diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00002/debug.png b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00002/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..cc9212a03e9383be4dfd88c5086b3d9e66e817a2
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00002/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a3640ed7e1fc8647dbfee7b90158b680d05752e7d2f667f716883cd7b8daa400
+size 1607629
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00002/depth.npy b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00002/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..3a01691ffb2486f9bfa56a1b9f848ce9386fe23c
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00002/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c39da8645b79e1bf8b10bed8f0b5fb180ae079bfc06130f0d41e0a5c13fbe5c2
+size 3686528
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00002/instance.png b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00002/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..8f6d661458317ae7d590d38e8960e7cf07fdc2b7
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00002/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:77d10b01beadfea4568e71a96a600de10813d0c2d80472d1fb13e373abb2a52a
+size 56263
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00002/rgb.png b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00002/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..6784d301e6e5f6d19fcf1f65c4fae89e372a1f5a
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00002/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d9bb077b89ef238bfbd39980e872baa8e5134caa336a66de1d6524b09ab4bcca
+size 1600392
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00003/debug.png b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00003/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..14a600288ac02e1ddee5c20069d080a8bd0480e1
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00003/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b3b627a54632a0941a6a34d378d320c854fcf3c536595658273af71a2c98871f
+size 1602651
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00003/depth.npy b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00003/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..adb0ebd954bc156b42d419468d53f44fc14e5bee
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00003/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:656d6aeaac5b3122e89103661c8860535c03bb82ff4a33b03da008c0cc2c4736
+size 3686528
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00003/instance.png b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00003/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..f25c0fca2f200b97305b22718e13254970bc726b
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00003/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1a3fe4cce352af6b6c1d264135a82c05b5869513ffc38349e1e26959543df51e
+size 55989
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00003/rgb.png b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00003/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..ceda21707975265b1fe8dbb2c16242901e39db13
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00003/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e020d681c33fc47f48a3117f6bfdad63f6264f6469ea23e1cebc0c1f8c2ab224
+size 1599631
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00006/debug.png b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00006/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..760b5bd3726a83e4f1fda22d81eb0d237db84861
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00006/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c7af6cd5fd0ad1c7c27c6fc8f10d914cfbda119454dc6c494ba4a1a34d5d7d03
+size 1587340
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00006/depth.npy b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00006/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..c5eb3c21fbd8c4fabc7e35f93e45ee36489f2009
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00006/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0ce912e7d5a4593388ea30c98903c8d733b5b671e9ffc7e96eadd547521e99eb
+size 3686528
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00006/instance.png b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00006/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..37c816a1a2c944ffc1f01c158874861ed0389eaa
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00006/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:37b14e2f735c5707be91f703ce40bf74aca2365f4b4d472fceb749f6b86ab6a6
+size 47519
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00006/rgb.png b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00006/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..0017f40d0bdfdae24b1815d509204cb4348d0492
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00006/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dfedb71f588d03addf1b18c5c1709f225eb10074be5c8be064aa5abe5291115f
+size 1575378
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00011/debug.png b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00011/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..83c785d6ff3874b033cd20f271decae61fdfc7f7
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00011/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fc0a5903b5a6b8b288974e406556871dc764fdc67deb2008ecff2bdefef51108
+size 1692562
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00011/depth.npy b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00011/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..c618755cee5459ef8b602a126dd5c0bcbd7fc201
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00011/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d197e120d24c2a907db150ede09fbfb3b84c26276326100ed5d907b5cb77fb26
+size 3686528
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00011/instance.png b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00011/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..d347179b41b398d119733bda1b01846ed5e25753
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00011/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:da7d5ce7eb1302a285f2c47ed9cfcdf8d981f2e4201f9883f3a284cf4657091a
+size 60048
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00011/rgb.png b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00011/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..d454d3aabdcc84882d594de1f2fdc160aac3b5ff
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00011/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:26dc9212fb8a023c197379ed2a5cc0fae5b543298c1e8652b47901cbd57e8a1e
+size 1663542
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00013/debug.png b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00013/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..fb1d998d500ca498360af1c4dd685e40ea58caed
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00013/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:88e113581010d2e0c0cb2847a3b3b7d916964264f602c85f050d1bffe1abe91b
+size 1672682
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00013/depth.npy b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00013/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..ec3788757c48183b7729619446b230b0b32365d9
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00013/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eb8f3d6ccc754c78be5b987c353c7c7babd128f1d59996eaf2bba1801e0b3084
+size 3686528
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00013/instance.png b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00013/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..eebf44eb1c69d38a766a1d75a55ba71521ae9d45
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00013/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3306a4d7cdce81ef0755e8f13e5c4e1f4a8a87f4518d607b8bade15538f8e100
+size 55432
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00013/rgb.png b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00013/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..6880a42b1e7cfcd50d5ad79abeab2ce13d1e312d
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00013/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5e408290f340f1c2c45695a02c64b7385e4ad0deced933c64832d58b68b665d2
+size 1651600
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00014/debug.png b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00014/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..dfa864660f1af1330c784d0c042c4754691be9f9
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00014/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9537a9facb5f17c9d2b4ade7691eb5c4bfd00bc38dce23ade09001aedaecc97c
+size 1623013
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00014/depth.npy b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00014/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..a32ee7f4025d59c7adeb5d180b9e50fb01b0847e
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00014/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:87ee76231e5c3d703f42cbf14c1068c148330fa6e35aae5f9fd203c8a0a761ff
+size 3686528
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00014/instance.png b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00014/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..0af0550256b355c5b38893b9343fb1f1a20c80f7
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00014/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:68e6ac2f32e3180b6edead359aef7329a89e764032fd51772fbfe2298c9aa9fe
+size 49166
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00014/rgb.png b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00014/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..4b6b8c72d3721d467febf45525247221e942eeb8
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00014/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bf20790439976f19394387c4f21db29fa493e49e3a65205d7f5cffb3404ba643
+size 1593279
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00018/debug.png b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00018/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..09ca94590cd6f7e17128748055f3e88a484db48b
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00018/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f1b5e4aa97805ae4d3a24a2fa62e1892723b40660ae73dff72579ccc5dad7b35
+size 1683608
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00018/depth.npy b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00018/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..72a6f8c42f9a72819c21ac8bcec2b1f7f54c04ec
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00018/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:90719ac240fc7901ec108a623766115acfc6b0b87a85d90721a009505acc3b0f
+size 3686528
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00018/instance.png b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00018/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..cfe8e48529e827c2883a0aa49d57602007225555
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00018/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:835ab901601ae38bf69ed25b0308c9d49772032183ed5fcf0a9dbcddfe477b0d
+size 55668
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00018/rgb.png b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00018/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..8678f72bbbbaba9c832da8b7637b946f09097573
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00018/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d91703f85619c828944dd7459e0be7ea3f0b067346f90463061d755a173a0a3b
+size 1667162
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00019/debug.png b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00019/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..3945e3c859510352951f19b7906a96d2ea33e0a7
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00019/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:33042066d9f588de3433fcddd8280d68cc5fed23673da24574049295792e1a70
+size 1721009
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00019/depth.npy b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00019/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..7cadb7de83dd512d25b78eedd87f25bbd3201920
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00019/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d980e24e02eac44a92435fb5c3d4d7909494fbb0e6c58785a0127d152bf4c4cc
+size 3686528
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00019/instance.png b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00019/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..62460ea9f24da5ae13ce5b73b87fd21cb527f16f
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00019/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c1859907f2a271847188a549c3edd51381fa268e3c426295f0c89fe2787ba9c4
+size 57948
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00019/rgb.png b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00019/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..cdde282c0524f283cec2ce6cd73d14d2f9945945
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00019/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:73467bd5d865319481f05ea710c27c3d070c3c991e4b5ba3e821dee36ff0b953
+size 1688798
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00024/debug.png b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00024/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..6d3dbb7a353a9a497ab69e66dfc6493e0adee282
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00024/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d645725973299d88380500ec0c98bdc593543b093924e450a72332dec7ab7ce9
+size 1730219
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00024/depth.npy b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00024/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..4cf62fb0ea6a507b91d7e17e0bafca524ccd3264
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00024/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c7b3e8e964f237b05b03845cdc50a64cbeea6c482af11bcca2cfb096dbb1da8f
+size 3686528
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00024/instance.png b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00024/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..461cd20f07dce09ab30169c712483c3f77cb581a
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00024/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2b86d6cd65705804db26984adc59469a7f5ee7e542c607172de6d0ad3e2641a2
+size 56815
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00024/rgb.png b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00024/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..49cc669b0049023cfb3733e99a004adc793415d7
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00024/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3fe7aa75ecbff83f9c87d36cdd14a97363bcdf41fbfd4300c338de7180513607
+size 1679831
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00025/debug.png b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00025/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..161af3699732b257106353b7762c43aa4affe30d
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00025/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ff6656f78d005ddad53e96c4c21313656fc8fdf9bc17f233a6f8358ba812cc2c
+size 1766752
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00025/depth.npy b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00025/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..718e0abc425a348ec9ab436f6681adf63a2b62ed
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00025/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ae35be21451a7a76fbf49b5f0669269eeaacf00f8bc0558f6d4ee2cccd3d7d5c
+size 3686528
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00025/instance.png b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00025/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..913f63121af4e7bf40b90f30f424cd6a90fbcc19
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00025/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5a4633233e65d9641143e940952521f9d14eae8b0fcd7a5069e6f83d931623da
+size 65228
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00025/rgb.png b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00025/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..b3f924fa414a6327e4d07c019f7648cb3776a25a
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00025/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8308f426457f52960fdd1192e1a83f527103139c6654b605d2377baeac3636d6
+size 1712704
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00029/debug.png b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00029/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..9f12e27c63289a86022dddd21d9e8e771bb7376a
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00029/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:90635102e3c776dfe19f0037bac0faf4e14fe7e9e8812407e658513e6f9d4dc3
+size 1731242
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00029/depth.npy b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00029/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..15db8b178762e634c474ec4470cd077a04972f5a
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00029/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:59f0a8a1fecdd09ba21b540aee9505836b9bfa50e4188e7f1a9615b928645037
+size 3686528
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00029/instance.png b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00029/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..dedf64b5a42f429a9924b79ba93b4a73a2d62b45
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00029/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d6ff21a754da447b2a0fe28f58774406fed3963c92174c87dc889225784127e4
+size 57955
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00029/rgb.png b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00029/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..d653c99c346d47eca2e806e884c18da08b7dc10b
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00029/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:35d3b7f03b6ebc9aabb5660a6d7e750b9ddf01e997776baff2aded840a29b0c5
+size 1687288
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00031/debug.png b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00031/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..5d2c8e0e68c139b6a99ddd732f29877dfb1a6d00
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00031/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:076b2e35f0385cf4d6c585534c1d3f59f3fd14dcbcd88993d396141cfbe0d694
+size 1718847
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00031/depth.npy b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00031/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..453ace5bab985e28ea773dde87e0e8a059a02d76
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00031/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8a505dfc4923c2446e8bb75733c05aa9702c67722427c31bea5e815019736f83
+size 3686528
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00031/instance.png b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00031/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..51a3646ce116156a9fff008c7f8ed338576d466d
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00031/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eee7bb0d94e73459bbf29c829c00a744c07968381cbdcc85e46a74794a76689e
+size 54816
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00031/rgb.png b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00031/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..def3a93a45de085cb150b66799bffe83d9bd7ddc
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00031/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:063d91c9fb43463a39d85dbb97bdba15a8e9f5baf233d2309cf2fab68efee042
+size 1660045
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00033/debug.png b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00033/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..aaeba3ce083eaac45892e24e89d34db9baa0a249
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00033/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5445e82192280a80b0c92e0a8be10df69351c152f3674853d3132e92aac1213b
+size 1791796
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00033/depth.npy b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00033/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..9d16ee7523d7afa4498654ba4e57827c6f3d96b4
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00033/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6430ce7608749dca30f5f3b3b4525d5a1ccb5705f843e5543564dcf18b65d5cc
+size 3686528
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00033/instance.png b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00033/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..f50d1527d4610d135a3cb44bdebea81a0ce36e77
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00033/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b0bbb667317df2cf4480702d327bcab1eb2b6f4d305a6083962e0d083bb207b3
+size 61649
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00033/rgb.png b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00033/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..f68ee71855a83ca2df6f18da06cf0e3fbcc127d2
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00033/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:94590622e0db07cafa05e91001c44bb8754631a30b45e8fc534d048a91710082
+size 1745427
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00035/debug.png b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00035/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..2d7a14148894b45522b8f4399ecd539bfb74b4e9
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00035/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:07aa02176fe6cafc293eccc03a63c9efc14069564c0c06647667d8e1f9cbd013
+size 1731853
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00035/depth.npy b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00035/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..70d04b3fec64fc6243615be56d377956d2175a85
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00035/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1027f1f0c161a788b7611d887113f0264f5a4bac99375a83f2c980d29fd60974
+size 3686528
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00035/instance.png b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00035/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..ee5bbe949671b8956007b74988f386918efe20ac
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00035/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a7c3c907e0f052030925586622535b7bf72a192e7a4396419c7a5b802fe28069
+size 57466
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00035/rgb.png b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00035/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..129ff87827e0f967314ece62541f5d7d128708be
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00035/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:66b5c60f8f6532f1364589d57ec8926c4571aa5eed7b94c32aa215c59e0da3b9
+size 1674142
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00036/debug.png b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00036/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..2a8b8fc9a11febaa67244a2a61af03fed1f18176
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00036/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c40bfe017cf6f265bdea5bbbfab084f747c71ba28644ea3660728e1720fd6d18
+size 1739474
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00036/depth.npy b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00036/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..4cb88db4fd37d87b5f75e45a407af038b103c7d2
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00036/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:569671631d21128b981010c51f8e44996fe17a1817fde1f358c17ce9f1dc1fa7
+size 3686528
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00036/instance.png b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00036/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..2bd2e943adc927bc8563f29059f9df5250a33c06
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00036/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c41fefebdc6092cb7d48c641ab3c1ba8d3ce112e97ebd293ef6bd76becc9fcec
+size 56995
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00036/rgb.png b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00036/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..e737f687e29efe09352ff8f728b9ff17a57ac68c
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00036/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:38e3f12c4e03dd9ff12d6a0084a734568f903f0e8b88ff160b952489f958a66e
+size 1706245
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00038/debug.png b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00038/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..2dff402e0ba6395a425b5d43912f532058bc6a7a
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00038/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2283998a54eddc8c1e6142f9b7832361b453f25ac6a7b195ceda32e36bb641d3
+size 1750745
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00038/depth.npy b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00038/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..b17d7dc5d7e23cb5e033624c065a7b6742405e71
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00038/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ad5f34696757b2c58a6926c5eff40a74a30f393a46fd8d20f04b683d1c655588
+size 3686528
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00038/instance.png b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00038/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..d1e922a407c3134f3e875655729c8699414e296a
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00038/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fe2745668483933a3e84b9ba52bfb92b13b5b066a2700e04857738dacf0a0bbb
+size 57341
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00038/rgb.png b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00038/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..f7937360c273b25a988b2e49864073131e538ea1
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00038/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:03bf4e27095ec6127e2c386a7f237f3dd75bcc46bbd874687f281ed13dd18ccb
+size 1713139
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00040/debug.png b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00040/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..3b9ab1cf2fc1d232271f179d0babd8cf1e588273
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00040/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5633a21afaaa022e789c06a6e4090076d358613b0216fa1bf7a004ea9a835ddb
+size 1721207
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00040/depth.npy b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00040/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..dae60ed267721c1093fb1c20e308b794afb53a77
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00040/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ff8e130e2c3bca7dc92c172613c7266968edcf9fff3426ffe6322f05b6dfc3fd
+size 3686528
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00040/instance.png b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00040/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..93770a15ee2348fd698f1877a4a4f02850c3b2d7
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00040/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:940db8275ae2b7c8d059dcc7013639ea317c135d1263fce1af89fe6250a999f5
+size 58408
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00040/rgb.png b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00040/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..4a9c297a00c83352c8c713e54307dac7682279cf
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00040/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8f6fc0ce40b4677bbdb66dac661d0afdc7557a8196be6625d558133c15ad07a8
+size 1682666
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00043/debug.png b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00043/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..c953d8c59e0dc93a3c9cdbe72f578708d1e1ed68
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00043/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5b66aa1d4a48c8436165c858cb033c139ec51bcf81b1841622944842f441b25c
+size 1775247
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00043/depth.npy b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00043/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..25bcde53c8e75a7249711df273e862dfd6ad817b
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00043/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e2639853fd767bfc7d3a2a27341e434cce7b1b349678bf29a7bd233ac6ffb7c0
+size 3686528
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00043/instance.png b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00043/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..5f31bd5e717191715ee60b61e9613a4a82b904df
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00043/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:10f7c9d8bfd96306fc7efa1d60d637faa0cf2ddd6f93ce20bafdb686822d1683
+size 59216
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00043/rgb.png b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00043/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..d21255bc9cf56a3f179ebe8e373c00ff66a7954c
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00043/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ae362b9c6c15850716519c21e9446607ae363e17cae76290b062d133c61ebf23
+size 1732723
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00050/debug.png b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00050/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..4ba17992bdb8d4bb4511c4e438a8f4d5f253e247
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00050/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6a3be5964209a48d40555d51737137fe6dd12f1e97d2f8010032f5a123114f54
+size 1716092
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00050/depth.npy b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00050/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..1a15648f8355e71b6c322107add63e4f231f3ce1
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00050/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b84ce0d4062edf78761a9b410aa1f0931333cd768d48f5d599b073a66ef5c802
+size 3686528
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00050/instance.png b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00050/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..e079ac98e474988387b6f1485281b5e95e181476
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00050/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:acdc84e08302405e272c3b553f048da3155fcb4b0307fb6163916a4248d85cf7
+size 61803
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00050/rgb.png b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00050/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..e714307412ee8ea7623019f81d5a84097c1ae7c8
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00050/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8e97b133d3f6709bb1c749376bccd9e823be27bae5f4683c5efce629c0177601
+size 1671795
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00054/debug.png b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00054/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..83505c4c59d0cf9d15fef5981438c14c447bdea5
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00054/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3579dab56ce06cbfe533e26889367cd509071582c466c36e6e3d6d7579875951
+size 1751100
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00054/depth.npy b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00054/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..fce02794038a371c5785c682ccc2a0c89ba5cc04
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00054/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:29d9f038a6cf6423659a4ccaf849219cce201e25d77e27b04bf761c67b0f80c5
+size 3686528
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00054/instance.png b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00054/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..5c1343ec4fb24358fbd79fd8361925f87afa4e7a
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00054/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b13ca0606bd4d31c03db937c16a178d683205b74a27f8711310171cd705308ca
+size 61342
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00054/rgb.png b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00054/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..b1cc981ae0a050d554f345430e49179346c3561e
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00054/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:62082be9ecab00bd3a01efe5daf4aee1fc8f9e198cee7d6f153b09354e173538
+size 1701280
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00057/debug.png b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00057/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..e38756f31a024b93fe23537c9a82d9bd2e205646
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00057/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:43f830309cebc4f7e09a02a572da0d1b9b79f091f3819d1afcf35ea4eb483247
+size 1715455
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00057/depth.npy b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00057/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..2feedfe078b3bb3ac2cb6e13954a4def00f66c31
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00057/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9759fec64f653de4168c7f3b13f9a8f937292778056b2fe6be82df5940e8769b
+size 3686528
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00057/instance.png b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00057/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..4e17bdca604cb109d9282d66333b3dd6ffbc49f4
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00057/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0bb6a90cc25ec802ba2bfe61a645b343b37f5fc84c7f0a61ca996b4417b77f39
+size 57358
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00057/rgb.png b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00057/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..8002edda4636a9971f39956b4bbf523ca321e349
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00057/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a6937fc241b48c68e8a4d59dbf98f94196b24250dbc9e76840b8ca59fd64cc74
+size 1666294
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00061/debug.png b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00061/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..00451882a08a4534faca11183d9a4507f9602a61
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00061/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:683d180c5166747512580e56eccffd40de442423da5c392f12ff7e39ef62b806
+size 1547892
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00061/depth.npy b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00061/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..18af826e94ad0f87c2a4e586f8b962174d169683
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00061/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:24e1553d2f8e59cb02c0c024c6c6bc2be18387663a32b6fe0ce3fdeab15fa9d3
+size 3686528
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00061/instance.png b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00061/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..ecd87b976b2b3aa5b1ed078e0567e0ff9da3e879
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00061/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:996194f5ccf24512c1bf60490c888ecae636e0ee8935d9b27d402a2b7846c6e2
+size 65070
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00061/rgb.png b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00061/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..75a780de359849738650c6153aaa431095591cc0
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00061/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1f56e20f92bfd731630b68b37ad8c9acb2a6b96a5b9aa759276906ac92f6730b
+size 1516275
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00064/debug.png b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00064/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..158b48b67a4704755b9f2cd80421966868837f2b
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00064/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:68276905860105c145d2f33f7b8e60acd1e200d98e9778d4e3f6d014a1f2eea0
+size 1562281
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00064/depth.npy b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00064/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..bf3323775e4a5961dcbf771aae35f1ef99ab4174
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00064/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2400af56c970c96f3070ade471b4797c7b89ff7bbbc9b06d21c242ae74396f98
+size 3686528
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00064/instance.png b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00064/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..96ac06bdf939684da18718033ea5e9d02bba6854
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00064/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7979ea73483e608895f4bfdcc531063b33541e764667d65f2830bf30fa5f80eb
+size 60944
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00064/rgb.png b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00064/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..cedacf8fdb4d3207ad1e4132e6d4d86d1a6976c6
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00064/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a7cb4b9c47fe074030822248ef1666529a86dc48172cb5b3753660f90ffd599f
+size 1519050
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00065/debug.png b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00065/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..436c3c1426d116615475d983fc2fb3693734efe7
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00065/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bb9a836c8d360854da8d72a2992795812bc369a2ee94db9f0ba1d4c6528079bd
+size 1561766
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00065/depth.npy b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00065/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..e019ca33d8e92a41fa4c1bf8711ef760293cf580
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00065/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:01b753e7c9b508cfcd6fbdf7296efa48d8b2cf426a45f6e421b5c629b629930e
+size 3686528
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00065/instance.png b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00065/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..dfc137ab80423433c075a413cbf727cb4e0711e0
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00065/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:06d23908859f996d1f30b3d25f011d47ccd854fc2c0a2d446323dca904317287
+size 64692
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00065/rgb.png b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00065/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..29d8e4b84d5ca0ae108c1780359ccda99128b796
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00065/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:025471db143a2c2e13e7c6a0877770fa0a64570d5c01a0a201874acc1e060340
+size 1520768
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00066/debug.png b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00066/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..783f232f659923248bf31bfe6eedb351d181712e
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00066/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dd0f548af55bc541a23ea4fa15dbb6432f2299e75848de00a39c645e6782f150
+size 1602785
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00066/depth.npy b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00066/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..dcc8dd44b5cfb94044c11f96edbbf4e1d251373e
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00066/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:22e066eb53b18608a22b4d9ecb5e3f90a5adc58ae29ee867beba3c07b62840b1
+size 3686528
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00066/instance.png b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00066/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..13cb826b60225fca2a32f75d7605f72674a9291e
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00066/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ec1dba4f38de6b99ab68736eb26feb33f9760d12b3548ffa4a08d38b03dc6041
+size 67449
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00066/rgb.png b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00066/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..46c4528753580edf144d73fb6a53dda423084f5b
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00066/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:421d4f1c767742db2f496e97562cedbbea3b0e1b05119c5501aaf060791e506e
+size 1556799
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00068/debug.png b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00068/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..c407053582796598e5272eb11b792998a1564419
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00068/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fe54d8c7375bdc4e2de8452b3c890b7d3fa53d94f5ce74beb66ab905f746b3ba
+size 1471930
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00068/depth.npy b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00068/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..af101dcdeaa822d9065509cb490a89e886ef9104
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00068/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:97e3197c9ad2dfd98748da86d7b6b08621e0ae45d79469793d2a4df8529e2b8c
+size 3686528
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00068/instance.png b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00068/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..efc7772f67ecb90bf6753ba0e3955c5ab15673c9
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00068/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d06909ca2ace8ac04583de311e2f0093daccfb1e5e31d407e0bcd4497ae46f09
+size 67646
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00068/rgb.png b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00068/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..dcc09533fc8aa71dfe347893716f75e212292c6b
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00068/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:87c21fee73d718395c0208a1cc2218a3d9f04d835a0c7dd4dc9ee40fcaa1bdcd
+size 1433521
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00070/debug.png b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00070/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..aeaa4fdef3949ca58b8f8603aaf101fa8d2ad8b5
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00070/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9bde9dd4754357f2fba78ec2451791930b8b41ac97b7ec995517afef22042bc2
+size 1493653
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00070/depth.npy b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00070/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..b23aa4e234251926f94b807b4324e4289c06158d
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00070/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:170db45aeaab473efe8ecbb7b57fa4d0986af240c3aedb8ea724de151601b8c4
+size 3686528
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00070/instance.png b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00070/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..6a37b5a5282675d53d31a566dabe385c2e794980
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00070/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:41e165e16ac4554094190d03e25eeff49378769b3ab72ad2e7dee62ef089c1ba
+size 63575
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00070/rgb.png b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00070/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..6bee5e6a80d8c5e0f93f6a3fdc00efbf7c3fc458
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00070/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:392cbb7f402eb938b6fbf53779e7c4ef0f8711d97bfa04c21e74f8cc0759afbe
+size 1466998
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00071/debug.png b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00071/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..47c1f32f1328290718d45a7e0f42b2aac0f9c8a1
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00071/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:817a59f57d4a59ed2450b0e41751327d14463dcab75a1f300b1ad3b6ff4e56bd
+size 1477712
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00071/depth.npy b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00071/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..1ab013008d0716a9cbbea8ccf062074faa5aafc7
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00071/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e40fbd1d07edd05840597d26f4a8aa38982fe17d6d8b5f9bd5eec3fdcb609c43
+size 3686528
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00071/instance.png b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00071/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..c5f0a320cf835d8542140f5c5f1bcc8b86216bdd
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00071/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:25c50e46d47f2eeb147e3ee8dbf578b6a407156f0d25723d6c017bbde25e539a
+size 67760
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00071/rgb.png b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00071/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..f6a22de504195d4f9e01d8e3ccf79975eb51c6d6
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00071/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f54c17328e2faf322950b4850be5a955529df54fb3d83b463e030676e3f31136
+size 1440319
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00072/debug.png b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00072/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..73d5f6c1baa3aa8b98dd49c241a33069cb4b90c9
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00072/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5a7edcc617b621688bedbfab5cf07b72b5cd2e53af0399ed5baef4ac362e14c6
+size 1463631
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00072/depth.npy b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00072/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..203159718eb2f3da0c982ddb91f507164b8130de
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00072/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:05afa9217726c19bcc5d5e3042d04e89c2606dd938f6cabc77ab470ca3d8efb0
+size 3686528
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00072/instance.png b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00072/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..96febcc60ac16101c5e06f14be076a5eb25bfba8
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00072/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7b594cdf5566574d0d25aa73df179385ee627fb3df5417d85474e7c4dd8f94f5
+size 68320
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00072/rgb.png b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00072/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..b86e6e065745cd85ceb3bc34b004c38d1795198a
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00072/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8c390d1379c766c2dff7864f2a7d4e0bcfccc5167bf162d9c5a08b5f89522945
+size 1438432
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00077/debug.png b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00077/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..d9c9a7d2df35727e710811650a63b870a69d6a77
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00077/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:65f74ec9e3928fd51c8e3ee439ed2d1120e3afc7a583eb80058ba909b32d72b3
+size 1490541
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00077/depth.npy b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00077/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..8e9232d4397ddfabea781fad171a1fcd7366d618
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00077/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9630f80a17d2914e9f47efaeb27b94f9f9da76af5d01d22caafe698c5d7a75a6
+size 3686528
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00077/instance.png b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00077/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..ce4dda00fd7ff9c261ca77c3a06ef3fad2750288
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00077/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:edfbab3105601b5cba19f415a4c33fd9ff0607cacd2f909feec39ad76875d16e
+size 65174
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00077/rgb.png b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00077/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..a05fb36258a986305f47d06f0d653408116694ca
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00077/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7ef7478a21e3a7a342b89da8fadc432fd0b527108804407713c2c8b18a3ac526
+size 1456695
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00079/debug.png b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00079/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..b54403d281b442aa8808b510a2433d78d6468c81
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00079/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1046b80ff2c0cc02a35a23a61bd5bbff8675ba6d31efeb6be0f01508599f4d1b
+size 1478011
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00079/depth.npy b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00079/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..59b98bc2724b1bf3a9d20820a5acfc77c3989341
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00079/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:97e86bcc96e8c61e5a76326e1837fac88d09383fc2521cf5ff1b447d098d00ee
+size 3686528
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00079/instance.png b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00079/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..987135d5e31611ac40f32eeb529384d8e2c1a078
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00079/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f63768b9ae8513e1e94e73f7a93c5ac120672d5731136ad49cf5031e5a5de83e
+size 65837
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00079/rgb.png b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00079/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..f35155634c98a634478006970f66142873d3cfdd
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00079/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bbe4ad7aad6238e9fb44f3c0cf7cce6ad53bafbf6f81fb148931c7d8bdee743f
+size 1443647
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00081/debug.png b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00081/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..967ab1cfa3a9a1cf69cfbac5fa35c95eda90df0e
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00081/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c98e9b621456267d1cca9fed58455b96d4b08c81545c33209c2bc30b22e37aef
+size 1557015
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00081/depth.npy b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00081/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..e61a324cb9376c793818129e6c1adeb3c141be1d
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00081/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5ce2cb6b8a72d39a9f8d32c36dfef0afd16d21896d9118fb42b40aae19ad33ca
+size 3686528
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00081/instance.png b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00081/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..2040706169db712d21829e720fc7c0113588b386
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00081/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:47380f4da3c364e66b90559aed81ec862e2f0db2b1fa830ab3ce21fcb3ce05f5
+size 69671
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00081/rgb.png b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00081/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..1bd0973520944b3c6ef954486f0010c9ac1ee918
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00081/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:15bf53d4b77fe778b1de94260e764b192e4a86bead4c14a72e1d35610183ae01
+size 1515842
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00083/debug.png b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00083/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..87f5b326029d8f38f4d35c7b13bd8c2de6e0ab4b
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00083/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:42f790d7abeb9746c92ca22d496993b260c72350ad2baccc78e17a1500a5ce55
+size 1507617
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00083/depth.npy b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00083/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..a5c3a74b8e4b0b6e8373d371b60adf109148473b
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00083/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1d95841cb08fcc42127857e058067dc91938694997c426c4fbbbd2b088fa9ce8
+size 3686528
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00083/instance.png b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00083/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..864083b6b13abbdd5dfcf47e1f6fa1599082ed69
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00083/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ff8e5f1419e27d81bc9e2be6441a516a92ce8b88d8f94674ca3d829592e35145
+size 62954
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00083/rgb.png b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00083/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..dad3b0b975d297fe5f7e7799c5f9735ca127a518
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00083/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cc985235c37b8bcb73a52240194733b0ab8c9589841b8658e5a76ed35d4dc1ff
+size 1455399
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00084/debug.png b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00084/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..9882a3f1662f6c1147cb29ea32a3f3f8a1cab7bd
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00084/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:769b98f45c24cc441ba8de0a6ca381096b3b3733b44b5046a3ba27b3bc89b72d
+size 1550011
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00084/depth.npy b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00084/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..60bf67186cc491ff85ccd247a229721af3267a32
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00084/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8deb482883f6c6d079cddee4bd8ad5f12941585ef96146ac5b8a854cdf5a8b9b
+size 3686528
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00084/instance.png b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00084/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..0eb47f577df05c95f50db56a3a4d2353183602ec
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00084/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:62d7992f45005c654b559ca0e6a793c244c84cd6236cf4a71c32d2d079ae1467
+size 72309
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00084/rgb.png b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00084/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..267dd059f6747b701446ecd6016685bc69ace1b8
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00084/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:26f7bf4f95bd30d655b4c5ccfb01571697c677af6de78724f71f1dabe2410541
+size 1483785
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00102/debug.png b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00102/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..fd40f0a4cfbd7ef4afd5c54a8057f564c28203f8
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00102/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:186cc0313cedbc4c0e2a5f3f9e20d417735e7c14a3a8bd4f4c1f43893e03ddd4
+size 1669654
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00102/depth.npy b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00102/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..f5ff073b1af665af7bcb2f341748ee88d383dbe8
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00102/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8698bb6296f26498f06fde727443ba8c350df7d040566c984423bc23ed1e28cf
+size 3686528
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00102/instance.png b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00102/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..7b8d93832f15130e36c744873a6859a0bd363c46
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00102/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:01b4141c6bcb568ef422a31fb7223b24639b5bc6751dad5201068f2fb4e180e8
+size 74119
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00102/rgb.png b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00102/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..73d86530cbdafb02022755f05aec6b954a8e8452
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00102/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a3acff8ade50ec9da1f6e318b0e78fcca836fa8dc0af0f08b79c8c55803dbc72
+size 1595349
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00103/debug.png b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00103/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..80fc3307289e270bbcf63813b403936095e97e99
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00103/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9fe7327ddfd7910bf5f054e40482ed1f0eb42aa7b0c53de2b8707be2dd17033d
+size 1657431
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00103/depth.npy b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00103/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..9b934c44c6443215fec1271750a80e076d7f7509
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00103/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4439e2def447b598633377aadcf069332f31cc519015803ef7c7b1e249ec561a
+size 3686528
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00103/instance.png b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00103/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..f85381a2c3a16f5b8e3dba02626add37918c3186
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00103/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:54f9ef36590bc868ac8165dad4d2879440c6b61a85d4f36d237c7500ab15c5d7
+size 78909
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00103/rgb.png b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00103/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..124d6a15494447aac573f5ee969c18baa718b50a
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00103/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:76656085cf24ca1df7b930beda098dee80641e7f27436f7cc93f56f74ee64ca1
+size 1575637
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00104/debug.png b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00104/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..a65db7cff61e2a815528f39c058dfde070ef9801
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00104/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:187c744f6f03a0b99791113c343903bc3e74e5384eb8aa9d244c4ce42cf416f0
+size 1682956
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00104/depth.npy b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00104/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..7a3a9641e38b059776187c10875bfc1cc1db4621
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00104/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1c6e4984140d00e0c0913def1d22d4a13be62b1b963df372da8b8fbeec9d624e
+size 3686528
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00104/instance.png b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00104/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..141c4fbacead08880455f526bd8cc44febc5ee1d
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00104/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8b0a3a9e3cea78217d2f5058da11ca3942a93a80d4a529db6c8203cba30c49d6
+size 85803
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00104/rgb.png b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00104/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..7a7ba46e44fffb500774860a51d719ea05e451c5
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00104/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0f5f4a650d439d49597fb6ade9e23a67f592a3c50da13abcb405b691b633f656
+size 1604492
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00106/debug.png b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00106/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..2fda1445767187f2a834f032798c516b871eff48
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00106/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0e012afb62cab98071e2069c90b15a868f8d759a786eaefd3c8062c596996d17
+size 1668635
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00106/depth.npy b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00106/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..429a8372ed0da68bc432281fbf68501f49d338ce
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00106/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:16ebd412960afabab2f5eb2c2a3cef57dee6c037e770920e31dca1e9fee9cdf9
+size 3686528
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00106/instance.png b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00106/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..a337f52adfa31f7235d2e860bb5f4e5196c9e7f8
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00106/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eb84241bf15e03daa06ebed7e993713d45698209aedc23a1b54e09a5655d299d
+size 79066
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00106/rgb.png b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00106/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..7543f44b376627f039414a901404f7aef7b2c287
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00106/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bd94141fe03596a5890dc3b9e0eb3e630aedc832b55ebd8d92381681d8a28c53
+size 1596747
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00108/debug.png b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00108/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..943b087b090bbae64bfec1e16cb40bb6b859e19f
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00108/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dc4fdbe10579372c7988abcbce3605e05bc42e0d1f3635ce5240da6323e6b4ca
+size 1676498
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00108/depth.npy b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00108/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..6114e3f200442b5efe19b2b89eaccf09460809a3
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00108/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fc6adc76de3bf5342705f07a2a2012eadb261e44a680776b21fc89aa9a06e61c
+size 3686528
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00108/instance.png b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00108/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..3d54fc2080d0540cb34ea5f66275cf3340e7e839
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00108/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5ca4ec4c414bd1a53592353150bbc0206a2e9301f3aabcaadc9ff9735e7b0c24
+size 75702
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00108/rgb.png b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00108/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..a17db115309b58dcf3187dc74442761f82fb69ee
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00108/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f047e5c5529ef82d6a05f16e26c1e3e2288a25ec1cebd053627f633548ada40a
+size 1594756
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00109/debug.png b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00109/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..754e86671ad05d16815eab1bf42b8f32eedd504b
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00109/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9ebfc7c5c877f773472b9eb8bbe13d61bbd15034622a4bd79835fd372a9c2461
+size 1678058
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00109/depth.npy b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00109/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..684984b7072ae38e60be5526583ed9391eba122d
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00109/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8b18c582ca47c0e12a407e83450be683c3ce2734d305a91aee2a8901a64dd684
+size 3686528
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00109/instance.png b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00109/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..1682ef7058490240d30ab176e9de1bea6ef2168d
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00109/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:810e8f7272d67114ee72ca55143b7620fca7decd7fa4473c3b12e398c71cba07
+size 76321
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00109/rgb.png b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00109/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..0eaa64c46fc56e481e6d7a6bd03730110713790f
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00109/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d556afe88b2257a149dd5adc4e341c10d7c837ffa49a9d7e4169da7b8baa1023
+size 1601166
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00110/debug.png b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00110/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..780445eff3c4c214f8206c41371316b5f6c25a43
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00110/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:731ce70cfc1e73cbd31f3bb398d04f66f88f8b8a87fc23239626b45129185833
+size 1678627
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00110/depth.npy b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00110/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..257ee9eaa8c188aed29f193e8330561ed4d06825
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00110/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:16695c4f4fc34ba6a22d75811f90504902d478bcc47a2bae1e49d85636cde3d6
+size 3686528
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00110/instance.png b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00110/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..3016100bf1af67551144bc43356612fd8be5fac1
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00110/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9092a84b6aaa3645a962413fd6d1b6a25a5ccb383e359336f339aa0cd8cc986b
+size 77345
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00110/rgb.png b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00110/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..3ba0fbf6014e9d5a05729a2fb52b265d889125db
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00110/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0da0eac3de93eafc31e05acdfdd29f60c26d6f6010a2ff047945d88232ff1136
+size 1613242
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00114/debug.png b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00114/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..a753119e94257f8726dd4063662b60fbafa78b0c
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00114/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:92b79f3cab121c99de586b551f90688be6a72d575c5202c1e9d62ae986c6e625
+size 1687995
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00114/depth.npy b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00114/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..ba409ec007b83d2dd75553ea3ceeec475080b695
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00114/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:456c9b34bbc25f3dd427d566ded1f1ee45c452bf509771652e5b9668ffccc91d
+size 3686528
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00114/instance.png b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00114/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..b225e2b5e4b312769d302a49c36515f49e49179a
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00114/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:28cfebef137fd8ffa7073383cdefbbd32a117defc66a5b033db943c367dddafd
+size 63968
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00114/rgb.png b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00114/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..8970684725701561f77467be8087f99e29b99d84
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00114/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:66c4b85d675d335e90321e55ffa700cb4426d2abfba756a51827e001a28fd0f2
+size 1600758
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00118/debug.png b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00118/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..f592a57d02ab3bde66b8237ec2aab109574e8071
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00118/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:282ec43f650ca0471894853022b71c1a28fc69ae0181c01924c19854edb99285
+size 1698396
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00118/depth.npy b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00118/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..614bfa3583d33f75bc7196212ae5835a2af30c0d
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00118/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c9314bbf4e18609ab4165e5530df61991424c50b6a3c5a7ad8a24222cd05611a
+size 3686528
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00118/instance.png b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00118/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..867fdf1368215c8dea6f20da6829d28ed1716bb3
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00118/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:45485e3eb492dcad246787cf018cc609b1c079e7197394dbef35b93cdccc1ab7
+size 56422
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00118/rgb.png b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00118/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..f737c261ba7b9ab3ecfc515c12dc90dfb6ae946a
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00118/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8581ddb5073bd3f7ac09ba5c78dc4bb4398206521eec7127f410e20964e82fd1
+size 1617757
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00119/debug.png b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00119/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..4ae07150880741089e5425ade469189f18751df8
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00119/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9765bf0732255b32bf26e460c1eeb979e1ca0dbee56a179ab8cf1c4e5ae72a90
+size 1694802
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00119/depth.npy b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00119/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..7c3c944cf19fab1c644796d605cf96da445a249c
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00119/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:98b854baa5ee8c6be52d1783075cd1592b7c608e8687fc007de33520bc6aab0b
+size 3686528
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00119/instance.png b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00119/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..1448e8e234c51ab5f990adf352bd77fab8b685ca
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00119/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2027467509910d9bde51b4237caebcba45fec3bd5331aa9f70e68e3ed97b1425
+size 57778
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00119/rgb.png b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00119/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..6e60934dd955fe4a367420b4079a4c7a9e1fcbac
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00119/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a45c83b5df1e7c153e7feabf5835c969c61aa81b716507e3df565bedae43c766
+size 1609406
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00124/debug.png b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00124/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..d9a2b3f2fae031acf1835b81804cb6d5f2666716
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00124/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c5dd778d0815a211dd559582403998031c200fabbabb032385837c1a75d88af3
+size 1768931
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00124/depth.npy b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00124/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..fa79650e851c2758a59f63c65124c9722ffbe46b
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00124/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d068afc5698e840139418de4d63830dc4ad1b0f7645c901522e3062b0b30e0d8
+size 3686528
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00124/instance.png b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00124/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..f9e63d66d26118ac109b56590d3fa3d9921d4cc5
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00124/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3b1d9650541b751674fde82c8f7a91433c2d30bb9f03c23055c50f1c70a20f86
+size 64555
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00124/rgb.png b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00124/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..cf268550665c13d3077087198e968d702413f071
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00124/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:411e0936cd03d43c173a0f7f2e22facdff11a7400821c95d74555f4af24ab4f5
+size 1638096
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00131/debug.png b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00131/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..054412a9139a1de414c2db72011578afb0995b06
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00131/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:76898406d728071faaf3d46306134c05b03328cd7de6924380259d11d3a89709
+size 1761517
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00131/depth.npy b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00131/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..9a73941925529c2593341f5fdc06c3589ca9dc28
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00131/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:40f0c5686286a6dfe0cef09d0448e5cbcf9fa6ca01c88ea3873f5fc5df02fdee
+size 3686528
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00131/instance.png b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00131/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..7b9cf0f3a8621bae1e3f025b9097a06684aa23fa
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00131/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f38eefe7b341c555862004104b17f5606127954af0d4aa2ea20f805414eef2df
+size 57204
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00131/rgb.png b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00131/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..58b0acde486c931140ff9a2da0d7977a2de15f28
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00131/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4bfc994acefbff5b48d01a1035428ecb90999a66f74e37638de8fa18763a782e
+size 1653644
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00134/debug.png b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00134/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..7e3e26ba485f9aedfe743f5717f4e42deae58592
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00134/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dc5587cc041c7574b44df3c29ebb9565771c50ced807c3ec054c795341f9c549
+size 1775228
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00134/depth.npy b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00134/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..fb326876caa9d94e2ffe674cb2b36cf4bd58ef70
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00134/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c60151d0482dde419c67f6afcbff99c513c0c30cfb67726a8cccaa2652a1d4b1
+size 3686528
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00134/instance.png b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00134/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..af203e7030bcbd370a0213dc0468c0dada229014
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00134/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5977e2657a79d1b2f95e6038a8577210c85ec5820f8e66af3f1e52b7b47b19c1
+size 54417
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00134/rgb.png b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00134/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..3b2da414388c91d4f5cdd051d070cbce590a3157
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00134/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:25ef91a2a0fa075acf055cf6948ab1e33f0ab8ce205b3f1ff7110c0e52e3d3f1
+size 1661239
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00138/debug.png b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00138/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..473e15d4f96d68ea9271eff215af7dceafc9a881
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00138/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ba707e920cb803f9fe0381f860a43afe7d96072d12c42d954a90c164d6b7bfa8
+size 1788050
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00138/depth.npy b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00138/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..fd179f48e065f60d4fd51cf5df2427a3563d1291
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00138/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4d365db2070ee7c1d45e11505ca5a02227405f51a5cc87db2c93370b0c7ad23f
+size 3686528
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00138/instance.png b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00138/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..d74e5fc4133fd11e044df862cdc6732454326006
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00138/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f145bc318e00f9373fe1bbb34fe2eb8a8fd033291e46179e1bb6a5e0180b2043
+size 59138
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00138/rgb.png b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00138/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..ef31ab6d81398a31b0b15d033338215df3e1be1d
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00138/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a78bcc0a8e32547b9edc99ec9925a51e1605671817973b6052e61c1f7bb00351
+size 1692499
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00139/debug.png b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00139/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..5d62c38284b25af570b04b244c64262e1961065f
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00139/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:922e042c7e96cab9df76e96f899c82f7c4569a82d527202decb768896fecdc0d
+size 1788701
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00139/depth.npy b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00139/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..ae8f8ccc87a2915ee4f83f59938252f9e74aa1a2
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00139/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b817e0571e23af31897b9b49c08793ee251c1f41c97d669f6bfa6e51dcdddbec
+size 3686528
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00139/instance.png b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00139/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..16923fe4328cec62cf1e754ff0bd35e3b2fa68dd
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00139/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dc4537bc06ea43c3c9d07e117671446efafab465ec9b5f557470ea8399dd238e
+size 59026
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00139/rgb.png b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00139/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..8f6fd960d765333ff39613405f98fd884ce3357c
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00139/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3d3a35a3b4dcc0f5e3da47c7f5db26c83539668241db4143ad39af28633b987d
+size 1683216
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00140/debug.png b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00140/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..dee243c2200245d943495eaeedde163d9364db98
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00140/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2a745ec09fbcf3bc2bdbb0042a4aea9573e191d621037ae51c288cd161e53220
+size 1795035
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00140/depth.npy b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00140/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..f561ce86bedf8c2399bdc478a453d039fd267303
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00140/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5f038396b13620a406a03df69d20161bd096bad0c08112b06f8dd70c2169f797
+size 3686528
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00140/instance.png b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00140/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..fb4b8edc9838dfd8f58326774dad9288fd4de16b
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00140/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d9459348c0f86b81402b59c0af422485e2df8893f4aa5e1be458659b1e436f79
+size 59007
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00140/rgb.png b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00140/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..485ee46bc1de920f2a0cc300df59bf94589ec8bd
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00140/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:06e6c56425a9cc2566e5ac84f06d28c2a787cce98171c5cc21e5e4c186a44b06
+size 1684929
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00145/debug.png b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00145/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..020947d413b9c2ea7a16d12b04ebd06806dcbdfc
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00145/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:75c91f848e97fac8fc0222ec1ac5d70274332dc34977797803ab41e44d0b7672
+size 1785683
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00145/depth.npy b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00145/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..3e1206e6b93d809da1c8f5d70779f6f867d8f1f3
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00145/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:91f35556dd0df127e052581f3ac69721dcca5396fca32c5b1d588fc1470a40f5
+size 3686528
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00145/instance.png b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00145/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..dc92c58c261c1dd0f20475bfdd4ee99a54c7fc55
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00145/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c20e7b5b404bb4035bfa58e9311347768566b240f2aef7ff2db0b595c9828d9d
+size 57509
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00145/rgb.png b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00145/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..1297413e1db10282e8fd9732e144ed5dbd6529d4
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00145/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dba82b69e03738e644a7a36773bbd59c196aa67f6fe7a43f5b6758b3c88cc730
+size 1671645
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00146/debug.png b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00146/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..0969f226c38690e09de42664c3aa2900988384bc
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00146/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:827eebaa4fe51a4a6c597f57b364ddb0ae39f3b40b11a9d0342241487d90b3ef
+size 1821604
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00146/depth.npy b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00146/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..3ab887dd9ed5d70646542f9cb64f30a9bf95b509
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00146/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d72edb8a2104754441bb928cb8534c68feb86a333eb292668d58c6f9e0e9cc7c
+size 3686528
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00146/instance.png b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00146/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..96f7af4d78f4fc095cc6e6edd6e6d69eab877d50
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00146/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b74a4ea34a7741ffc4b44b055fe7664c517e9560d21f3f9cf9d38c4883def6cc
+size 57907
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00146/rgb.png b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00146/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..847b92e9ead2c33ba272f4ced7268d70d8a16428
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00146/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:135f8afe44a9a8a64e4070bc8a33288ef6a46ef32bf11e23e5f4656bcf379d11
+size 1714876
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00147/debug.png b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00147/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..256521957ed7a283fa576e97db8fb2ab484f1c8f
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00147/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ed03adb4e87d1b3f367c028790036db4561513bf33118275dc60985ff8e03442
+size 1778269
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00147/depth.npy b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00147/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..54b8eb4ee7d6b49c3ff3476994383741050423a0
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00147/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6da29b055dd01d3510a0bea5ab284611564b2c81a8b2e4068a7e3189316b791f
+size 3686528
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00147/instance.png b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00147/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..27116f28ea7db3445764568fc6150dd0c5bd7a4b
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00147/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:40abd2bb2514cf09d9219b70e1733bbbfc4e7be4c228e205886638e9049603b0
+size 57487
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00147/rgb.png b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00147/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..f77e8220b41c299f0d0f4a89f1ba9011e751efb0
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00147/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:99b933ac29dce56952648fc5a71f3e80d909944560bb7e6b81c09bc639a75a09
+size 1676276
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00148/debug.png b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00148/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..22d6b3006288e67d0bc3e9402cb80e85123962ef
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00148/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:de9f217ee1f36a67551cef36715ca28a3e91dcb505f440aa13890aeefa940d37
+size 1753954
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00148/depth.npy b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00148/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..f270c1b44f0e18dde3e1a1a5b77fcc507be12c97
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00148/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6570122e1aa0d7d922f6f6a2eeb208eaf4544c591f17c4a5989b0593f27807e9
+size 3686528
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00148/instance.png b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00148/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..1418d58bd41f517f020c5f759997fbe25910f413
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00148/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e26b9957a91a736cb988dde42a5eeb25a6b26d216bde9aeb18127d404c63c878
+size 57796
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00148/rgb.png b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00148/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..aadba1dc01d0687906ce37b6b06e7bf1aafc932a
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00148/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cfc83b04da5926e85b7b178437a8020a82eeb4f0484fa3dee0e0496ce391dbff
+size 1642450
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00150/debug.png b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00150/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..4e04ec540d36f2465008d686a5f51915983400ab
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00150/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ded8177840d5e346f3b30ce147910ad0f6ec2f4c08340a2d7e49255195811148
+size 1809538
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00150/depth.npy b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00150/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..326a149a5cd6ad5f96c56c1f5b9d53170fe47a9d
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00150/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:014c3e737841d95c8c5afcd049aba9c81d9e22a2df6ddd579d4d6698192635b9
+size 3686528
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00150/instance.png b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00150/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..900d69c4581d487bbc29b572beba2381b289ac86
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00150/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8edc49d63ba1feb1112cbdf778e340a30a0667a024ceab288600c140412bbe98
+size 53767
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00150/rgb.png b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00150/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..cdefb5bfbd0ce3101146fa346f43e07130e23a4e
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00150/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:20735d48159c47e6c8597bab1504a7b5fbffa42705e9621546ec2b41dacb8431
+size 1713997
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00151/debug.png b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00151/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..56c230bc1f903b8c2f1f58a0bfdf873741eb2cec
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00151/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:13cbcb652282a6c99be5a89cedb92c21f9743c2940d90505673a5fd37a83ed37
+size 1799895
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00151/depth.npy b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00151/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..a7ba219ce54afb2c9a64676564fdc6d668fa2051
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00151/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dae6c452c0d9ce6673a3d1d0d3b1e7145925d085fc9c682f84ff4011b85b4145
+size 3686528
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00151/instance.png b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00151/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..491ac41705cd40b208356c3a6bc262d49110388a
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00151/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5a326f56895e0ceee79bf63c34821569d22822f6e4192ae81349a646578a2165
+size 51266
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00151/rgb.png b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00151/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..8087dee8c1339e341595ed214a4f8b6ea1bd4c69
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00151/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c535befe80052b68081a2ea391e53431a9d04ae5699b501e1fc17d2418fb491d
+size 1676583
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00154/debug.png b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00154/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..b90fce62ddf608ced4e623a97ba4146562357ab4
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00154/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a53cfc78575fc43110892cc6ea814e96cf93e780087188363b6434664efbf249
+size 1840685
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00154/depth.npy b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00154/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..a326b7fca9b4ccbf09fbda3a1c48fff6883942cd
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00154/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:da7f2dbf962eadd7e442624743598d0f082b81a44d15fef564d5035cfdb51482
+size 3686528
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00154/instance.png b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00154/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..f8c225c9887111bfc09133a99276452232d09941
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00154/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1eb3f98fab1420982585c8dce5d22ea6264bc1152f7f9fd00c543d625ee9575b
+size 55003
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00154/rgb.png b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00154/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..54509d0de567c71a4295f8a6e1bca0fcfb60df09
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00154/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:040ec9e17674787bf9d690a71e60b317ab7c28939666128f786bcee73f8c3380
+size 1724284
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00162/debug.png b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00162/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..0975382f34f29e4957f230f6918fa6120ff4020e
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00162/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:25bb08512db6a13d02ab0318a8c93d88aec427c6e74f03c63bdb63fe8f65ddfe
+size 1800937
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00162/depth.npy b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00162/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..78fa3d8bbb6d0b48d964e8ba6127c3cfd0a31931
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00162/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8ac526b937602c09eeab2183df9fb51bbc3f16c6135d0ddc01f800afd99e25cc
+size 3686528
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00162/instance.png b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00162/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..5a2d18e19309d8c2aeecebf6b011e11f8ae4ea1b
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00162/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fc63ae4c0d8c6cd01789c09465c07d32f1aafd16238206746f843d6d7cc419f4
+size 46762
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00162/rgb.png b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00162/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..59b24510ea2991dfab019a3ae6e20a99eda617a3
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00162/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d2671ea8e0f211462a412e6b8658557c3025f68e488667ae59ad4cf077b35653
+size 1645244
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00176/debug.png b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00176/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..8e4a58fc596134373e03ec454daf8d5b4bd1bcdd
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00176/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dda620e94cd623413c8af2cee0295793bf261b4ab1e9fc0dafb2de793096a60a
+size 1766076
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00176/depth.npy b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00176/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..a6394ccb8085c2c78ba789915dfc07da791aa085
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00176/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f3572a6370f1749c80392bf1189e2dbb953af012baf34a39268db578084cbc21
+size 3686528
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00176/instance.png b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00176/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..a14428dba604aace528e054415f08bc6930c70d0
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00176/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:69a1d7a9b8cea0fb6f4abc924e67fe9d2ed8e739a195feba3ecd0f09f786b8ef
+size 45085
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00176/rgb.png b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00176/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..f7553b388a5ab896ee974f454f3574e1d3af5fce
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00176/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:37550c791ebae6dc5a77551d64e1b25fb373e21873b64a8eb46c99bb6d76695d
+size 1613891
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00177/debug.png b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00177/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..dca187882c99a1589d2c46d5a5715e46c5c0e695
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00177/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:067aca08ce80ac7829f5bfc70c474a2a541ce140c8c0fcc4fba430ab1b4fcf22
+size 1772434
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00177/depth.npy b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00177/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..6399d1baca0b224aedb9d0060907c9da3443963d
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00177/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d45b67cb69183d16960c3bd5d4aa1586f3fedb819b127f250ab403728a253a93
+size 3686528
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00177/instance.png b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00177/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..62053027c86c8410c1df7f96e4830c57746875bd
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00177/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6f7a40c95d69e8d0cd26c3f3258ae2935d4d732050f1aed62aa58dca7633e7d0
+size 44652
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00177/rgb.png b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00177/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..63ec3a178603f5118ed58ad3063bf7e7d69adc6b
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00177/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fc9f737432d47c2036927798abb48fb0fcfd093a0f77c70a3294e4117b86d986
+size 1597282
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00180/debug.png b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00180/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..608b530b5a96133c80291accdc4f5ec703410497
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00180/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:121b68ba338ff6a7193ee0bac8fd986f4a9b0424a3486b7cdc345a44736b7f48
+size 1775965
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00180/depth.npy b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00180/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..de8dc333f736a935e2276d963acb38d2c90e9e79
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00180/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e2cfcb4f949c510a689a1e9950fb84c776023a27cd50e39d039762d9af9c0ba6
+size 3686528
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00180/instance.png b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00180/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..56e671c4900253856e854aca7c2d1a52b15ea83c
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00180/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7363c32a5dcb530672eff3b812d9ccb44ef9ad886cd2ae3055957cd075b3d3b1
+size 44497
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00180/rgb.png b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00180/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..a7c1c8ba2bec487c065ecf2e861f51d50c32cd56
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00180/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ea6c24f006678161cf7ec12978441f428cc23a23e82cef7be7deb8fc98ce38b4
+size 1590020
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00182/debug.png b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00182/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..cda04db6a0005cc544c1dffa0bc6c5f60bd8726b
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00182/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8c66ff3199c34a46d141960065a7124fc727c27e8378cb6f71d9280bbe9515b4
+size 1761930
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00182/depth.npy b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00182/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..134685fcc2d1dafdaac9e5e88d2dfb8a41b52801
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00182/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9cd15249231749ab07245019107bbb85fefb2402d3244f1512d8f3a735036061
+size 3686528
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00182/instance.png b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00182/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..c6843f0934cdad1f017ab75e604dcda7d127bad4
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00182/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2b23122e743d66ccdf22bff6726d5db29c55a76e93e10af8e3f97a0b49b137f1
+size 43090
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00182/rgb.png b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00182/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..1f03f8ab390b146e1ab5abc324554db62eb3da9c
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00182/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3311d71b65809161d9348c44eceb249d69d737c5d69fc73256545f97c9372fce
+size 1569408
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00185/debug.png b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00185/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..3f43f5ba2d516b9bb4140a48edb0218da8b5aebe
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00185/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:857a0679613d0a9c6e3af37339537692dbf7449b934cb823f7d235d2d8b77013
+size 1768174
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00185/depth.npy b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00185/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..19e1f90e0ebfab2cc96d05be4c23014373770066
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00185/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:66e71e73a4ef8e900916bf4f2a00915dcf6a39b53aefcd1a91baf323a77eeee8
+size 3686528
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00185/instance.png b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00185/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..9ab532c39f025ca0773499babcf763a8d8e528be
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00185/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d9231647156582a5ee3eb4272e59d1410fae662a170fe0f55d864748ebeae2b9
+size 38956
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00185/rgb.png b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00185/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..229827889ceffe4ae50f9ccde24909511039559f
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00185/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7af88e92a3df9ddb544d416707caa574557770a4ffa5bd8850beef20f88a88a7
+size 1578038
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00187/debug.png b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00187/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..dc114e80c594293c6b15125eaa2034d23b4d764c
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00187/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:67110046e1f9006e525d7fd721c41c9993ee574fe0b887fa988fbab728849c1a
+size 1796285
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00187/depth.npy b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00187/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..bf7ab0674dd09996f90b6107c25230dce9c09a68
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00187/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ea2d83f5414b79e9f1b870ff9874a463f3c495e9d610325b0f6c41d2a767442e
+size 3686528
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00187/instance.png b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00187/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..8094d7bb4264c28869c794987e694395259886a4
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00187/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:abf07b5edf5848e4e0cf1f815544a42ac456c73a697e273bb5602eb1f7d745b1
+size 50615
diff --git a/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00187/rgb.png b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00187/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..f23d2ec848196814ae72c06d850cf42282af43fd
--- /dev/null
+++ b/data_v7/Town05_Opt/trajectory_1777151750/aug_001/frames_playback/frame_00187/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a84cc7c3eb187a2c8c80903301efb90eef486f88cfc04549786ddb9e3a1b0a13
+size 1589918