diff --git a/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00004/debug.png b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00004/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..c1030f3ae6c84df354275c8a47849a8c7a03fcec
--- /dev/null
+++ b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00004/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4ff0534b0d1fde7f1cff9a289dd9060c01344e4df76b9dd1f7026ac1a05b280f
+size 1537114
diff --git a/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00004/depth.npy b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00004/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..27682a24aac66931917127d2dcf3d38f9638fa55
--- /dev/null
+++ b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00004/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b695e8854b06560e11e4d187321f7db3a126d39ba2c20f0fd0bfbfe1b6c64855
+size 3686528
diff --git a/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00004/instance.png b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00004/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..2375969f60a35db1683365bf8d2acc4307d23ffa
--- /dev/null
+++ b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00004/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8b7ad14d07d84a37cb45dbd4417e2f32b84044ae500c8328262125600e2cfb65
+size 78014
diff --git a/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00004/rgb.png b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00004/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..084be084667f208fe692eee65d256e63047fc73c
--- /dev/null
+++ b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00004/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:82b3e6fdc733b529a28e798ef8e7f397bb25c48ba8104d9194cfcdd77d602862
+size 1542657
diff --git a/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00008/debug.png b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00008/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..1a02402346b37a18738d8b12af526b65f1a4ad24
--- /dev/null
+++ b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00008/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f00d163e7c9f10189406c866811b70c9bcf86a0c5bbbc7f14115530cfdb49c0d
+size 1563839
diff --git a/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00008/depth.npy b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00008/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..f67511fab87e74af361000982b8f52db7737c64a
--- /dev/null
+++ b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00008/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:da48d861105a20ded4ffad220ab8c9855425ab7821fc02c941d1fbb46e161e98
+size 3686528
diff --git a/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00008/instance.png b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00008/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..5b4e4f50c6d7e3bb18d9d4d47de1bdd3d537b2f1
--- /dev/null
+++ b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00008/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2d5ae0225fb38d8ef530e4d84d52519dd235c257deef24d6cccb5e6ea7c954f8
+size 83711
diff --git a/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00008/rgb.png b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00008/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..8f3bbd7e9dd8bb5e727af17e4e1fc9d5ed39bf4c
--- /dev/null
+++ b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00008/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5bf892a050c22474524dee996e3547176b67620b1496a7c34a87431e3b6d701d
+size 1551902
diff --git a/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00009/debug.png b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00009/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..58217b562bb36d0843ac53cb7e2cc142ebde3bd9
--- /dev/null
+++ b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00009/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a8851dfff5b1bd7ebc32397d9479e0c134699836336809cd578b1f8cbbb04fe3
+size 1599461
diff --git a/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00009/depth.npy b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00009/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..1e42f9448175b13bc01e6e230f9b2ed5a6eed501
--- /dev/null
+++ b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00009/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3a0f67fbd2f5aea6e545bd75c4455876e09445da441c3fc6715ad43590c1d092
+size 3686528
diff --git a/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00009/instance.png b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00009/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..74b9a57ae7cb81fca26db73a4e99c482ffdcae56
--- /dev/null
+++ b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00009/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ea71ced9405f1b95c583ea8ab39ad4b437f08fb14fb094e8a80474cac01ac5f4
+size 86876
diff --git a/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00009/rgb.png b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00009/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..5efe471fa9fed136a2965be0d058ba30b18a37c3
--- /dev/null
+++ b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00009/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b5e0fdf781f3a5e093583201422d94d3e3114c7b1b72747cad6748d415ca3087
+size 1566113
diff --git a/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00021/debug.png b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00021/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..50bb0b2a80445b0e9211fba7a33f54d519a59743
--- /dev/null
+++ b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00021/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3771420817731efb3578fcc4805061eee47e2783dc32ba726c054c02294fc1d3
+size 1623369
diff --git a/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00021/depth.npy b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00021/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..fc7e2e3f4292f1b272a90f821e23904b5465c16c
--- /dev/null
+++ b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00021/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:297081e7d6bc10bba44a635bd79c4ecd76a38c92de56eae621500fd4455e578d
+size 3686528
diff --git a/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00021/instance.png b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00021/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..146e2a4a729e88efb34cff7eed8e47528733b99c
--- /dev/null
+++ b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00021/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ba4f74d1c3fe10de25f79e866492c05615fe0ba6918ac50e591ae2ccc859dde5
+size 82567
diff --git a/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00021/rgb.png b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00021/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..a003c0de9ac5b0af8fc9dcb6c2788358ec085d07
--- /dev/null
+++ b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00021/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b7b0ccfab20dac497c328576c91a21de6840b9040e26d958d287b611c98ecfea
+size 1565040
diff --git a/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00022/debug.png b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00022/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..7722db8d335ca1a2515f5ed6b1160d6d20ccedd9
--- /dev/null
+++ b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00022/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:90232b4914e7e37cb6532e514003438e3665eebbed34098da817884ef1d4e48d
+size 1623937
diff --git a/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00022/depth.npy b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00022/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..b663b19bb6456b1c2ecf8a5237d8e6953618c3c0
--- /dev/null
+++ b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00022/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2fa6466ea0ebcf9e9d516731f29154304372c51dc7fadbe15584c27bcabfd65b
+size 3686528
diff --git a/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00022/instance.png b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00022/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..d71e72ee9d58d4752159ff0b60fa4dd8eed8071e
--- /dev/null
+++ b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00022/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e62047d5ba9acba468a22262d74e1e212b12d312180cfc5f10d902866bb3b8f1
+size 83684
diff --git a/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00022/rgb.png b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00022/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..2c7592f3a5d9d84c515ad80cdf82c306cac24744
--- /dev/null
+++ b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00022/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5ddbf4c54e36bd181842f52341f9a62efad71d693ebfa7b8d99870ce123f1d11
+size 1567456
diff --git a/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00032/debug.png b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00032/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..07d9c2f5f92dde6cd382d6616d4cac146ae0d0d7
--- /dev/null
+++ b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00032/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:921ea492889ba06839396d320ed013af6045395f0da50626d00ce09946ff1d0d
+size 1662100
diff --git a/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00032/rgb.png b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00032/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..d0bab78abf61f23e0607981d5b13018ca976b3fb
--- /dev/null
+++ b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00032/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f98733000c46dd76ecf1d4e505720aa12e9df3b890871d5b7706c613ddc641c5
+size 1616360
diff --git a/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00046/debug.png b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00046/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..d86d519d9a535b94e56a0682ebabc13b255f59c5
--- /dev/null
+++ b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00046/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ffedebb1ce2d6487e60bfcb1a8d613bb2fb30f4ea951824c838dfa8b2d6ddad1
+size 1709232
diff --git a/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00046/depth.npy b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00046/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..4e09f253c62229f586802b07092fdcc8d60d8ebc
--- /dev/null
+++ b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00046/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a01bfd25ed82326b8d0dff4f9865b74dd61470c06ad202c2f5319d9881863875
+size 3686528
diff --git a/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00046/instance.png b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00046/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..a469d77e83f1eda7706fd47dd5199271baf83bd3
--- /dev/null
+++ b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00046/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a076523bfac05a1698acc341de4efedc60696cdf19fa9c9e4bd560a2b4645f94
+size 50935
diff --git a/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00046/rgb.png b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00046/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..02fc8e8ea62b8af9a6c6ddcd1c4d6ec0bcb56d6d
--- /dev/null
+++ b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00046/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c66d4b4b7dcf6481efb168089030a37eb95894bb9b39bc43c529183a80425473
+size 1651503
diff --git a/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00053/debug.png b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00053/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..492b2ecd43cf65c52db3d0a69a3d13f8542f4e9f
--- /dev/null
+++ b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00053/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1244327a1eb7acf3e3c2dc832bdb0ac4b9aeaa5879dc3440a5715d28c697d0d4
+size 1680139
diff --git a/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00053/depth.npy b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00053/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..9c45d8145e97592c5f6f3281fab05e3982e8dc9c
--- /dev/null
+++ b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00053/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d13c1be1b8a5fb7a73181694cfc8cde19016a16f2ed4953c763cf669eff860d6
+size 3686528
diff --git a/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00053/instance.png b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00053/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..dd07e3fc9848a51a84e8254433bf286833f1274e
--- /dev/null
+++ b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00053/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0b50a13f91835c932635114affce49dbc53a5d7911edc90a5aff74e675100bb6
+size 34411
diff --git a/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00053/rgb.png b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00053/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..55a325703cc1536eeaf0b9180d50d0b15be75a69
--- /dev/null
+++ b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00053/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e3f8dff592aaa2eb88c6226de10b2990415d74ca135afd0a53bf8b4a7f1ceef5
+size 1622121
diff --git a/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00059/debug.png b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00059/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..6c6147077eae7ce2669c61d7f10f41e6acdd0a88
--- /dev/null
+++ b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00059/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:14625497cbdfed35978c3c425a38250df5c3c3324ae420c9b650a3cbe6879c9a
+size 1641010
diff --git a/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00059/depth.npy b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00059/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..140382a41104558e1d62764cbbf7f101205af7ad
--- /dev/null
+++ b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00059/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ce5cf27f2094f5ec76aadf74f78bd3cc89d9103fb6cd98e797ae6456e233246e
+size 3686528
diff --git a/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00059/instance.png b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00059/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..9e87d8d4cf2a2a1288d112e9e2fb76fc9056809c
--- /dev/null
+++ b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00059/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ab0a5fce2667665cab6d820ee3a0387a60730890ae04eafa5b9da573236b490d
+size 29521
diff --git a/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00059/rgb.png b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00059/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..320b2f17ad4ef422dfcd1c23c5eea2cebc9ff173
--- /dev/null
+++ b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00059/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2eeac7e14fcb785386e88c9f7f51e2cb5e9cd97f3cf86f33aec0fa656fca92d6
+size 1585399
diff --git a/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00063/debug.png b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00063/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..583af29aa96f2b2c39443755238085c20f83487c
--- /dev/null
+++ b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00063/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e2775a9000b6a1d06acf1f4b809f29ece94ac5f624985cb082466e82f611a034
+size 1632318
diff --git a/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00063/depth.npy b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00063/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..ec2f4a90f4d8b2cfeaf3b6df473ae46deae9b2ae
--- /dev/null
+++ b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00063/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9f4f963725c50d452f7b652b470448dfa35b275f9a76b26fc78d4340d0c12223
+size 3686528
diff --git a/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00063/instance.png b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00063/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..63db129f6b14e81fd1fac10664c336b97182ce71
--- /dev/null
+++ b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00063/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:34ecf07da1eba1aabd69803ef9c1213d29189a38c69e7de0d493eb84763078a3
+size 25369
diff --git a/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00063/rgb.png b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00063/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..3c900f381e929580e2fccde35f6944646769dbc8
--- /dev/null
+++ b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00063/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7b3174ca33e697e7db92d779999a7a7c6399663f873dccb52c56c86060f46214
+size 1579460
diff --git a/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00067/debug.png b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00067/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..9562289811df5aa9d891a5ae8d360567decdff1c
--- /dev/null
+++ b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00067/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8a5d23b1db311adec6623fa39bc97333f13fdfad707b54f89ab98bffb0e61eaf
+size 1631535
diff --git a/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00067/depth.npy b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00067/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..5cf2ad508f630b4492aca0ebb8e594151317b8ea
--- /dev/null
+++ b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00067/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fea16a92a84e0b0f96182d9391855bc61395de8346765a763b1f74ff57bb425e
+size 3686528
diff --git a/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00067/instance.png b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00067/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..fc1663f7437a6d68bf05926bee3c79d34c20cb62
--- /dev/null
+++ b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00067/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f5dd2f778c0055d3ca8459810d0ab55e5546af61e68ac06c9a1c6d0b7e199997
+size 26568
diff --git a/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00067/rgb.png b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00067/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..dbce2748211dd60ce356f5efc949acd89968a71b
--- /dev/null
+++ b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00067/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:58fdc85dfa26245001a9d1672b49670d2d72231bff68c301bc260a324f0c8ad7
+size 1564139
diff --git a/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00073/debug.png b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00073/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..7fe6d11051525605156066a4eb8bda59086ce746
--- /dev/null
+++ b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00073/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:025244b101501eb39f277492fc544a18bf3a7311a251169bb3e680456f0be1c1
+size 1659022
diff --git a/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00073/depth.npy b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00073/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..aa6fd6f2eaed97f6ab045aeddb9137f8cb871c62
--- /dev/null
+++ b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00073/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:64ad1de9bfc95843efa6c38690674b183f1dbc80b5a062d7e56f661f71809b06
+size 3686528
diff --git a/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00073/instance.png b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00073/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..809d2b5951c0e246aeb77e30685dc230fee6bfac
--- /dev/null
+++ b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00073/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:44ce92e0655de7e166440953d761cd07244ff8484c5546e0b1e2a22f17320d58
+size 34418
diff --git a/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00073/rgb.png b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00073/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..402e14c141fb21137b7a7236104bc578294d2bf2
--- /dev/null
+++ b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00073/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e74c25062952f9c21a890f48a4eb0a3155eb07bc63336aa805e71e34519db812
+size 1580294
diff --git a/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00082/debug.png b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00082/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..cc9310b0f2107ca55803bb29e6a453527d013789
--- /dev/null
+++ b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00082/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:42233a91d8903af1626d52afb90534a465c92c337b1fce78ee2f7b20fad519c3
+size 1657864
diff --git a/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00082/depth.npy b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00082/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..4f1213117f792b170b2c331d780f3ad9834cdeaa
--- /dev/null
+++ b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00082/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:37bc3dc100f8fc82585e0c751696646f76be7b85823b520c899e049c5954d752
+size 3686528
diff --git a/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00082/instance.png b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00082/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..dc25b579fee0cad191fa91bad72091f164bea665
--- /dev/null
+++ b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00082/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f8eb5c7f8192a1217440bf402f3bec8cb6985a9a84db70412c3afcc320797a7c
+size 32638
diff --git a/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00082/rgb.png b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00082/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..71ae54c66fe417789bfc198c1bc1748e09fe5259
--- /dev/null
+++ b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00082/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2ff05b90af787834919e02a717ac28b9a099dee6b1910eaa87ae3d0436795170
+size 1546212
diff --git a/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00085/debug.png b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00085/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..3a840d806efa41fbed8a2222c694d393d67f66f0
--- /dev/null
+++ b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00085/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:083989785563fab9fbb9d0c2afeb2dcdcd0e7dfadf08f13fcab80686e1aa4620
+size 1641327
diff --git a/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00085/depth.npy b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00085/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..3fffa5d3671baabd99241efcc3769198ccc28419
--- /dev/null
+++ b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00085/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:84f18aad00f67f639d335237561ebe1e5b670a7250fb23628c5582ecfd6bd182
+size 3686528
diff --git a/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00085/instance.png b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00085/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..f83006482d7ea4401177795e2da3d647bca459cb
--- /dev/null
+++ b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00085/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:192ad9cdf4e88de3f335e2f6fd8be8e5f69e4839699a9b9cd8bd7511cb67199a
+size 36770
diff --git a/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00085/rgb.png b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00085/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..048406124030cab79a60063f10e358fd3e5f1ed9
--- /dev/null
+++ b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00085/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6700a4b2b61abf7c887ca188e780e85c8654e2cc00a6203f322116a8858fb285
+size 1545842
diff --git a/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00087/depth.npy b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00087/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..b8c1dd7c3edd16af5164d71972de1ab56becb9b1
--- /dev/null
+++ b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00087/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:43aadf62eaf07b0a2cc71226a804bafc01f962394593a8d86cbb6c0f5c94422f
+size 3686528
diff --git a/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00087/instance.png b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00087/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..2efbb44e7465609f2864c5649af6f796a16ad8d9
--- /dev/null
+++ b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00087/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:23c81adaaeab0bc29201a0890fadd0b8a599de0b04855f42dccead2f3aa50b79
+size 39786
diff --git a/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00089/debug.png b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00089/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..81f2d87ae40c1fbdc97e86cd95ce5de34e9149cb
--- /dev/null
+++ b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00089/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ecd54359a11554b3d00730706fa128d1e6b6a86127b35a0b0636ae1beada29de
+size 1635636
diff --git a/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00089/depth.npy b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00089/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..86aec148142ae5bf121079da7a31ee3055745bb6
--- /dev/null
+++ b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00089/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2731331f18066821933fd7f21c44a4a95b0fed8237c4b10c8379f852fa9d58cb
+size 3686528
diff --git a/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00089/instance.png b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00089/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..6b27b5acb0abea3bb09291a857211dec899937ca
--- /dev/null
+++ b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00089/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:16e5483efeef166e5b55bb9fa865a59c377dadcb9a15049f4b60f5399e1c7f78
+size 41032
diff --git a/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00089/rgb.png b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00089/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..031ba032b368d4b6fd8d765fbfc0ebd4378a68fc
--- /dev/null
+++ b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00089/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aad2406f8db7175e5577cda158d187bad0aca05b00aaa61509aaf22bdde18206
+size 1545136
diff --git a/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00112/debug.png b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00112/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..67ff36dfb10b9131289b2a6e6c805a17cd7bfc97
--- /dev/null
+++ b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00112/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:be07a3ef66ae4721748dedecae482393128e3ed884d2853eda6aef5041254629
+size 1635098
diff --git a/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00112/depth.npy b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00112/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..f3b9a42ce9d05fd805b34341d21a300900bb0698
--- /dev/null
+++ b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00112/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b19e0fb6253c8e3e2634cf7e5113fa9b53f93042c36c682eca6b866e6ab45933
+size 3686528
diff --git a/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00112/instance.png b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00112/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..7eafbb65cad7c569a75c0315972472fedf699a06
--- /dev/null
+++ b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00112/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7274b643b90f333a4f9429e3baabf7e03551352fd0791e33c2e2bb96315e9c4c
+size 51822
diff --git a/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00112/rgb.png b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00112/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..6340cfed6c23999965644efbc820f5102b2075cb
--- /dev/null
+++ b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00112/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ead8aaf802fd726244174dd8f50ec1b8547337a11e7cc78ac68ddc09c06a6f6c
+size 1542944
diff --git a/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00116/debug.png b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00116/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..1b606ca83405c142af26a2b5c598d4b66d1d3b13
--- /dev/null
+++ b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00116/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7975dbb57d72451ea9bf8b6278b34954440131cbfae535682f5ef285efe4414a
+size 1646026
diff --git a/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00116/depth.npy b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00116/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..c136cf79532b4d1a79b6e3b99a34c0cdc1b7eb56
--- /dev/null
+++ b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00116/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:31e6af1ee9d2eb2c3ac2e3b75f9e2a1f16db11ee0c2af4b24be09e93d21a110b
+size 3686528
diff --git a/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00116/instance.png b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00116/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..d61123fc89650565bc01af2cec5eec710aeb97f1
--- /dev/null
+++ b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00116/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d7fd21c3990aa176650789add2f5f85f3c61da4e288fc388e3defe34a60975a0
+size 57559
diff --git a/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00116/rgb.png b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00116/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..b33aa595d3e4f38edf2a858c81799b5fcdb8e82a
--- /dev/null
+++ b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00116/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f0f6fd86c9fe840401a07d4b5e389ef7694d23eeea4d97d0fb2973d1c2c54684
+size 1559529
diff --git a/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00123/debug.png b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00123/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..711b0c446140b42d237179e865fc4b336f0e9fbc
--- /dev/null
+++ b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00123/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:963b5c6fdce9c885a29f6ae426b8d09b024226b095df38ab17e522275b94567f
+size 1607304
diff --git a/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00123/depth.npy b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00123/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..76e7cf79cb882f0fe81d608e509c3220f49e3337
--- /dev/null
+++ b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00123/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:555d39851eab50c125315243392ccc564aad33f8a5504f5e1b697aee03fddbec
+size 3686528
diff --git a/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00123/instance.png b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00123/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..ba92bf062aaeb81749db50865d3ca71148ad17ef
--- /dev/null
+++ b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00123/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e0e0b27ecc1396abe82d3eb110c9579280fe376308ea19dfb6649ec48d04b158
+size 65093
diff --git a/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00123/rgb.png b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00123/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..4f444745b22a86a6f67263dc246524c4630565e8
--- /dev/null
+++ b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00123/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0506101b37f7c521366d4377eb05ee0ebaf89b4fa421dd88e503289e92623bda
+size 1518478
diff --git a/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00125/debug.png b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00125/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..174b1431bf7ef8c81d076392ec402db2f409fc1c
--- /dev/null
+++ b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00125/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:acd0f56e087dc77f25a77cb1ba93a22cd800287c0e184008bf8a1ebdda532bac
+size 1611228
diff --git a/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00125/depth.npy b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00125/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..120ac122664283e0bbac8143cb72598cc92d0c83
--- /dev/null
+++ b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00125/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d1b87eb474f8dcaadabf74106ae6581a70b4075c4575cb833e53372714a94c45
+size 3686528
diff --git a/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00125/instance.png b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00125/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..1141fa02a0c31663f804f89a530547a2727f318c
--- /dev/null
+++ b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00125/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cdf46f0a672f02e604ef497414f01d0101cd914cf90bb9255b8d52485476b67e
+size 61899
diff --git a/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00125/rgb.png b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00125/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..59bb1bc510f96aab0b448e1967322ab917292880
--- /dev/null
+++ b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00125/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0cb7571920081298d960121c927f62b0b20b40726fe85d11f5c7991182a670f1
+size 1544297
diff --git a/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00137/debug.png b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00137/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..115b8ea5263c6bb232283f3134ed913acd1a7daa
--- /dev/null
+++ b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00137/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ab857b61659f12ecb8596c871aa4d29fd183167624e091b2cd1b5796e911a81b
+size 1620370
diff --git a/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00137/depth.npy b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00137/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..091dca5f2a2c139f980c242faf8cdb00d9d88d35
--- /dev/null
+++ b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00137/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:95df31ed7070ee5b1981361e914b0a69710de7d4db8cef8432f9482cf8a4bf4d
+size 3686528
diff --git a/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00137/instance.png b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00137/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..5ee600df404aae521ecbbaba478881a0b029f774
--- /dev/null
+++ b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00137/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c9d6d4c3f7e49f9d0f38c61ca638b0de6e0692c6b88793919022631939eedf6f
+size 50897
diff --git a/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00137/rgb.png b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00137/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..0107523a841f62115df4157ea12f848bc8a835b1
--- /dev/null
+++ b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00137/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9e71b895a5d59ed80b4551c45c1bd5eca8f5314703af2d0958bc0a0ada56f62a
+size 1555933
diff --git a/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00144/debug.png b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00144/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..38fdababf64c651bd2022cce0c3d24332cbba682
--- /dev/null
+++ b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00144/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dfd2f41cab0bb1be30a19ec78132094b75134551d24f7a500a794c5bb2c74ffb
+size 1663793
diff --git a/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00144/depth.npy b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00144/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..680dff0815ba243a195c0dc7a376481bf01a1073
--- /dev/null
+++ b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00144/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2e439bd2cd8956d3fca8dd7f74abe8a61cb8a6c1d0b3c6cae6d41e4ee2db7881
+size 3686528
diff --git a/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00144/instance.png b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00144/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..97b022952ccc6547395df2688d9896868aada0a0
--- /dev/null
+++ b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00144/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6710cd96e93a4ba8659d6684f6c5a39d7f9fa5e7cfd28e74416b4190d3e06176
+size 59560
diff --git a/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00144/rgb.png b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00144/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..142d049eea9f15a5f9238d479cadb0dfd09ad2d1
--- /dev/null
+++ b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00144/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5d277e15870d72231453983ce05cae00fc75a41de18c301202eaa4d3c14fb9ee
+size 1599902
diff --git a/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00170/debug.png b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00170/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..c7add5935c096a83eb8a320bc3bd064e115b7ea8
--- /dev/null
+++ b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00170/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:473b0ae151174c64e777ed41207d43c3f13b9388a955bdb8edf96b44dfb66ec1
+size 1819112
diff --git a/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00170/depth.npy b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00170/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..3f2db81d302d38fcc9a2fe9eee5c2d3b0a21b96c
--- /dev/null
+++ b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00170/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3c6814d559646759a522bef37858c33fde7fc6e59904ed696a658cbc7f3ab582
+size 3686528
diff --git a/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00170/instance.png b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00170/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..767eb7764a3d96a1d36f22e01bfec5f5644cc8d3
--- /dev/null
+++ b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00170/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fd564ce40ee742dd2d8d9d1a4156134a58e4ca002129ff8b6729c7420ba0641c
+size 71307
diff --git a/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00170/rgb.png b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00170/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..7f19d9617160e7e7e04894a387807d235495f3fd
--- /dev/null
+++ b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00170/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9932245e18ba3452abd0f61679c14cb4499479ceaaff80f8a3c7fdaaecb93712
+size 1723247
diff --git a/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00173/debug.png b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00173/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..ad25f6fa7653ab59573b7659c5ee7046630560d0
--- /dev/null
+++ b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00173/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9f4a81866aa91ce6a69118e874540683d5386b16775de00dbdc7f295adc237f6
+size 1826621
diff --git a/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00173/depth.npy b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00173/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..b4be1932711082e82308c4303d0c2477ac75b734
--- /dev/null
+++ b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00173/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:580a6de79be115a1c69f39295cbc7cbfa6c67510c176d2c8f0d66b8923d81dfc
+size 3686528
diff --git a/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00173/instance.png b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00173/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..cd7f9e08cc19c1323a6bed5a58fa34ee6c0e7de3
--- /dev/null
+++ b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00173/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5c5e4cffd73f10495f600469fa918dcda14b7f0eec58d40c009156169b7b500e
+size 69912
diff --git a/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00173/rgb.png b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00173/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..1c70c3b28fa885f5b7eabb9b08167d912975cf64
--- /dev/null
+++ b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00173/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c463a6b77544f40a3464d6028fb6ae523eb5248d0c81411fd08cc030cd07ea6d
+size 1743539