diff --git a/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00023/debug.png b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00023/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..c3aac0c381360453d506ffbb20cbb7b35b3c4824
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00023/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:89f19e5efd565da13420870fd14998103b2118e6855d4f8f6a71c7a42733535e
+size 1715192
diff --git a/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00023/depth.npy b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00023/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..510052864011f88906f3911845ed09b38edbeee8
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00023/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9ded5e8e81aae35e7ab17074b5d3837d7edc2ba2004566578c1a93a07113684f
+size 3686528
diff --git a/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00023/instance.png b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00023/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..0003dfc190fb12fa5fadd4d7613de49e5be93068
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00023/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:807c08c12144dc15fddf6fdce4c6486832bcee6807be37fb6b1b0bbe884e47ef
+size 30492
diff --git a/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00023/rgb.png b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00023/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..ea4b5913dc60fd6716945a5644c248963421b222
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00023/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c309e5ddaf7fdacbcaaadb0416d59a638afff359025ce642843ad83fa60b6478
+size 1686710
diff --git a/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00026/debug.png b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00026/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..4434fb08124a4f411a18a98cc5ebd935378bca48
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00026/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f82e71d94a34ab487387cf9b4ab415768b135b9c58d1bc846d18f697ce7db5fb
+size 1677594
diff --git a/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00026/depth.npy b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00026/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..b928a881997d9e7cd0213889bf6253b275c64344
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00026/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:af40784b8e07083be6d0eedd8dda40b4ac66167138db6d28c993934e40ed539c
+size 3686528
diff --git a/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00026/instance.png b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00026/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..9fab52008f8a894bf6244ff355a1b7217b905372
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00026/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9a1bb67acf2e7943f6959e1214bdbc3efa890d47f639bd841aea08dd10da4a3b
+size 30848
diff --git a/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00026/rgb.png b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00026/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..816ae50571d09d360f901467af34157f6b45f9a3
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00026/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c5b2a47f6238ea5e918e830f5f983f215a60a06f4c92d791b4fe190c39f008b7
+size 1642599
diff --git a/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00027/debug.png b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00027/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..39178278b1cec8c64699428413fbf1cc07729ca8
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00027/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3bd41d976050419633d3d503487720c89b308073c320bbb4f67c99276e8da264
+size 1622033
diff --git a/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00027/depth.npy b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00027/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..a4e965ba2d3ccd0d944b7566af3687e49a896d35
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00027/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c85a03b8438049bf7a387ac65000f54538ca3e5d38e80d7a324cdb1e06b8dea8
+size 3686528
diff --git a/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00027/instance.png b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00027/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..4151f64d9261bdff0956ffc11430cd0c36c352b8
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00027/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4500b2bbb9e48ee76d9961088038fa4838c078a2c146abd3d6ce0b54be42daf7
+size 37280
diff --git a/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00027/rgb.png b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00027/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..655abdb08068ad53520cb79619f99d42cf05b298
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00027/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:43fb8bc7545482e2812cbe7cabd4dae1dadf4d748fd2ae10c707a507ef05114e
+size 1582959
diff --git a/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00037/depth.npy b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00037/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..054eef48b8e07d8dc1f2616d893f0c83e2d2fcd6
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00037/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7185f551ade7ff33ee5fefab067c81a828ef19fed44d41400e2a93477b44f838
+size 3686528
diff --git a/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00037/instance.png b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00037/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..9b891357f0e58a6b624c258e4e4b79245f2413fd
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00037/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9a7442e1560f9ba65f94c13804dd4ed8faa1654c5f609a3c52b4c9087200d064
+size 28861
diff --git a/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00037/rgb.png b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00037/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..55f46efc279dcda870203b63a695306fc397ebac
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00037/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d2f5e1ad486d9a30598d525c82c331e17540cdde525c8c580a970676b4325c4e
+size 1563499
diff --git a/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00039/debug.png b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00039/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..bedfd8b927625b6dfee38ca3a4d27ddbcd1d5f33
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00039/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5bce6b8835a23f374bc17eb692327d019d45dae93273a596000262d4c0064df7
+size 1616829
diff --git a/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00039/depth.npy b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00039/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..2b64f6417a078b6de1279bf33ef9ba7ff62fbe30
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00039/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:246212e12dca12493b3aa24f97fcb63142de66af1d2d6bb30fcc13f90f5154be
+size 3686528
diff --git a/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00039/instance.png b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00039/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..d5aed8a76783c497d6b62ac0b0248a6614d59330
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00039/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7e09dfc56c28a6b01845406c4d0ededd8956daf8a5470ea96d4090daeed5f8ac
+size 20973
diff --git a/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00039/rgb.png b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00039/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..7a8f2b1272bf43c910d0271160d5bbbfeaaf0f30
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00039/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:835a8b40c583a9e56e0df6e7640de529577efe9ef7636dffe64f8aa785c90b8e
+size 1575267
diff --git a/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00045/debug.png b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00045/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..9efb71ac9c2f8cab21bf0080152f127fe0c95ad3
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00045/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d5f80c282443199b9451ffbd372480cc39a594fc5a8c804fbc17b8d4f3504e1c
+size 1551673
diff --git a/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00045/depth.npy b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00045/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..f1ef01d2751d11d8e90e5e4f4ba7cac3c610a10c
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00045/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1d7e7921eca0b45220ae4d83fa714edbd6a78783710d8a3a0fb9e09680a74f90
+size 3686528
diff --git a/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00045/instance.png b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00045/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..b621849e8dd68370457a78004be2a0f070863085
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00045/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:213581651a6a1664a64f3aeced4afaa9aabd6c02a860f91eb6bc58a845c41b9a
+size 27909
diff --git a/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00045/rgb.png b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00045/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..1006942a89c439d8f73b7838fafc0e41697ecf0e
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00045/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8bf30fcfa1eaefca3aa337f1bc4a677ee5e9526df849166c616efbec2b9ce52a
+size 1513912
diff --git a/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00048/debug.png b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00048/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..1546494e3d62e6fcd6e77741668802169bd70ae9
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00048/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d2248d97a6e043c232c3c517d0d6685eb12f2210cfd2bed440a082cd44c1e7a7
+size 1590969
diff --git a/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00048/depth.npy b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00048/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..f1781d3c69c0b9a2892db514f31e75ebe907d42d
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00048/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:acb2188d2d6cf2bfc749e0f4b8efef298a9587d7ca7f02ce9a122e254dbca3e9
+size 3686528
diff --git a/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00048/instance.png b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00048/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..4acf875bd4f137a3dbf918b123008d55935e9256
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00048/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:57e415e8b655ed04f050b2894749def25db0ad0c8412c61193feb6129310353d
+size 27508
diff --git a/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00048/rgb.png b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00048/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..4a2008389142b76ddaea5ba46abcac554f5c7b49
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00048/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a1be4b895b75076e60fc1cdd473a8f884c1272878130610308575ad2b820231e
+size 1554260
diff --git a/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00052/debug.png b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00052/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..b4533ff211223b4154d602040ef204c5b135ba14
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00052/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:068b8ff44dd1d37662d1edd642360bacfa4d71aba105381a1489ecb1c7adce38
+size 1561075
diff --git a/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00052/depth.npy b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00052/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..8c8999041561958e7f0bb6679e3f17e90aa200b7
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00052/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:685a7c0cb359745b554d38d450e63f3acabb62defbd364c9d8279f11836910e0
+size 3686528
diff --git a/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00052/instance.png b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00052/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..ae08d84c2f9b21db8be1bc02b867dfad083233ed
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00052/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b6f80606c2957d81805bc04774a04b9e6248c7cc32d562fce476d253c28cc856
+size 23730
diff --git a/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00052/rgb.png b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00052/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..fc46657e69e4850e4d66ca5c5b089c36187559a2
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00052/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5cd0f114c47a7bb8f12f87cbad0ddf1a3f776151f6b0210310cdaa814a1052a2
+size 1533696
diff --git a/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00069/debug.png b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00069/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..bd659f2ac5d89df2f68ad2ea6e41edaf9b43a571
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00069/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e36aa6e27ce7ce04d7f4698ad9808ffcf47dd343c79fefb21bd59aef3157681b
+size 1661013
diff --git a/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00069/depth.npy b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00069/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..2da3672d8729ee06c6873bd1b2f5f1e0856cbe85
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00069/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:72a5a37a027ffe8eef563af7653aec6d773b87b68655a216bd1aac652c09bed7
+size 3686528
diff --git a/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00069/instance.png b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00069/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..220e23fe1defe900da54df2c3c9daf0ea6e56a05
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00069/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:519018700c7ab4c33bcf737e691c8de8e1497b3d42788e1019b02ca108e65927
+size 44046
diff --git a/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00069/rgb.png b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00069/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..0e6344112b3690fd43a9c564211798289c4da331
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00069/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7b0283e0fdf850e8221a0c41c0eab1991fa37afe6bd9eec0791cfc8f409a216a
+size 1627346
diff --git a/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00094/debug.png b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00094/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..7be2a0306bfcdfd8c605814bb2880e83cf9e1325
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00094/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:53227f6ca301010c35615d05d01efc4d88e8c4316b2ff06fe8c0db1ba4b51eb0
+size 1670483
diff --git a/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00094/depth.npy b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00094/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..9fb55dc475d9d54f0f7fccbaeb6245df507096cb
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00094/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ec0e20a974ffe8bffb9d7c2b0c0346b317f65fb189159a511fafeb218862d807
+size 3686528
diff --git a/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00094/instance.png b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00094/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..559af594ab24b99236ec683818acef6dff8cc6f2
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00094/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:94c89a70aca5bbf64c6d9e03131b415e7659f6352164221cd84581ccf3ae9888
+size 57330
diff --git a/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00094/rgb.png b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00094/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..41f0d6514305cfc3ef76bbda649e596899ab4833
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00094/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b07f930346192cb0226e020a81d5e28bd6180b5c38e14af9b9271c574c209bcc
+size 1628751
diff --git a/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00101/debug.png b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00101/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..099adeb8d3f81783ed704bd948d31afa648ac2da
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00101/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6558da724faf0023b6729c0597ae50b9c313c4e9270529add4e752bb131cdc7f
+size 1654457
diff --git a/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00101/depth.npy b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00101/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..cd3d03f30218d92634bc9f41f451bc03f26b5ed5
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00101/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:02498eeb5917ffd139fc4a25085fa72ed4318c897830310241206cae2713ed96
+size 3686528
diff --git a/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00101/instance.png b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00101/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..ddef790a523060ec516d98f77d55a057ebda04c4
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00101/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9a8fa40858e37797ad41f74a1fed8fde1eed910ced321d9f8bd9dd2adfcafc1f
+size 59521
diff --git a/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00101/rgb.png b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00101/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..c0ae2ccff082a9820824902a52ac1d11219047cd
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00101/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:442623a6996b45b3dd834be94198bf0116c42032aad8eb9fe38712bc77785cbd
+size 1599100
diff --git a/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00107/debug.png b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00107/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..b8cb1a0dfec3bd6c3b32a1a6c8a9d990631cc5e4
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00107/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b05355cbbdcc572221d233fb2c6f29f6e51e77b0e3b71862caa0be0cf3541c6b
+size 1653659
diff --git a/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00107/depth.npy b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00107/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..857173eab329acddca3fb3eab5fefc4ae2f87dd1
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00107/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eb66083652cd0357726f48fdd26798899db8a14a8b4a7fcdf3ab9112f926766d
+size 3686528
diff --git a/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00107/instance.png b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00107/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..400657bbaf20b703d49bcc452550be19566b06dc
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00107/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a87a7f514317b4671eef16c540228772db1b7f016eb0aed29684571c8377176c
+size 58200
diff --git a/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00107/rgb.png b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00107/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..53397438c8ca9d3cba7e466038aaa8d45f5fc4f8
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00107/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ae146557a021f23f12bfae7e70616d3f357557377f9fecc7aea58f60498b29c0
+size 1614150
diff --git a/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00117/debug.png b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00117/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..95541ea4e09d13aecbd69b36684fd2d953da6ce7
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00117/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1a0968312ed6e39dbe98df1f9bc545a86eec7ecc5ef4105b61b74fbb033851bd
+size 1694590
diff --git a/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00121/debug.png b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00121/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..ea03bf1b9d14c3fe7d6ff6d8bef508a7675f22a9
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00121/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:86a4d6653dc80e1382211e6f1de404bde8e25779ff30eea03872e1dcc04a3c9d
+size 1702181
diff --git a/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00121/depth.npy b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00121/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..4ad7f8ca11703fc601e7a186030e66694d238cdc
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00121/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:68510cc1bc9f58d2cc796988284dec4b627ad9598bf9258c72093c0714ae3f8c
+size 3686528
diff --git a/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00121/instance.png b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00121/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..dc8f958d50cf82e23913c80a6f7a7459c8ac3bfd
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00121/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7a85704293feb1c8bdb6a3ada224c88944111e87c1729b19673ce67b87364291
+size 67490
diff --git a/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00121/rgb.png b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00121/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..bd8f3ca8e6724b932c1a1b3249e16423f5112857
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00121/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e4a6f4ab7cb2773b99dc1e6895a31dbfb4b9d7eeb5cdc4254afc8bb326ce6e39
+size 1659679
diff --git a/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00135/debug.png b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00135/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..0c5ffe69b29156a1accc476c305a764ae9aae624
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00135/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e64f8bec09d9742a9dba9ae1048853a8bd1a8eb6dc349e0b18ff7a9c2f7a8bd3
+size 1749257
diff --git a/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00135/depth.npy b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00135/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..45b6465692421c19ae0881eda363c5bacb7afa63
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00135/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b707781b599f01bf9547fe8c788d8c6f12343fd18e29d5c9ed6a21b9a55e2c03
+size 3686528
diff --git a/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00135/instance.png b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00135/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..38175e2674bf5e09a5ee12ba49d4bef5e10c53ed
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00135/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:98988d85d869016c9e5340ae89e2555f039c05038445d0139342e5a70af64eb2
+size 52580
diff --git a/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00135/rgb.png b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00135/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..5a0ba02b3fff7620a25009d900251c0617641f32
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00135/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7023624543f68ba75e38b004c9fd4063f632d8e26d25345463acc7d64b1fa7e2
+size 1702047
diff --git a/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00141/debug.png b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00141/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..eb95ffc635550fd3f8389402ea4d28866a3d774d
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00141/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5dcd9d537fa0f7e969329be1bcdf6dfc5781fe15ce5a55fd9b973a844d785bd9
+size 1773122
diff --git a/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00141/depth.npy b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00141/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..5f5009efa85e567270fec10ad67c93babc638bc2
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00141/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1a2022f9672dfe9549ab61339e9233ed1f9c01c38fabe19d55747ab372bcd7e6
+size 3686528
diff --git a/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00141/instance.png b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00141/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..03ccb878fcc09db258676d7d2a6fe583fbeaa989
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00141/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bd4e6be03b688d38be7a553b93939694acf75d424eee932a49a1176c5e475c50
+size 60193
diff --git a/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00141/rgb.png b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00141/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..46543734cde353ceaacde0fc96296a1b70e41fa1
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00141/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:db1cfe73f7a89d95d76d7a3a9fc79cac5d349e8aafaffdf58c787b071861aabe
+size 1728355
diff --git a/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00142/debug.png b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00142/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..a5cb1e834665cc4eb5af09589369a60517b2b770
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00142/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e37f46879f3d0820e1746230c10468d64ede94000b2c68facab1537b7dea3c1c
+size 1747934
diff --git a/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00142/depth.npy b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00142/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..651c8b8511ce9c4dfc1e3488703ff4b14d4e5cda
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00142/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bcdaed9c56c623790932c1079d47dca7c1a7c64cbbad05dd18313d21a3c0e566
+size 3686528
diff --git a/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00142/instance.png b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00142/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..042a1a1ffb96535b574ba6cd8c38c47d8b9c076d
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00142/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fe85307a4bdce191f697bb3cf50db24b1c29d1c7d7f4fd0421755c217df83cb3
+size 58946
diff --git a/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00142/rgb.png b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00142/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..c0fcdb9c967bcc08650abaf73df461baae8d78b6
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00142/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4663ef424a1bebf04f40f19fc31e7a89f445412140700de64bdb40711d65bb3b
+size 1705710
diff --git a/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00152/debug.png b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00152/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..ae660218234cb674fd6ccf6fc4ac4b1dfd96d2ac
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00152/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d316e4eaf126d4813c9ce5436eabcebf25138f252cb85ec9b74933599042a32e
+size 1744450
diff --git a/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00152/depth.npy b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00152/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..85cf441e0a6987b918e2de0ad2e1caf880a4b95e
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00152/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:13a50a07a46f7269343d514dd2422311812dbfa4c85bc135454fe7b82707082a
+size 3686528
diff --git a/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00152/instance.png b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00152/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..276165b359509e9c0a57e47a206a2e0b31768a0d
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00152/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:62b34fb62a05e15ec81793bd8fb000709e68872cc46b7e6c41b1eda056b521ef
+size 66228
diff --git a/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00152/rgb.png b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00152/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..b9c9755efd9d91e37b0acea1e87ed1898bb3b093
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00152/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4c9219d74e77567d15fd6dda93b10ea20bca5a73b94cfc045cf6ef9c229f9b62
+size 1694332
diff --git a/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00153/debug.png b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00153/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..052b62da8689d0a1421a26f5a9ba1ff53308d03a
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00153/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:212d60f4704fc04129ba6ee6f1f947f0b19ccccea93ab40935ea3e7075ec3b64
+size 1774078
diff --git a/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00153/depth.npy b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00153/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..ce8f817af8e20c1f38eee2f269119c13f7a09e75
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00153/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3e8965fdd1a6c8c45f0adf6cca3ab7b80ea5632c4231c31576ac89d35bceab2c
+size 3686528
diff --git a/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00153/instance.png b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00153/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..31e1a2ad8ffbe23ae2d0877331cbde9dfd7ce571
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00153/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:636103eae01296c310b48a2459cfc5d532d29d8bc551f7ea28741a5e85878b3b
+size 54663
diff --git a/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00153/rgb.png b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00153/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..78cd2e36b94d9cc5240df82d86f122359576b20a
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00153/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d0f14356e43690391294899ce534986c0a9da7d8c98a19d48e1997fa8058b824
+size 1737909
diff --git a/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00159/debug.png b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00159/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..5871dee1f5f12a87e17a220db7b22ffe8b3f08ea
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00159/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:64145b520d65ec66bf8fbc8e32c37c10351dee07901cf8f5d73a59c41f3e72fb
+size 1736245
diff --git a/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00159/depth.npy b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00159/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..c515d8c5cfaa80c9e2416bf1088a6037e5fd5909
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00159/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d39b13165fec43bc193253a4f69b27b93505084bb13248e2605fd32d149f9b16
+size 3686528
diff --git a/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00159/instance.png b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00159/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..a13400f8906721f5780021a2023b578e85ee2694
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00159/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:df73486d99e962bdead8524de81785494bfdf1689fa08fbc51e6bdfb6727d7e4
+size 66866
diff --git a/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00159/rgb.png b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00159/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..0218a6314ac8ed94c5c57fd809982651eb913d54
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00159/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e371907301f696164ccf87e0d2fb3818c95afe47103b805c6125c880347c7a35
+size 1694940
diff --git a/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00164/debug.png b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00164/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..438a69a866f1f7693b4fe90a9fccdaa9dab2fb40
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00164/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8e091dccc5ee7a14673416edd5e724b9c4365492afd7ed94ea9e54b003213e34
+size 1740935
diff --git a/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00164/depth.npy b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00164/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..3d9940d105d99682f647f596f02cf69c0ef6d921
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00164/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1693d882d10f4dae38271e562749143087447699e575cec303b66dd9c244718f
+size 3686528
diff --git a/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00164/instance.png b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00164/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..0239beab6e44aee09e2f461b8221d9ab9f386b16
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00164/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0c57a43b368cec846c5dba52a8342c1c05a0a8ac1973cf02f843e716da380ace
+size 75502
diff --git a/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00164/rgb.png b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00164/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..75ce8b1b8409b5a983a81e3ac1b054b2d4fde085
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00164/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3f9e8a49f21432f0a2e9264b9f1f2ad81e38cd43fa23ed315fdd079c6f419c49
+size 1690309
diff --git a/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00166/debug.png b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00166/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..ef8a70dae8ca8f396c1450e8f4558cf8da0e2599
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00166/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:91b8867d1ac9cb8b7dd7df95a697cd5e937a49a50828e027338f2765d3deb19d
+size 1738867
diff --git a/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00166/depth.npy b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00166/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..28fb13054efc7d319da562ea1e8ccbf330f78ff4
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00166/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c50d24e4e66606421b4ab5f216ec725b8d044f2fa29f7eddebe4eb35458137e8
+size 3686528
diff --git a/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00166/instance.png b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00166/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..bc46bb5cb8d8853210c158653cd2878ad599bafb
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00166/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d2ed9a831b1c142eafeb826e562f5b273d1462946b02f6c63139a7c00ef2d128
+size 75790
diff --git a/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00166/rgb.png b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00166/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..adc27f945e87d16d09954e1a3716851f320982df
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00166/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f0c3061b9dc0fa681a88bbe0a5a5ab3207c2ee1ab2f814835534fa9354bb73b9
+size 1693426
diff --git a/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00169/debug.png b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00169/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..3dfae0c75c1e03c99ffc0245f9e5997583fd12ea
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00169/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d971feb2bae35df4aeda8cffbdd05968fdec3fef8ae75ac76aca0e97fe5962cc
+size 1741346
diff --git a/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00169/depth.npy b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00169/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..fa3cf87b454c5dc3aaf5f5ecd50c4ca9b8e9467d
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00169/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a7c196de10c7af51e4216aefb040a7178f2aff88f777dfaa771cb61358c642c4
+size 3686528
diff --git a/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00169/instance.png b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00169/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..29fef03f2a6a9b196223a450acba8266a22f4eba
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00169/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e8d55061b64ee8486d956925bfac4ad7ac0c97962b52cbfb6aa34b03dfa19bfe
+size 80264
diff --git a/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00169/rgb.png b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00169/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..c463e4f01a8747d5ee76b15c38ad486243bc4fd5
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00169/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6dc64348420338ab4e581fce4c0fac887e7282681eaa2095d9a3b9e60be803cf
+size 1686944
diff --git a/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00186/debug.png b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00186/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..8d81a77b83edea6dd4c30889828f62193e948282
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00186/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e6ecd10ae75091622095f4d7f9f95ee14d42801c76303aab0ba69989cd239a4c
+size 1721637
diff --git a/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00186/depth.npy b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00186/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..78e749305f1de2cbfd459a3d7534a755f6546479
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00186/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:78cdfa261d748209f017d20ff847d7a5a36ae50cd2c7aaaef169b847b22ccdc9
+size 3686528
diff --git a/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00186/instance.png b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00186/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..7a959b1f3fbe21f614e8646d8a143ebb47df7b92
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00186/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0220d997c011f1e25924bde2616c1d9b9677baf2bbaee6a4cd8986192afee2a2
+size 82622
diff --git a/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00186/rgb.png b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00186/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..72c39c401d4e80e945ea380ba40485cd5117fa01
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00186/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d2ef0dd9b60061297074660ecbd0cd7ff38ea6fc3a2f4621de46e41993e5a769
+size 1660509
diff --git a/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00197/debug.png b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00197/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..799cfb51452fe1ef362f523f50456869114cf090
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00197/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ce4ff26333b4589ccfb0b5d5389e3e51d3600f14ac92ce4be95741f716d04206
+size 1645122
diff --git a/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00197/depth.npy b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00197/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..eb5e5ec061a07a604bb8f5d71700d43e8e70c14a
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00197/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2bbc2616455223478e16f40e69cbee8ce9177a07f4de15254430f083e4d57843
+size 3686528
diff --git a/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00197/instance.png b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00197/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..45230336b9946f99fbc85b58404097663d9607ed
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00197/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d8cd4d40553aa62cb843a7ab1d2ff0736bca318fab801cc1a42358a322fd9d7c
+size 74540
diff --git a/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00197/rgb.png b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00197/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..5d89c83cf3336300713619c7b2853f2ddbe98356
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00197/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d8ac20d93aa1154d43e6d97381b9f2700c6b95e8673851c11410f1061fc2f88a
+size 1621369
diff --git a/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00198/debug.png b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00198/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..909c3bb36fc0c3885fd13292fc12832d2b411296
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00198/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3d8ab61238ffc5b8e5b8e1c7ea9487df8804a145ed928e66f47e3ea5c89c8c7b
+size 1633477
diff --git a/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00198/depth.npy b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00198/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..38be625aeb57098d58496dc7dc6fce1d96faca94
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00198/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:542b641f7e406984cf0fa2ca2e4a9997872eb1f398895d365fdef489ec347100
+size 3686528
diff --git a/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00198/instance.png b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00198/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..72e9523ad2cf8f9258f200f861aa95d34503c7fa
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00198/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1424aa9b6bc2f7717e0572b2f5aea066fd813f4ec487558bd9d3a92fd1a084d3
+size 71614
diff --git a/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00198/rgb.png b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00198/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..324b0a19ac3cc3bd7ac02ef1a02aebf3ebce9eb2
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777245997/aug_001/frames_playback/frame_00198/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0314d0725cefd12d89d3990833213422b167a98ba52458817a8ea7c49a5a8deb
+size 1615418