051a8a441082d41fe9028475a6746dd23
+size 48591
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00007/rgb.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00007/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..da8cf88295cc99c036a08023ee56ce27556bfb57
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00007/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e581f8edaa869e7e8ff5d06516d7250ed9881b1eddb4ead314c2cde319707e11
+size 1383890
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00010/debug.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00010/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..383b47c3bf18f84066db4cbe62e3c42dabf823fa
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00010/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:363481b2561f5ba31419f8dea354e0cdfa4b3a5083fa860c52a3fecc9e485d59
+size 1465058
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00010/depth.npy b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00010/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..e0cc8485a6a9bb5b69081573e6a8558093f7f35c
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00010/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:02eabe9fc885bda30efa7decc6427c7124fac84057b71e1b22e0418a9b2b9c14
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00010/instance.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00010/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..68d05e71dae9a4ca0842407adf035fad0dbe345b
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00010/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c1a136b6c769bad738de02d5d79407835b99334c8efd676611cc27f181a2992d
+size 45528
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00010/rgb.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00010/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..6c4d58aa9ccb1b03bd644e39545d8140f0e016ee
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00010/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:22c6e7305094b89d29310dcc88b560d65652ebf2927ca02ca2b227cd38b5243a
+size 1397132
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00012/debug.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00012/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..c3e50558580bdbe44744645858b149657da1ed6c
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00012/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cac12b1d0728f6641120ff61f24ab1010d4857d8b90e1e40ef35d14794d83461
+size 1464222
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00012/depth.npy b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00012/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..01e08808a6fe1db092c8925f94d517880f424255
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00012/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:57e591a67c581bf56450f045bca98b3d5c28cb7f3bf7269787d2cbd73627168f
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00012/instance.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00012/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..aad67ed7514eb572cca7e4cb604ad8e50a6eb101
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00012/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6acbe226882f07c9726d3255901d715f686f76d90b51f6f493b0783153ed27b9
+size 49752
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00012/rgb.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00012/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..42f75fbd5f408dd14bcaf119ddbbb7d27c1e44e0
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00012/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:532c8fa5484c8b795b3560e088804f616dd50207694f3ef137113cd058d4765b
+size 1391403
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00015/debug.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00015/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..cfd6ad5acc8a0aca84c38f517f8ebc98be72f7bf
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00015/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5ceb6593baa85bde0a537bc1eb908350f64b41865f71fb7df2e23f01b9416c64
+size 1469126
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00015/depth.npy b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00015/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..3f36a14906be19d96d2b4bfb3f7be96bec9e929e
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00015/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:583f0f509d7dd909ca77a3e7344ea1db0639088d8a43d7fd2aeaff0ea6816965
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00015/instance.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00015/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..8e393ccb9a948518ffea22ce8278ecd34970327b
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00015/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a454a3729ab7b01c310ba3953533c4e6b48b240f9e0a394d77e835b956554f82
+size 43926
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00015/rgb.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00015/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..79546429a75a1e8c2e2d1a309d5875a6d5386cf3
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00015/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c16cd0d6d1bec8d9a8582c1337a6a2e04199dee1810a0bc98c40a2c2b331b245
+size 1399937
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00016/debug.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00016/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..90241b1f4af2274df742d6026f0302d60177e80d
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00016/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0cbbd6adcd364cf49227eb0bf0f6d9d6407556b44ded878bd993c1ac7ca34999
+size 1501570
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00016/depth.npy b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00016/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..6b8d01ce77b08d7692f150c313c017caed2c265c
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00016/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:15766749c95bd17d4b2f975130ff91abab38453caa4ffc23ad24d1700d04ce4b
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00016/instance.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00016/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..3f788d577fe156a5d96ad4268d206a0d548db6f0
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00016/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:69e22527a1ab1c7f9da7476eeb155dc0940c98e11326baa03106a8b0886dc344
+size 50076
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00016/rgb.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00016/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..740e8b2972d805ece1c4d5b11e9e8ec3f768a9d5
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00016/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ae193642956bfc26568aeddd250b6e3408ab2c4ebb3fbec89094c5c4a605c533
+size 1418517
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00023/debug.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00023/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..61fbd731903f9b24cee74f853a8a2349919a9363
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00023/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ba2cea4d869cf7f300909e81456c682ecdb8a373b74d0701f71f3bf25a930cdb
+size 1478370
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00023/depth.npy b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00023/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..889790f684db7b00cd7a0e346c36e6f8143068cd
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00023/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:177ce2b876466424c297cada77fc916688aa71cfe28dde38531709dddd5e683e
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00023/instance.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00023/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..3a2467313c017664cee143db3275e82295006dbb
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00023/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:643624bf5cfa98eb136e8de4a5128e7dc7080000fe1e8580aea5fb260dcc8ac0
+size 49155
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00023/rgb.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00023/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..6c7a8335ba4ac44578259a73f5db5e5b6482dcc7
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00023/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d7fbf7e5e8808f1b90532db36a653cabcf10e12384cf53991754f6844d31a8f6
+size 1400528
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00026/debug.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00026/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..05ed51adc06715b0c492938555dbfb82c246fced
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00026/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:faa3aa43d6e4f99a5221866c002818ce729bb03c39a50a85f813d423eb99b800
+size 1510020
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00026/depth.npy b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00026/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..a1edb5c0ec28599d4a536a2819d3eb95d182d3ab
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00026/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d4b782919298e5865af0da4b3afb73751e24998b88dcdf320c9eab3eacbe6f41
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00026/instance.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00026/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..cfdad9ac34a670bc282900f5b11cc6c1ff2d47a3
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00026/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0212601ac4db5fe27cc76c68d8ed58e4e286e7954198d90dabd903fc644881e7
+size 44052
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00026/rgb.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00026/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..ffbbb2e5b8fe41be9715de53e0aebdb301f8f31b
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00026/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e4691ac8e3f879eb3b11d98539f3d59d3d011052d48c0957502b687924c77eb1
+size 1424356
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00027/debug.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00027/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..f652362ef6093f22a43aa367bfde13a0e8ca9d20
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00027/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3b192607b9477166bc63e6526509b7bc9d8ff034bfab6cf63a03d97b19aa5521
+size 1519600
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00027/depth.npy b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00027/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..7c144bd24ea465114df2ad4b99d16eb60a99c3b2
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00027/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b9e428ecf7eb152699ecb3bc2e0f147c05e0122ceadea749c511c814e1d03aed
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00027/instance.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00027/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..61089df5dccb13dfe5d9e640a150477f685ced87
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00027/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:39c50dd1915a2afd22d51defce4335d51ef05669a1f46dc7f32a3a8cb647083b
+size 47577
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00027/rgb.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00027/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..2af949704a6bab26150b34d1245ce1e6e11e4d83
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00027/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:db090c5f95d2080164da10f62184ae7eedba7dec143de6614ad447d4b0f36e08
+size 1431409
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00028/debug.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00028/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..91beee7221f7ad713a6ff2f2dc48ce1eb97806b3
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00028/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:78202ab4d1cf1ee1e0bd330da0c17665dbb6ac30f46cc853413e910406fb0657
+size 1520569
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00028/depth.npy b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00028/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..a096f27d89eaaecf90e474828aefb8f1369f5185
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00028/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ee73a2ae82bf625a0d5ffd445812b842c9a224f95cdd2dadb2797cb174f8f147
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00028/instance.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00028/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..aa77cbcfd7c755bc603469a4219cadfe7eeb014d
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00028/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:92c9d67ee216ff77a1c7fd0939d45df75df77f7b1eab6c49296946255e37a1d4
+size 43098
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00028/rgb.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00028/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..f442cbd087515f1539e294a02681e473b1984e02
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00028/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c20113193653fee4e80797d0f881bb822787de07374484cc0a2dfe01e4174995
+size 1438790
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00037/debug.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00037/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..b29b9825fe3bd2674073bd270b6bc91841f962ef
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00037/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e72eac099dbb33388713a061be49a8c3f6493da9774b524541c7942df105be6d
+size 1505038
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00037/depth.npy b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00037/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..f16036ba3972473d4e159f4d0f2ef0e4bf3f6953
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00037/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:41ff3cf0e3585eea29462d3ad1195b0541a024a41a0765466f5d41a5452bae16
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00037/instance.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00037/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..07ed65ca38c6c90d15c06208d3326b2f27837816
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00037/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:35f2a7b38e4741e1632c0f649681967a23ad5d3b305ea5188224d630adeb0294
+size 52952
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00037/rgb.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00037/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..75f157a1226bd8f72815bf90d0c490f783e8c21d
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00037/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a5aa76a5dcda56ba18ae916997efd87217d6ad1d5db3823b0e4dfbc320c4a976
+size 1409737
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00039/debug.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00039/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..3f8462f1df0d239fd220744b0650291eb6e6b979
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00039/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f5274212742eb5194a93ae34b17c659974bbae6742a53697072e24b5d9cd1903
+size 1491154
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00039/depth.npy b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00039/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..39c75f55f7ad902819e85fb487901e35917dafd0
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00039/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:26a6d5bba472ffcbb33b8a3ce5af01614063f2cb2dc77fc0401448263c9e56e7
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00039/instance.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00039/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..905119449ca3985a2f957e295c6e3b3fa600438a
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00039/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e36b5a7809beef7f69db7e4d92c67a4c2c6f14c77fea68ef67cd8530ea8f3e6d
+size 53394
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00039/rgb.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00039/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..fa173ad991ff63119d4823c926a6161a4aea6ca9
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00039/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:971a2f42e8168f697a88ab61d74d52f11ef79ad19b3d78d5259c51722c90cba9
+size 1403850
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00040/debug.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00040/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..b31b36632e3fd255abeb4977a78428c4116f9c67
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00040/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:29798942f364ce032c162b0616de8b8f098da8015435a33b9d651c29a015712f
+size 1512441
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00040/depth.npy b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00040/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..418bbfe1ff21e97d82030b97936749fc57923aff
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00040/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:486b7d5b0dede70e1221789f7da65d5944a01602d12227640de217332949c143
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00040/instance.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00040/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..ff2565b456a431e05a33da56f785671b606b2e03
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00040/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f6af12e3f84f18bb6f4512874d3c9b69469cbf3f10dfa3ce61289031f5f11319
+size 48078
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00040/rgb.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00040/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..94d3fb9da226259db958a541b8dcb150892c9a43
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00040/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a4f2856037069f6b7d09eaa4659fbf32054200ea0c760dacbf58445457701fc1
+size 1428551
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00042/debug.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00042/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..faab79860012c8790a4a6a24a9b3613bd4b03e7b
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00042/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:df58f7da1f3bbb0f5a2a7e34aa1ee2d4512d742c2ef3c5046410af36c6b33d4d
+size 1501630
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00042/depth.npy b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00042/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..207872f3284d8dcd8cdbf94c857492aa3dce3549
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00042/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2393909b5f95d56059b325ae15771ff49860636288feedca0cd1bf34fc150308
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00042/instance.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00042/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..c1420341ba7ee61f55e98add3b42273c2e5e2206
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00042/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4f2d5f702a297e2ff6fabbe7782bdbfac20fcc8aaba31a3f5a78d7e512a977e8
+size 49733
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00042/rgb.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00042/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..2e29e92da93831967d2e3d61f2ee852a0a0d682b
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00042/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:81ab8d41a9bc39411eebafa54df6f52d68d823a945a78f2f996d981d121120ec
+size 1421100
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00044/debug.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00044/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..a1453f2bdf191e071c92b1e1965992ec0df28e80
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00044/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:94019453029e9c4b8ebd7ead4878baad20cefd65733a9a24eafa6599d620a25b
+size 1499913
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00044/depth.npy b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00044/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..d0b1df558e285b4e14a2ee10d436fd3ed26d0355
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00044/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5bb8d6796e14a84cc01f4c46d84a970cb0ddfe753946f9ee6793f656398cc1e1
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00044/instance.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00044/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..e58dde7599e4e355391d6e7c72f2dc8cbca1c1b7
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00044/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:20d7776d34bb04737efc761dd2210aa17822ebedec29196158574cd5fca311ce
+size 50477
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00044/rgb.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00044/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..31eca7137656b3fa690970490a4c36824cba9468
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00044/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:101c22fe7d304bc3fffd3d39b4b2899ff481e60e3046c98bb49430e333377f4f
+size 1411547
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00045/debug.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00045/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..e083b90c63e9c113419356256801d000e9f21dbd
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00045/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f2b8da0e4eb48fc0f568bec8468eb9838018e989c5ec275b4d6d0a3519cdd474
+size 1519176
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00045/depth.npy b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00045/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..857c42195993dd679d564d6c9bfdfa18261e183c
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00045/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:12ae0520f1e8115f6716842c24fe00d5b8848d9c53d9ec5f1db3125f755d2072
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00045/instance.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00045/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..60fcbb4d0bfb2c44e3bb0cbdf0a0a62d78e992b9
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00045/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ca72120fbbafb3a55a301dc6217d4f80eef5380dda80fc26663d7a751b1c13df
+size 51679
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00045/rgb.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00045/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..461c110b873e36a1884dae57ea00c392d8d649a3
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00045/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ee4ba4742a4f18baae3ba59925ad8e15a2676668315f299b687d800e0363c04c
+size 1440201
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00048/debug.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00048/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..03dfb2fef6a46a1e00936ef7c36bf3452bc682a9
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00048/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c41e42e497ea50c0f51a4d95fa62a2358473870fdc4620b67ee78f1b4b20446e
+size 1483104
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00048/depth.npy b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00048/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..d2842b843ee332c5a0a978920715c229d629941b
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00048/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:56504c1d8917dfeb1f0f8a60d8f2411a3e8db755cd362146c157a4d5b8c54ea5
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00048/instance.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00048/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..7704849d40496d92ee14c3708f848c82e7bada3d
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00048/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dc85fc51a9af63869f650ecce7f651722a0cd41cf9cc40fad0835e62657e2b06
+size 50913
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00048/rgb.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00048/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..483255ed86336d8f6475740d7bb032e9408ad3b2
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00048/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:45cd52f6f038e3c401650bb6e80f731fead9ffc00408091b3c108f53ea5503c1
+size 1402562
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00049/debug.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00049/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..cd2aed87df1163bac6782a3e2bf7780ca0b758a8
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00049/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8d8aa849014defc3e3d996849184acadbc65860522ee0024a174aa6e042a68f5
+size 1494472
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00049/depth.npy b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00049/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..c6c5c2cdb8f6cee92fc6621865827930684e0916
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00049/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:77ff0e759519556f8e007f27d85e275776bcb326e53b02a4ad1fbb1d8f6fdeca
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00049/instance.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00049/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..426858c1a25dd8caf3afb43f6ccf90427ec39b01
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00049/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:82ad918d183d6c52c34c51233e5f2cf2f313d142f7f3edebab5924c49911fb3f
+size 51854
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00049/rgb.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00049/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..d9f2e1403641f486399ec1b1bf49f559a325073c
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00049/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:510aff96225efa0efc22d834438ff735a360cae81c190c146862a8a20a30a750
+size 1411765
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00055/debug.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00055/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..d15cb1b977689a23681d0e5ffa79da224448c3f2
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00055/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:daa0e65d163173631f43c128b15c34d5b8c3709c49a6b541873bdced2c5e84bd
+size 1450912
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00055/depth.npy b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00055/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..5d7ea47604f8236cdf8fe167240697f25ff5f1bf
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00055/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b24e356c761c8bdb0e2b0ff0e3561876ac9efca63549b23a39f5f879aed18162
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00055/instance.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00055/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..06f9f538e058d73c354bb0dc5a629b6cb1098570
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00055/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d3cc34826420e989e2d79d9b2fd48cf1d904610c2f552a7c3270b018508c81a9
+size 49501
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00055/rgb.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00055/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..05e59a79b68e1730e4f289dd59e70cf388e1f0d0
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00055/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2a8994860a34504a1aff528ae03c47aa64afdbcf33c9015a380df003edc87404
+size 1379787
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00060/debug.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00060/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..304b292ad19a4044da597c34b034aca1ec3406a5
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00060/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ae8ac4156e9f3a77325a37aba349bc29527aca7c45c0c92574fcc7bf57cd63aa
+size 1427374
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00060/depth.npy b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00060/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..2c1737622909dce963210b3d99faa1be8458375f
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00060/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:de14efd12896b2d8f946f531fefa3de34886b80db900dd2f470190d77326f8e1
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00060/instance.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00060/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..134c8436097c5e19c26672b07a2e8b19835ef4a3
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00060/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:033ac7078f060dbadff458d6e2e8a51ab8f816584efa82c473dbb66f1c8d436b
+size 45449
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00060/rgb.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00060/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..7be7237270caccf06acae5dd62be81b41fd6f6cb
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00060/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:539bf2067bea423b90634bb5b7ab7f663ef7d29236b632c2f87a11302eceeafc
+size 1361827
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00069/debug.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00069/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..ff9a02e1ec5581552aefaf90bc4d2d7c780a1a3f
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00069/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5fd068f92b64611c9e5a8f12e4f9ac8e5d2af323deab056560e52ce76f1b1182
+size 1433343
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00069/depth.npy b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00069/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..b21b285e9f39acdd0dbd1875392aa667e2ae52cb
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00069/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:02bc40e9710e5d88f6b36d69a3a6708c9bec5026213b95ad0deb3455a681ace8
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00069/instance.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00069/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..4c3902648f8fcd13f9c5744a2e2c59270a5c7a68
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00069/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:67b9c70d9ce4fc846b524e3cef6f484edb2f4f463a5b4ca053c2c17ecc7ae27d
+size 48597
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00069/rgb.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00069/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..7b661a6728a03e7ef6eb5f277514ba8e3ced2e3a
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00069/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a4a77bcb450e214ad96d290c499820ef7d97338a6754ff66c6d3cdb1a2d32e73
+size 1351099
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00074/debug.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00074/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..a2ec6d6eaa0881d02bc489b571605727825bbdd7
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00074/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5de01dddfe18016e9b2a35764dce5faf433ef7d958d2ea6134b97ed1d448d932
+size 1408030
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00074/depth.npy b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00074/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..6ed1ba8726bf8e966f7c642df700c743bd4ecc2b
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00074/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c2d3854122ae228fdfd4080840622039f08df0bad46f1f078e40d9ad69e5ec70
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00074/instance.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00074/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..820297029f5639d15c765e47a2600821a20b4b93
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00074/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:52eae9d4ca147742bbbd6f32f3e6eefbf1dd51e72f2da63744c69042e479c850
+size 47592
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00074/rgb.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00074/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..6de1b9b4ff537b2f230bd9412b1375690098b613
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00074/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:45809ba1f203c074248d994a1ac7e9f2366d18dfd922437d39956c6563f4f58a
+size 1354763
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00075/debug.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00075/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..6b4ed439265e8c3d3d024dd7094590bf0c6d4b07
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00075/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c6f7f47ff8d7ab0ed95005ff4fd616b5f5c099b7df89aa0d3163824ae7ea0eee
+size 1433710
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00075/depth.npy b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00075/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..36006180db0a5de7d10bb181acb07af61006e0bb
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00075/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b540b6470d63a2ceca77260196f440d9ae8d0e4fc23068b668b09929561fbbf0
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00075/instance.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00075/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..41156e12855594a1a5b1cf68ad497bc60fb59714
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00075/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e02cd4c38be3dad59ec55be9f2ee259e5df29e55f8f704f62905b77af92001cf
+size 47236
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00075/rgb.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00075/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..19c743ca3565f703b8d923fc3bd65967f2a70a7e
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00075/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ad6ddaa93724c8a29da36a9f67e942a6264916a3eee516e05f2600cfafe386f4
+size 1363731
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00076/debug.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00076/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..ffbaa83e253adfe584ad9c6a87403092ed6de3a5
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00076/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:89fa6c18608fbea2851684b9b74b01dab0412ff25166c669c0d1c5e5e0895b2a
+size 1427122
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00076/depth.npy b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00076/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..c1eaf3166420f204bf9f2db1823b6fa19a723e60
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00076/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4602c46348ddc612fefbbf4c9eb397044b8a9d7603f5c59a77320df283eb7a8b
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00076/instance.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00076/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..255ff6bdef07afc098f37c228900f0dee7a7fdc6
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00076/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a6f9c87087a7b6e43f577bc95f1d639a079aad918d0493a2509a49ad13167e8d
+size 48489
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00076/rgb.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00076/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..081c87196770aeee3f726a31c752c9c8fa09b5ba
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00076/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:95f8cec1bd3ead0d5c487376a820bb1f4ed3b80c47453a06377254a0f9420bb5
+size 1367628
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00078/debug.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00078/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..7fdf9cab2eff42f795e630575415fed965b6f657
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00078/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:72954b8d59fad61051f890ef07c2c62f27e6e6e7c5e4f5a4cbbc3e712d7929b7
+size 1407838
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00078/depth.npy b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00078/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..112944f5f8165c6cffb709be7b904a7459a7a045
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00078/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:52d04f803685957a3ae94a7515fadfa9de289a53ea0b498a1735c472325da1fd
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00078/instance.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00078/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..3ac3a7ec48eb530a054d08133e788ca8481c2d18
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00078/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:413a1da16fdec2f993360576bef5f6b2afa513e58e2c54b9e4c26a5f6f9ea920
+size 44840
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00078/rgb.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00078/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..e09fb3374d574011187753495a396d23a4775741
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00078/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:593f4ee7c5382b0564682046a412b9539849378e80f9114162d6dafad1b9be7a
+size 1360915
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00080/debug.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00080/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..6a554c1d13b9a06a7479d5ba83bacd9cae876a55
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00080/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:945da7abbca8b079965cb3576e404db3cf76134d7bc21c36cdf7bb6daee4d819
+size 1400704
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00080/depth.npy b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00080/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..b6776c55ae5f5c270d8448c3bf4dfe67df2005ee
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00080/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eeb33d6b1a173eb60c252191206b8c78018d74ff9944544bf2edc4fa43978658
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00080/instance.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00080/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..aec6dd19e4b0b61ec0daed13f2d7ceed9227fb36
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00080/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:474293911b83fb458dfa2f843ea897af10824a1faf3ca1b30390779a5223eedf
+size 43689
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00080/rgb.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00080/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..ba0c0c9e649ec33c413358ca1324a1db31ee26ec
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00080/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:871d8884dadf53633eb29b6cad75053ad46a497dbaa47f7b7468f18f1d862dc2
+size 1354686
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00086/debug.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00086/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..9295e89b1f23e4bf4ade735961b32e0954524bbf
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00086/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6387eb3b3e35e881d8203c5cd5cc27be2db2c9f21eae9f096708af07fadfeb16
+size 1414389
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00086/depth.npy b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00086/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..e303983756709a0514387432cd056c1ea07fe383
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00086/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1fecfb0d6b8af64768cd7e3b2ec8ebc28c90d08fa08564d0311efcdb98bf4768
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00086/instance.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00086/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..2dfe91f47316c1bd880d76d876be2cf0b3310512
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00086/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1b67cb78f3a2d2a82a93180e3135b31b9380cd88ff9706e0efe6f6f7acb21199
+size 44353
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00086/rgb.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00086/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..6853d69c0153082c6141d4865b94b6df1cd79ffe
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00086/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dd99d8d33ca2f79d827fd8a062a59de93bba90d807935641cabe5d894a23e10d
+size 1375401
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00088/debug.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00088/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..1ede4f61daa7c2adac092c9d511aa345c4539662
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00088/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2d2872bbd0a5dccf997c60701ec291248cb34649199cc4e46d2d2b9fe7500f79
+size 1439003
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00088/depth.npy b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00088/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..76e0221b92a8d92ea2124ed7940beb5b7c0c2179
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00088/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:908f5f6f6d50d19263f76e24a64cf5d35f2428011252c0ec5b501489a12fb980
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00088/instance.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00088/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..060a15d64fab718477b1adb557da6f9f034b0a80
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00088/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:392bedad36b3ca5438c6b01fd0fbbba2ea967d0c387a4ef32a8f3ae041b5612e
+size 42066
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00088/rgb.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00088/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..b9727dc6aff6c44dc83d2cf48c6a220dad358edd
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00088/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5a21d2937491bd3f50001ac49b08afd4548dcb44a825b2e094e173cd57fcdacd
+size 1396378
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00092/debug.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00092/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..72487b936a6802edd564a04c2bc27ca97a17d0e6
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00092/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b3ceeebc1b6bb697ba1ea21a17f4407b1d83e284c5fbcac5d3965be221f6026c
+size 1465483
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00092/depth.npy b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00092/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..046d95a483be6cfd1d520ff7af55596634f24d59
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00092/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f22207a1bbdd796a23c0714f77cfe904e5ee9ca9f902b54acc22fe787b6f0907
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00092/instance.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00092/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..024b8f1f220420745f28583830bdfd262fb590ad
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00092/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8a605df744393e464e904317673fe5d97222c169d66d4180ea0c91c75e73af29
+size 47159
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00092/rgb.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00092/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..1aa3db530966fdf041c33dd0a712324b03d968c2
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00092/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d38b0985697480342865bafdc836683a32bed2ffdf73f38609ff4f980fd16f68
+size 1396501
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00094/debug.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00094/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..98a8eaac05ba0a6000f6789f172d81bb10a14614
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00094/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a6667612c58152260fa573578bb60c47ee7efe8f6076faca43fc687b373d546b
+size 1457829
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00094/depth.npy b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00094/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..4c2b57bfb1532c9f7d3ae41dcfbc4ee31f5e7071
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00094/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3366a17827a95677d05692206eaadba29c2f021d1af79ea1d92f7bf7d0f2b973
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00094/instance.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00094/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..2eec2e72d19565e44e28712346f73a86737bb14e
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00094/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1829ac2c5693eb0bb5936693243ab4a97ddf20faeb7af8f05c7e5fcebab27787
+size 44341
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00094/rgb.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00094/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..43fa1854a3de772646fd222365d0d0da806c68b0
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00094/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:07eb5017cbd31403c4913198d014392316200626dcb7f7ce45aa20d72ec88a9e
+size 1393691
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00095/debug.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00095/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..aedae36ad335fef91d4651ff5751a6dabf4bcf1d
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00095/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e3498196219aba0f40179f09f600169faeec60aa0395635d27655a2a05dd19f0
+size 1475280
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00095/depth.npy b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00095/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..2f221e74564207bf65a98c4f3d3987b08e975486
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00095/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f30094a223451570e3e2b5ec548afa453dd8f4658e371082f9430863b3cd167b
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00095/instance.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00095/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..7b45814a998ce9dec040625f28986f18643e40a4
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00095/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:62246e12b4a96803d89d82f976604fa4965b318c6e22a76496c47e587c7d73d3
+size 45508
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00095/rgb.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00095/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..8f06a9fd53b13b0f3be8aeccee0fd4941b941e3c
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00095/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a94065633bf649b39bef5351fd08da24c2c2c41694e0e2fc87e6051e16ca129e
+size 1399518
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00096/debug.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00096/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..39ab9869b94ba6512c432ba166536e62ae91f6fc
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00096/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6db863efccafe4571350e17a8473755739d8fe08037aa7f37a82cfb26b1f5f01
+size 1463211
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00096/depth.npy b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00096/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..733712e5787fb3b31b53d8b25be8bd9c5e49e289
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00096/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:10ee4e21b3a52cca02d84e9d79269e030c62058a533bea0d51d80904ff920bf5
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00096/instance.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00096/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..4e29718804108d5cba65d90ed7ad90d85db3a789
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00096/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:30cf4f3330019384bbaf481c3acd228cca5a2afacae8fbc397cdb5e51dac3484
+size 44399
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00096/rgb.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00096/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..8f33786a88242f6556a22a7d07f7ffdbb3852659
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00096/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bb1b7ce0041abcd2e81f65ada849630d86ea93151efd7b5f96d5f05ec35f4930
+size 1396470
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00099/debug.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00099/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..6efcc2833ba17dc4721b23edbf25333ed7fed8e0
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00099/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:61fc5484bc027ef92c2cb99ae0c5727b6b6da7e338222be242075f0ec71da5f1
+size 1472389
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00099/depth.npy b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00099/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..8b676e3fcb9db8ac4781bbc38278c90f705e2f50
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00099/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:96477bab3739807701ecc49420bf4e7fbeba1654670160cce89f6fe6685dd344
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00099/instance.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00099/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..6007405881db492af4f79b07383e334496941cfd
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00099/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bd0507d78de033a3466d92fc2b617bc2d5baaccf79d0b481ecce61d212f2df2a
+size 48628
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00099/rgb.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00099/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..2b1b9ef7cab6df03fc74ca3e60076a06d31adcb5
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00099/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d2fd7cbd21a88fe34a048f91c5cf517363d90fad3853fb198350f2e99f61af1f
+size 1381826
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00100/debug.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00100/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..448fb4270676d9edd5ff0cbdf65fa206bf38e892
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00100/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:28cc0eea8d6c3e1ccaebfb74ba0581088122a8ad2a50817a35a5341bf01760bc
+size 1460839
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00100/depth.npy b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00100/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..92df4185ba77e5d7c5ab727fc3a4bfb149ad3916
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00100/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6d15483c45eb2bf84306679205e01d75c85f2d3de674638b8c9137a18a87e69d
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00100/instance.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00100/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..07044c295f51a9e9a3d9ef44cecdc9a866d65b2f
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00100/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:33a9157be22e629c2508dc75b48c297723c7460688986ea82de364b2616c186f
+size 46132
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00100/rgb.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00100/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..e1f4ffb7510af7e179cc60d6da31f63503af5673
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00100/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b911a6b5ebe280a51b06ee7962dc8befbed5b0c6beb46924aaecb82ba0b8ccc4
+size 1384322
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00101/debug.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00101/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..48ff91be0f0b31bf51d9f1458716cf460ba59393
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00101/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9dbd0636901e793e911039c14e1fa9267e2bafa3469fe41518e27422db89d141
+size 1458962
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00101/depth.npy b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00101/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..801052925c644b99e9823e892a2a6f6948980e2e
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00101/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e51435872c495cc35216b856d1eb260f7a634803991426cf8b572318b965033a
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00101/instance.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00101/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..fa881a50641ad9bba577e7b12004e19cd42df616
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00101/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:55160ba5c4910e12f431ed62e71b76c51795b7350f8b2141aa0c39b2de5fa51a
+size 48935
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00101/rgb.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00101/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..78fd5fb812c82100d3b424ae19e43ac8dd217e2a
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00101/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1dfd068a68604fed5331a94c6d71113b3ee423dd6bfcbfdc22b2bb9d84d83274
+size 1362551
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00105/debug.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00105/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..c4ab78ef34f86a1ef7fa66ded1e8d55ba6f71dc1
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00105/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ad05b6d2b26315cd2681d4ba34d9b6f019e98bf48df5b151e168f19d03e8fea6
+size 1437601
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00105/depth.npy b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00105/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..d1847899d11a85bf98e844924900f6fc006b037e
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00105/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b59c862d433b393e83472215657709ee6a123a9a0fbd9a3e351269c75d24d4a4
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00105/instance.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00105/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..73886b42076a5b09c6fe7b33c5339f33bf65989e
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00105/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:46b85d4dc673cef006a0b9a0a85655d3b84dab1f8b4121704dd5087cf61d3990
+size 47307
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00105/rgb.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00105/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..5203dbace8fe6f7c25a541454aee8759304eadc7
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00105/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f103e5f478e4ebd161503428b0b0233fe17363ebc946785060830bff5eb3ee3b
+size 1359139
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00107/debug.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00107/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..36ae3002ffc452be7bf16c617fa43cd5dd25d14c
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00107/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1f866e4bcaa68516c2e1751dac327eb94fefa63f75cf3fc5c26f2e656192f4ca
+size 1441406
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00107/depth.npy b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00107/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..a2a38b7c60da227a2e374fef9756c20e652a0207
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00107/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a928c0dc12211a177f1fdf2b9d1993c03703c7b621af5e11733bbe007d340bc0
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00107/instance.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00107/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..1d6f2a03290059c1114d6b25a25511dd08d4196d
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00107/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bc31cfaa23a3c0079be223fc15af68ead28dfc8bff378387466f3e88374a9306
+size 43029
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00107/rgb.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00107/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..fad7db818e2281505daaf37e5274f535abd9f3ba
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00107/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8a084091b903770046199e1584c90eaa2c155288f8e95bb18cf32b87a0870ed4
+size 1371482
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00113/debug.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00113/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..2449a9256b5d3cfd0ea56c9b7ac11116ad84de65
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00113/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b024fb2c2e592a6ee0342366c8c0ad8708d59926090276b877085a7af6053440
+size 1471251
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00113/depth.npy b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00113/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..9795b1a1f58ffab80a7c187948385743a534722b
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00113/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:333dbccf89ca544cbf2dba39fbb009993f4242e7d92dc5c8759a1211c95f330c
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00113/instance.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00113/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..75d6e81496afdb219669c755838ec664b13a22e3
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00113/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bc64c8bcf2d35e83614cae0ee054f2ccb6f006b59566ba984095d67db4996c8e
+size 43186
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00113/rgb.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00113/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..4074a25b2e9b16695dec0db4ae12c9e9650c1f81
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00113/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0fea31f023caa978354b6405fae6a093df18562caee2a705e4372e514fb6556f
+size 1393434
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00119/debug.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00119/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..11a21844126e3f72ea220a99a8cf7b2d04d73538
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00119/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:50d8a46200d35945ccfa75bf0816738d2c95d930d3677a8b54aa47725f9a85cc
+size 1482896
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00119/depth.npy b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00119/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..c0eeb4c0d343e791d6b8b6b164a4dbf61719686f
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00119/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:63a8a4cd9a62719bc4aef4c111d4af81e5d3b360ca79b45ad573a04e3bdd7143
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00119/instance.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00119/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..2adc864c5b5d160a8e16e5bfac627c2fe0227dac
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00119/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eb9fa5dcb0aedc3038bc5b4a8585a715d52ed88fa1d246f9f78e1547c20c53ac
+size 45754
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00119/rgb.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00119/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..3f9b2b56bcbf5eeca53d017e716737788cbd1131
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00119/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f27ea3725cf622850b00d876ce51c0e3897a6eee681cd6cbc4ba241c68f12e3c
+size 1406698
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00121/debug.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00121/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..6b157eb82a4a83eb415d2acb8283f97d6ec8d838
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00121/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5b477496672f34ed18ddb0afff9392195b3f7f6902df2667d1e0c8df49128613
+size 1526972
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00121/depth.npy b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00121/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..edeb286c5c5a47314487b953a9ee34396ebbeb72
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00121/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:26ef6103a1e03c432e271cc7b0fd4a38bf7aba02f649fa500eca1da0d8e3cb5e
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00121/instance.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00121/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..359f2785e42eec8cc81f163889b286d6476c24c5
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00121/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ede0151b544c82cf037f380319291891a6afe32af838532c4aa5565f96c9da6e
+size 52555
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00121/rgb.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00121/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..04e71425f6c4016d69e49e4615d08d11e4d8f61d
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00121/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a2769737d60432378dff8678425d98d33be68819ebaad3231fa94422c9dddb7f
+size 1421455
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00126/debug.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00126/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..d25f9dda4b11a4545ac57672b349a12d1342ece5
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00126/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:100ea9aca85041dc01e8804fe086dd0768c91e2c8059e9f655015a64feaef0e3
+size 1537816
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00126/depth.npy b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00126/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..e6f638b60def875111c2939ea34892954e3dac82
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00126/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6ea139add10bc060d13166c34dba252ac36092644011a8894599daccf607a9a6
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00126/instance.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00126/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..1bd240ade3c7201ab6e5a489d156a78ed8a54a27
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00126/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0a125b1d059cca71f8b4b6a3cf9f8179618db59aa74b3ff28e4b9c5d1b6aa81a
+size 49952
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00126/rgb.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00126/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..993a5c344ec7a361923176a038c38fcb363fef85
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00126/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2e5be0d23775cb8f61849f3158b79736038fa918e5da7e3d932bb2722490428d
+size 1443547
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00127/debug.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00127/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..086eba1bee794cd04ce3f86171fc2e239d5e09c5
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00127/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:19745270b7e11f2d429793aaead202e3ffd2b1facf2c2c0cebab7ac2ee14fb5a
+size 1541807
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00127/depth.npy b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00127/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..8acc005ec7a700e593232fa501e9082f6ba401a3
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00127/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9eceda0486a9c6110016c15ffcb787dffca7c9a61f875902edf2fd7847b7c24e
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00127/instance.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00127/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..601d2d504bfaec0e8211415e3cf0e2803b3e1c37
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00127/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c3675d55931d2bb082abad84ef73525f5c92cd96b097786094c6d36f25ec6146
+size 45604
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00127/rgb.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00127/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..1dbf4c2611055167943ada45d0d3e02729c6a3aa
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00127/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fd27b52b36c116665a5d31a3f7d60d368ea8b08e5c543199b5fd1be06fd899a2
+size 1429758
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00128/debug.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00128/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..0cb3cf3e511a7e6c38a7bdcb67024a1669e0eae3
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00128/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7e05ac5d6e96f6470d652813e370ad189e00f08bf37a65ba4ecf26b4cd98bd8f
+size 1566354
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00128/depth.npy b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00128/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..30d37cfb580ec5a0f4953b64dfd115e8362ad4c2
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00128/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:88dc2af43bc0f117898a9f0e8c4c1d8a85619c9856a30419d98db30791eaf78c
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00128/instance.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00128/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..5516c637eba923dcd59ab8d25c63c990edd9ecdd
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00128/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f99a369e07493bd5d3571340d26e8604a38c68760864da085f66de2897443ad8
+size 49905
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00128/rgb.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00128/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..d01bfddd06bf626bfbd25e882a5c1440fa1b5134
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00128/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0c522027ed4d087a2d066a65451c8c0dfded69c3da5de6115ef4e86e5bff9a9c
+size 1456803
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00132/debug.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00132/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..b799174da50d69f2ed73fd615db78e388278389d
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00132/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d9d453240c1dfdd7f95112296e09d0abf4de66002d0aba733eae09c0eda131a9
+size 1557265
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00132/depth.npy b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00132/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..51e87ac80ebf44ca4276d717a0b37c2bf14c1963
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00132/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2e2d86124aeeb6173cde6a8cfe7de346b4794fcc59c868397046ab2e5975b262
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00132/instance.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00132/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..c047b2348a4e23b10bc526db893e5492abaf2aae
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00132/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e7bf8bc0ecf3da1e7335f704b49f21102cfb52330df6fbae8393c486cde5a64b
+size 51596
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00132/rgb.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00132/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..8a9b22f2517f0d495251622e711f80408ff83318
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00132/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:99b5269090c56528709974628fc34f4003e21287e13bcc5bec68bb087a44da25
+size 1450385
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00135/debug.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00135/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..a670aecf88b03634527005e3e1e07143342d7a1f
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00135/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4b627614c112b3527a1accd4cccb85010969be9d8ef25842350f76dadb5ecb03
+size 1570166
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00135/depth.npy b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00135/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..5a965df1e88337b9b82c619f3e92e79877151e44
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00135/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:16c559539580f251543227d66700d2e715fbd614f9cdb4c7d2f6f04eea0b11a6
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00135/instance.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00135/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..e5638961a6f5cd34b647596ed10c51d56c6978df
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00135/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:89e8ecf7dfefa5ece06caed34c12337cf769d1cfcef40f2772280c8531a5ca6b
+size 49713
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00135/rgb.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00135/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..255b23d0011254365b198a369021b924d9d9d345
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00135/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a4b54272ab4d2015634d75331e09a28f0c9600fd461deda5850eb7206c0e857d
+size 1469607
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00136/debug.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00136/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..667b3e144c33ec3c071c18bf5f07a99e98d648d7
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00136/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3dcad2e307a877b5882997301a97b6d93360349f8b558003b74aa710e3f194b0
+size 1547907
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00136/depth.npy b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00136/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..70a27f03cd91bbd4f62e4934244b956bed791fe5
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00136/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8aa717866179451016065fb5d7b13cbcb44b14d400396bf643525c04368cf703
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00136/instance.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00136/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..657c10211d50ccdce64f82c23238e1bd81a2cc7b
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00136/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c67749662521f9c176122de007d52b34f5cbd15cfef3d5af3c36af7715bf7c31
+size 51019
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00136/rgb.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00136/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..9841457be1cc88a52dc9974f929e55194882a1a4
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00136/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cc2a5274170bf934a35a40f22625a8acd0fdc1d614393d9f21d623c724605c4a
+size 1448591
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00138/debug.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00138/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..93f1a2944c5240aa70e2712a3de2fcf59379c6d6
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00138/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e371857fbadb814872b461bfe8d7c26321052d0a4355235e0b802945acc60a83
+size 1568827
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00138/depth.npy b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00138/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..54accd4ee7b5a225701eeb05860efcb368dea70b
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00138/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3fdd5939030e5a5dd4802ca347eba4e3e55a256a64c497c4d016312ecefe1584
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00138/instance.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00138/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..a89f7e3f20949a222465f4d740fb27e92c2531a3
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00138/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2684e344c594cfdb4854b41f972bd6b519d0fdc260eb4264dfa4229d523ac2d8
+size 46571
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00138/rgb.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00138/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..499366de13b97622693a616c8fb596aa02a11dc8
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00138/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1283b2e260927721d4f14d3aa4c76030fec8abc1289397a9b2798f4d70dc33a1
+size 1470717
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00141/debug.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00141/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..08a03fe8f0049d220e378d4f983f24407e3c3737
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00141/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2af1b884921066d9748c156fb17b67fa811f12f7db901f9f0830f74e72929601
+size 1540369
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00141/depth.npy b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00141/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..1850bcd3953d0e6a13533bd50002ca69774267da
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00141/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7960d307ac9afe30d1abd7bed6d42ae7ccb1a105a6d49f8e74fb7b608e119cb0
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00141/instance.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00141/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..398bbc962f0a8192c93b4ef649258042ff559c28
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00141/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3709f7a34a213da69c9a2c21aa5ec7dc9f1933fc864ce1d74a793ced9b8e8ea6
+size 45200
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00141/rgb.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00141/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..c76200658de1f5fe87628140b2f8a2e05f31f405
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00141/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9a2c2d98350b38f370ba85085144f6b14be29c04a3a22809100a93841d074d47
+size 1458601
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00142/debug.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00142/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..5e3089bec7780bf1f4daabab64b8cf4b84a5ab32
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00142/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:82a40602e3c78a58dd67202cd2421b5c24978d9518127f50058ad056de489781
+size 1517852
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00142/depth.npy b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00142/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..11b81b0f22ab13eca05f18e5eb6868eb8d495287
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00142/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0e934900dc70f4fbc4fb2561e3016b89da2dd79aa2822eaf838d74cb821b679a
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00142/instance.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00142/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..5092109915e7d23b60bdbd3168de7d80a8a6bc6d
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00142/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:884aaa978b9add88a1c67d0de36b4031fa1869ab863b2ed0323ad70649bd70cc
+size 46012
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00142/rgb.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00142/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..c4d439e072cc5a58fff724f93106b9fee7db8f12
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00142/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b7da6197863a938f04c86eb65621b3ade885c7bee610e3992533b590891d3a5c
+size 1430266
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00149/debug.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00149/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..a7fdc9741825b9e07df2c0162f71827c3e6c80ec
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00149/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1e075ceb0f9fd7b941476f1d4432635d9d951bdf8de90cb5a47e3ed8cd64faf1
+size 1557645
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00149/depth.npy b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00149/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..fe72d7f8ca886525fb245e344de307a7174f7c7b
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00149/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cb70489b3f7287666811837d222d13eed724897137126de213db77ce268a231b
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00149/instance.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00149/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..aa46b9e0b2772fb327527adc887ec94d25acfb8c
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00149/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:164a94305b755eab088bdb438bebbb720d0fb813819b131c98f89f0a9b3e3fbb
+size 44977
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00149/rgb.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00149/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..cafcec2831a1261d18f59a07f83704956e430d99
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00149/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1b3ac9700e2ce292cd065027544918925d0694238741e7765dbdc7045b2f925a
+size 1470993
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00152/debug.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00152/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..2eec99fa247b499e302f06c5ac1277807dc41dfa
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00152/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:df3a533f1a086e7115b7ae55ebd2b9126add2dc5367980f5236a31a31cb78b00
+size 1566466
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00152/depth.npy b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00152/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..2ef1a02d273fe45ea397df778435c3873f483d95
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00152/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c58c2c578f7d6252d98bee80f74e91d7fb40b4000b614078d31b209fc3189588
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00152/instance.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00152/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..9cd080fa77e0a724b83e10efb1aa204c825488b1
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00152/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3f6b79d0b9256b240e6884c04b9296c55c1711b2631ec1cd882d820f4082ff21
+size 48698
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00152/rgb.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00152/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..26e8398c7aa146c51e88fc16b92e026f259f883f
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00152/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b6ac58fde4769c12b0321e3650f6d3ddce4ac69d067f434a3fc3cc5bfb032b2a
+size 1486295
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00153/debug.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00153/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..bc262bbc39d11f7f82e10899247fea537b91e0e7
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00153/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6cd17987ab71b8a1dbf49e51d0a737f09b743bdaf8ba8390da0ce39ee920c62e
+size 1553889
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00153/depth.npy b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00153/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..98cd2d85fed992f4afe06bf67238c4aa76a694b3
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00153/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1366e50a51c2a96f6f0710cef1e847172894ed13620985108886282317a08bde
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00153/instance.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00153/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..42a9a1a2c08c4b40d4579ac4830207f297ed371d
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00153/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f613e8db2a4a667282cce48a276015c42ce85ab309754e111697e70082ab3c9e
+size 51466
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00153/rgb.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00153/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..23d81eff7ae6290c84d8fbb7bf4cbcb0afe7f585
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00153/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ae19f1ca97891597547ba73a03bce2e9eeab0279eb470b244c6638366996fb83
+size 1470218
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00155/debug.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00155/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..d2130ac60a44a1c622d1ab8f45094ab50e2d59b6
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00155/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c70200facdee3932cf1080972d49d800b7f5fc93025d44cc64e6db0014c4afc9
+size 1553443
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00155/depth.npy b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00155/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..d56759e0863a3feff424b29f6ae816b6e46f9693
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00155/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f2c63529c2219cf28f91428c9de885651c0d4a0bf61622e0bb97e837bd9f7b88
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00155/instance.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00155/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..717566fe46cd2b9546c4808fea3062f68125fed5
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00155/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3c4ae49daad3266797fee15cea3752dca44d4cdac736946658a32183f2658c1c
+size 51206
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00155/rgb.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00155/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..61b0c45ac8c13772e198cc15559f0af03dc4cd93
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00155/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cd97528cccfa52dbc9c0f530c5cd26a10c523876a0761dedafb70424df47b817
+size 1472226
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00157/debug.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00157/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..8d735368a64af9053fe4447b294ce9fb5837ed89
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00157/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:81c39a07bd68015c1cf50a9f057aae9acf636d6a7980f441ee14d65063c949b3
+size 1586260
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00157/depth.npy b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00157/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..3f24b63ea4cf7d3f8580bc19ce871a1da1a0ae2e
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00157/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5067f129fdd4519f7b2a37d5767422d31e0564c99a350dfbf3c295b8551e1444
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00157/instance.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00157/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..61d158afc9f2c8ce569ed9ef1a880aaf11e3eec1
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00157/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f43463a2912c4120a76bfd8f2c7d3cb12afa70cffdc8b56c3c6e20e8a16b8890
+size 58411
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00157/rgb.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00157/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..4e3d96d484e32d3aa782cd4e7e33722def04e341
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00157/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b4ccd49d875ede9b6c5a17d442f6bcc60ca54ab2cf876f44037c2603fb7ba4f6
+size 1495338
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00159/debug.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00159/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..09b2aa00b3cdf63928eacf40497822f89f596979
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00159/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ab6a98389f5ad226231e509ee6c30cf67a7457876377b11db5537c06aff859a1
+size 1577388
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00159/depth.npy b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00159/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..be3fe71a3ca6c93f0caf0b334615439fdd978d17
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00159/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ddd68411770cfa8fa8758489d2a5f211dd3de763e630f8d86a0b9dd3eb09186a
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00159/instance.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00159/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..b780a58683da97d39fc6f018dfe62e8987e46c5a
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00159/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f84560149ccda798be822d1c60a1ebb24348a706a4d423d67ab4f1dd568ce898
+size 62719
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00159/rgb.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00159/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..aa8f728bcad77bad479f7128488648021ebc0222
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00159/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ff31a54bd94f77e75ce273071688cc31c1a1a8e3b240d351d60895472b43d633
+size 1487805
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00160/debug.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00160/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..0345043ce01b0f11e6f9c4ceb69f7979ca262224
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00160/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:74bd57fe4ea449a29c182dbae45d5aba7cdf23b58e7820a492f697fab65dd053
+size 1580123
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00160/depth.npy b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00160/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..9f25d29c48b09d78f7e5543560c9f30485fa17f3
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00160/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cfe6b4958dcaaf82c62760faacc33157d0ccd256b01c0d5b26c70029959aced4
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00160/instance.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00160/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..2a57409d1aaadcc27a115eb45e8e85464aa34d1a
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00160/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2b93d51c606cdaa6aa19442c22e653023995f823425427502c1e0ba6f2dc9bd2
+size 59604
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00160/rgb.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00160/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..39651fce8888e92b3918761b0989549b66d33dd0
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00160/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ac8b694f7f5c2c4f6787177a30f8d15896646068bf972e0eba49583ea2005b0a
+size 1506649
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00161/debug.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00161/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..adcd7ab76f01a36d5c6cc13acd60cac9683c0cc8
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00161/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:165fefabc44daa63bd61c88fa6c1a72ec4830d85fdd41bec8d352a9e849b19c9
+size 1589845
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00161/depth.npy b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00161/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..84b080ec6caacf24fe1f31e57c0664494be2bcfa
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00161/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e26d032397427b6be6347015a388bebbe838504a72b546c0c6b95e541335ed59
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00161/instance.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00161/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..dd821d6496e45e20134723bd6bb15a7bc452069a
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00161/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:303fbc13b9993916cb151b44a6eed74b157f3e4355ee2e9d7d3119072540e038
+size 63067
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00161/rgb.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00161/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..782e13dbf04bd5a9261947dd9026f5927254fbd3
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00161/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a80c643a13351fa5aad7ff4da97ec8e3dcf65f7142fd0d70b268182163c190b9
+size 1515667
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00164/debug.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00164/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..b5042502cbb1074c3e33a73e68d0386b670347e5
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00164/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e0437609b67b9ad79ebb4bafe82f6e42bb0e4c038de623901f72123e40009828
+size 1585521
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00164/depth.npy b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00164/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..b156dd2f8825dc3215e4e6fa0b753a10020812b2
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00164/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f0a229575e04d304d3d680663173c9b02284f7b637e8c51a8b3268cc5140f9e4
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00164/instance.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00164/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..a627d9d51eb26413f72e5539048bd6a8ae9f90df
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00164/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3e4c7fb74228992a8807ac72811b1b1626b5585e5c2d2d88a420986361b25c0d
+size 63474
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00164/rgb.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00164/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..8aa03c1f0f28fbc729b6e11319bec9d81c3dee14
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00164/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bf71276816faeb3a42fed27f6e0594535dc05ea315db76da93da18fc49687ab7
+size 1500099
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00165/debug.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00165/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..a682709c1c89326aac9a7808ea045411b4d87908
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00165/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1664923e44fa0781d147ccd92e55417b1b178d418c6efcb12e95b9dbdd8342a2
+size 1581736
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00165/depth.npy b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00165/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..2e9cf1db9c83bb1c23f51913cbb2a8a5e69a0404
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00165/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ec7f42f5e46a6bb9b32c3ba5dac46a708b04678ba153b10ac8a3748fccb207d6
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00165/instance.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00165/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..fef9a1c1e28cd4bdc8436a80a807c0bc5ee52143
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00165/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7164909a1016d75e765a36d3fc5c68ef32c1df06c57567905387957d70e43b9a
+size 64146
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00165/rgb.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00165/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..26fe726fd9c6f16f9f39e90f87ea7bfb226bca15
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00165/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e726d508ae1e0728aa1b35d4bb70065884f82222c85889e7657436f4328e646c
+size 1512591
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00166/debug.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00166/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..e87eaef9220bee7e93ae0c5b50da030fb435c43f
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00166/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:823dc3a0b3a974cfdb8260f6c71335a138f3d71250408208a3e2b45c3cc94545
+size 1571405
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00166/depth.npy b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00166/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..192ffbfdd25d7fb844c12ce790d7001a88b3d9f0
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00166/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:33f10c6147de3085a3b98b5f5583f93a00a29c645be5a73c29b14e065c423bc5
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00166/instance.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00166/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..5b1a9b8ebd52a71e1307054b2a2d0e1ea1d1dabf
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00166/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a34e2c5d70c739246f928c8a43b29ec3a3ecbded8690c2a76eadc76769d2ff01
+size 62269
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00166/rgb.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00166/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..aaf06d2c09ccd472df603356e62fdebc35152335
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00166/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a44c5413cd6553c359901a0ba93152fbc2d01f0b048778fadbf34f82f75a3c5c
+size 1494522
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00167/debug.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00167/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..95ba1ff95964c4b1268fcdf0aa9e90d765b30d5d
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00167/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:26c5ccd1052ca7178bae1766c33f6e5f02e08af5a28bc566c392467679fabdb3
+size 1561827
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00167/depth.npy b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00167/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..6352ec4f9522bc7ad6c4367d4a92d7234e4bffd2
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00167/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bd3c022630825af6af4ee368094c4d748698ba5e5e91623d415346a593c9a812
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00167/instance.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00167/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..56da65ef8c5df72387655c21975a8e4822062661
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00167/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2af8126e5cfa5bbbb09da7bffe196832a4e0a9feee3cf822138b0864038a8aa2
+size 59036
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00167/rgb.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00167/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..f866af62275e78d74bf0a9b5c53f5b4f4d4b995f
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00167/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5195fb74ce35f4b0082cddab6e7a87a4a0fdea34e79d67ae3943327e5ce30f26
+size 1471229
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00169/debug.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00169/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..20969371c35b630ba081d856be138ed007537c2d
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00169/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:467bf48c4dcde3f19f639696a624b417eaf4ef94b8278efa39f5291b7c859b61
+size 1561690
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00169/depth.npy b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00169/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..c0c0562db56979f0c1906ee26edd75189f232b06
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00169/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ed857e9955c07dbcf5401ab4d9c9ce8478dfc82c9f68e66197a1432ff9d3de1e
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00169/instance.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00169/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..f2f2845d2b5f9980da977ed845f463952180cfbf
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00169/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b2de62db277b6ec6fc1e7c28bb94d74f386591eb6bac06e948f2e3ccde7ebb53
+size 56828
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00169/rgb.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00169/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..91f64568aa40cd802de7272b7a20abb3bbbddc69
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00169/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:915ca66541810df3b458a344b49d340dd2b6cd46f933a0fb1ee4b766782d4f28
+size 1468987
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00171/debug.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00171/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..a2ea52b6f0f7148e4b0e9f1b2d98d217786cc600
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00171/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:431377c3967e2b7607fdeff483ae7d5e8c6eb0bb3f8e01d323c241a5132b976f
+size 1483618
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00171/depth.npy b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00171/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..09c9b6d6f2804c786d0413ac8e4f503dd8c47c07
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00171/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c140cdb2dac3c6969f025c4ab87c16adc916a0efcef3dce2a8387294afbe79da
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00171/instance.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00171/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..514bc72a1cdcf0b05180673271885cc0bfd16420
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00171/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2493e2f10c65adfbb83a93e73a14f927772c9e933dcc76726a7d8c03c0b9c821
+size 45330
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00171/rgb.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00171/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..b2f14db88d07be938b51cd5e0b1699e1920dccfb
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00171/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2e8d6e516c0b906d1df01262293ff4214aa8c2f4ada20e4cd59c10dcf719cce5
+size 1386237
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00174/debug.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00174/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..4ad411b20859b5667ad8bb2ce4ccd2112a467c92
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00174/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c4fe553d20ad8b052c99ea846b2522c467167a5fad63387a4d5ca5e0b1e94dc0
+size 1466657
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00174/depth.npy b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00174/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..083217cee3658b229d99cdcfc12f57f604568937
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00174/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3c7ad8ffb066b73119fe60f046b42236b794143429e881c1cb42190ffa2f8ccd
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00174/instance.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00174/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..7c0dae3d34b4be56f9c9356015563a3d1d491316
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00174/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f9f1c9d080013e89a8d434c17fa85e5f53d802235f33457ebed3d2f8a63b2ba0
+size 39651
diff --git a/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00174/rgb.png b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00174/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..6dbd012e0ff0611ab74a9f4b4ff896157c9e3413
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777272153/aug_001/frames_playback/frame_00174/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c0e3c674cfd8a76296f7ff36e5787ad1a88e2f2323840d77832fa5adff1b930c
+size 1354987