diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00001/debug.png b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00001/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..6d0bdfb01fe14a41ffd3119c0341d9bc8d38059d
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00001/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fed3902672f5720789dddafbf785f6025d4ea31ec7e933b826cfeb763401ae43
+size 1598881
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00001/depth.npy b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00001/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..688747fc900dc287d79c7f16815816122efd3db8
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00001/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7ef9105137c2a8f314e9cae0c7c13f9b41abfbaf8a98a92aae8a02813a0cbba8
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00001/instance.png b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00001/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..0a0164ace03689baef63dc50ad28afabf5c882ba
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00001/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:baf77c561660a02e13cb9b1c4846bcd5bdb626f0cec2750206bdfc43f3189165
+size 45852
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00001/rgb.png b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00001/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..93ffbd7335e419ca3964976653ebf556b0ee9b00
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00001/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:97ee762123f12587506a3f367164b2e7c8bc4602820fa573648150a0b455e1cb
+size 1509680
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00006/debug.png b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00006/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..612085eef5bea8631d3ef95d603ae6d0680f4ddd
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00006/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6ee1434563d9abc00e8de49855c8e70b9dd25c91c69c3fc4bf17cc850631c1d5
+size 1610127
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00006/depth.npy b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00006/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..80fb14fcf045e6eed2fc48103c93545989380eca
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00006/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8bf757e64ef5d22c4083e35bd99272a53d7f2cbe9aeca60eca391055630bd795
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00006/instance.png b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00006/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..6578cde6b3c9aa42947811b56dc70b3f97c84ba8
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00006/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:30dbb90ca9454fddee5aa0bac21d441f761518c3bb04e83cab13e0d202a70e57
+size 48393
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00006/rgb.png b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00006/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..7becbf50c279ba37280ef02f1aa9354c6f51f5ec
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00006/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7ba9a6fd7e3f76e6b1a9d9120a0c799ad34b63db784c1f2e94bb85aec6363df8
+size 1524806
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00011/debug.png b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00011/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..2d483c333c4f7ddf2cbc988e4ccccbf4b6ae05f4
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00011/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b9d1aefccfe00987eb15804ad94f1011cfcb469e96312bd4cf744fed5c9c9bab
+size 1583061
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00011/depth.npy b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00011/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..c0db2dd34b822ccb171c4b10bf86995ed22f31b0
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00011/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c597e5ccbf4baeb480fb3a898ebab4ddcc6302a0c3b682c2b0ad2dfd19aee96e
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00011/instance.png b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00011/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..79befcfa886396230b2515d5be297847aecd0faa
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00011/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:44f727771362738bb406101d18a1ca988f0b790f2929fe652eb190be0d408623
+size 43117
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00011/rgb.png b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00011/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..3c5ed769fb2aa28b14f9a045529590c4033fe042
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00011/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:356c5c5d96d284321b81c390dd04ca1cfd1653abfc44d3305a4cfd5abf0b5dc8
+size 1518882
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00013/debug.png b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00013/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..530135ea81c670b86dff4665330e5b2fa1cb6348
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00013/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f2d96d2aa3c02a701925fd4d311b9ca262342c726c5badae0749b49a50a92c5f
+size 1633210
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00013/depth.npy b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00013/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..73a5ca80b9f514eb9f6ae4ea6912c8b76f8c214a
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00013/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:46fbd2b32dec065591698c8dd50696d0850e340319fdbe427d760fee8a09b1ca
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00013/instance.png b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00013/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..84926afca72f15abbf048b3c4fc54f8f6126b53b
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00013/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c0e6ff7d8602018c88a6095cfd2ab5d88b76810f947e980333d20c827df2ce7e
+size 45635
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00013/rgb.png b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00013/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..9fe1d68d439db950a166d35e30c178708c157bde
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00013/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:01cc11ae5117b2cf8700218c3b32bf1bc77afe5e2f274ab28440d7c691e1d916
+size 1549895
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00019/debug.png b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00019/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..cbca0296bc322cd3b56aa153475d2dc0fd3ca864
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00019/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0403b2389d40d40c2c6dc44f5b798eaf3f046df8ae60602aeb2f36cc3292c1df
+size 1686169
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00019/depth.npy b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00019/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..63a1f71cf01379fb0abaea96ab414bb8dc34a097
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00019/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:47f67a77115d30c00bfb0752f6898cc1ea2eb7c5616556b2b19ae52aa92d9d01
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00019/instance.png b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00019/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..1a666b602f40de3667962d98ba4cb2a565bf4305
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00019/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d32a0f2b4b332514401e819025695083b3e5ec19b43eb3ddf4dfeb26de9afcf5
+size 51895
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00019/rgb.png b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00019/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..c9e3b55680a9afa34dd7c12f6d5e2eb83282b7e6
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00019/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3e0508f7d6b70e2d3de7017f75dd04222cb45f17e5db4ba21eb0632df39ae5ba
+size 1577848
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00025/debug.png b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00025/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..3ce3c70303b248ffee0038f33ca8af2e776dfee2
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00025/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6b6a89dd85dd339128100ea14439e1dd56f512e08c9202c57690a36551ccf00c
+size 1673754
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00025/depth.npy b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00025/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..dff968b3d38be5c529e7855df9a3c7cd435a5032
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00025/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5c140775c602230e3d1b047d6e19265a0fdb8501972a1a79e52744299554451d
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00025/instance.png b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00025/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..576ee54b5a8b914d55016a84c2050171aa7287e0
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00025/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e316d3a7f5424e724f631f763950fbd659766ba7904610a27ad04c375d2f03f2
+size 50925
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00025/rgb.png b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00025/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..0ef1219215257c74ba016ef30d7832c946ed1930
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00025/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f48d80ac943751880a8c441ce5ccabff0a28113c79506b5fa30c55f60e0c2382
+size 1568882
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00029/debug.png b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00029/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..ea68a5dcda25bdc00e14608c25cfe7449871063d
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00029/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6f4905411f497c46ad990605bb5c30ed53574c018085a43ac96895a4925e271f
+size 1664492
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00029/depth.npy b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00029/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..892d90f333f9ebaaf38d86f358a919e0014a08a0
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00029/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7f0e0874b2c601ed4119b73bb3fe40182713f848c0473ca2fc083ab094273426
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00029/instance.png b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00029/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..1b5e081fbb32de856b159b6798b3ec2e6958c2c5
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00029/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:66b75ea43553e4ca8669e5dd380516ce434496e8cb18ed7b4b2ea14acfc912a1
+size 52539
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00029/rgb.png b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00029/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..244885289ce633e89f38aead4389962ab43de03a
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00029/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c34edb25a814aea71a9669715588a68b7dcdd49abab6add4256922f2f72949ac
+size 1559798
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00030/debug.png b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00030/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..18cc6d902e18574e8e4f65a4a1b1dce1dd973689
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00030/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eebed9408f04c54f602f7f7280a53e580679eceeff00b37060713714aa053f76
+size 1687822
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00030/depth.npy b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00030/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..40a290c821d40cf6a3334ad7c76dad7a131c9c60
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00030/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:28861bac5ac0945f33d9d45241e0c12771bbea3f4625cd357c9f83a051a2ea03
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00030/instance.png b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00030/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..f27d82fd31cdda7c20646c3b9774b8be5f7e8e6d
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00030/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:32cffa9e1bc6a15601d9aaa782f74f29a8e27390b7c4c007dd9cae25fc4f4d5f
+size 46241
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00030/rgb.png b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00030/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..9bf25843267bfbe4ed18d926017e9ca641632051
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00030/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6e9b94c1351fa1d2891dd9da3d23a9c48de77462168b8c79df1a2db59de86731
+size 1581657
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00038/debug.png b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00038/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..9c17bf9f23597ffb89efada34af2e4e951a9279b
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00038/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d1f39b6b0251d9675bf3cc8aa7da60476490623923dee1913aa6ef12c2d68669
+size 1692554
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00038/depth.npy b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00038/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..40d092e65df9b9627a2d7b930f3c6140f6931d56
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00038/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:221fde830b33fbbad1700ea27d9bc60047ff875e098193bad22a2df06f0f7236
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00038/instance.png b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00038/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..bb892545d9ba813ab9fcc8fb92e117cd424d987b
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00038/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:60e1636a8b2181cc27a061e0dfad3ce9b4e6932299074753ae0c407f4489549d
+size 55004
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00038/rgb.png b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00038/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..cddd9ea18c0ee16c82e2a220b1f8cddb10a76a5c
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00038/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ea13be7f7e4c047c7dd817635cbc62b3532380b127c03ce36640066a60ddfe8e
+size 1573962
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00043/debug.png b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00043/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..1131e9fd5a53cf1cff786004022c745721aa85a6
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00043/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1bdad8e108434a51d77feae789fa5b21a66c21269e4d30807c3ac2cb525ce13e
+size 1707891
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00043/depth.npy b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00043/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..11a6b3020fa3f6029207c10d541b1b1df6c1627b
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00043/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e3763393a0bf747c5da5405a93b9538eb8d6a005db7ab635328547c9fbf92c86
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00043/instance.png b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00043/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..32b584f3f678ce6c81ee146ffba2d3a6c446a229
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00043/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9da953d9180dcaffd110c2c60d8d76ced177be28f7090687c9776ceca280d9d9
+size 58859
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00043/rgb.png b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00043/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..5c03761948963017f284ad2f7541b871854cb494
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00043/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8850b025bc95a189119d063c6ea89a53496ea06f5b8ecb281fae363adc31c671
+size 1563010
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00051/debug.png b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00051/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..f01019bf95e16aa155716f00a206b5a6b94c4217
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00051/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:164efd3395e982a39d4983c9767123ac7c84319d5ad05ffe7325cc7cab2368b5
+size 1649334
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00051/depth.npy b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00051/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..0f57760ad166645c1eaeba04103040807ce8f116
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00051/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:91c89c6f8927cc5d68ee6dbeec8af67e7f83a0749b4c41e7ccb2c1d51db91fad
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00051/instance.png b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00051/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..379e6cdc2c74df243535533d8f848c7bcb646b82
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00051/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6118b8b3cd1b3ae9c9db3a458a3198e9f3252e11343dda05bc68156d537189d3
+size 57384
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00051/rgb.png b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00051/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..145eb5cfcb851521994e1b3f6b6411d6aacf8388
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00051/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:67e13b176b8bf82684cfb311d1dbb738b114a9b35c63296c9e6b0e5fcffb9654
+size 1509412
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00056/debug.png b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00056/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..ef6ff6d31f1b3ff7cd070cd2cc3cd786264f0484
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00056/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1df586803673e189e9a2791562350c46138c0e017ad16847b5e308b27cd5391e
+size 1663470
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00056/depth.npy b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00056/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..f61bc8bf997bd00b93dc4ec4b7a541e17187eea7
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00056/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:74779c408caf6937c4ae079ec48a420bbf5cad873274a2384b15ae68e0420009
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00056/instance.png b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00056/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..1dbc53452f64af2e492bd1c550d2742786dedb19
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00056/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5ef4cadc36529b3e6ae6f9056fb4241185ace68dce06dfae97c68a457277177e
+size 61371
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00056/rgb.png b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00056/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..5e36a6b6f000dcf4d6e5a2f1e5baee02d95259db
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00056/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4824c296f7fbac62758ee37804cfb521a4b7ab082dff72c3ae74d0e052b89da2
+size 1489604
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00057/debug.png b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00057/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..584f6076445c80dd3693d28af3d7a3151aa32ced
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00057/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:da9454a824a737b309dc06b6bb88b512e508650c8c002a2352e82df6fe2b13fc
+size 1660183
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00057/depth.npy b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00057/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..645dc29f7c1a99c3f2386844d706e0b5a564a9e0
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00057/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5a180e0db082e8cdc8d197b52b6b53c05d1e98ea33ffb4c3e96cefbbcd1fefb7
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00057/rgb.png b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00057/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..ee2b9f29bea0d652de0a8c191a7f9beae452135c
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00057/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:416444e3ffa4492a4fc41679fe6b14853714772089c1a83c5de5637f410c4d7e
+size 1481909
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00064/debug.png b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00064/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..202a4ac801f0d21855c1d26359958c5454b73b58
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00064/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e40acf65cbf963582a425bafbd1c0a43eded3dd381b210aaf5aeea23ce891506
+size 1639637
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00064/depth.npy b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00064/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..82dc03edd987dd4b98d9e7172ed79f5873a29796
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00064/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c5710201fa7b9c6b0897c6a9d3a5abb2a97d2562701799770e56d1a89826fef3
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00064/instance.png b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00064/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..d260b2c15ca7ee73a31777c6ac4f05fa3cf3db88
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00064/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5c563c666de413c58e9439663c6b283f38e09c59a654485ccbb5d10bca9b5547
+size 58121
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00064/rgb.png b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00064/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..6f3c23268eb63fce79a504a3d96c7b742f5a3abb
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00064/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:048edc2d07d0526e49d164a2d04cf35c6a4acbf90932c6b9f716d154a6dc5146
+size 1468764
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00072/debug.png b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00072/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..f8d99d36ef9983c2dea159c6ccd203c9c359ac47
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00072/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b794d2080cc99562f0719167024507811b9983091f02ed40ac75f7ac8e38ea97
+size 1635673
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00072/depth.npy b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00072/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..09033546410efdee0fd38405ac44b6d56ad5e6d4
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00072/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:27ec5514ea7c86b772bc0845aea8a0b266ca59e00793b0e07095eb6d6d0b004f
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00072/instance.png b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00072/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..c3cece1cead8a3e71aebf85864200748f8f101ff
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00072/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f7e24c4ff634f3f040f5e88f3c3ce4ecb4c40fb59da5dee3f81f965b8fbeebb1
+size 58095
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00072/rgb.png b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00072/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..5eabe488ff3c03c3544b50805f26888b31dc5e74
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00072/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4cfc12e2b928e37a90d9ec4b542c8e4c40f142442a33a19e2e2c73faf5058724
+size 1460003
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00077/debug.png b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00077/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..9d0e146aebc70f2688e6cdf9126a843160019e0b
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00077/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:935ca93efa3b74e94d9ffc32741ddfcd02571d51e4742f89f8f737f721a82714
+size 1614094
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00077/depth.npy b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00077/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..2d88062ba44545ba86ae7aa9fd16f962116cb4a5
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00077/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3c13210c778292bc18d9dc5348dbee9e2c8068ea9bf35fcf226c6052510b4289
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00077/instance.png b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00077/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..0b1a9ca2149a78b7c369a45ca2b1f7239ce4419a
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00077/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:95b4389c657092dd8b6c4dce0727afd244bdeb213f01d6b61d2297d68f6d9bf3
+size 52448
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00077/rgb.png b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00077/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..992db10f3ac28867f8c6f1c19a1bfc7ef956d1c2
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00077/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:862ba926f1e03977b90a1d35ef0df842ec20867eb8d2ee779a2ce5521923af00
+size 1468643
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00093/debug.png b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00093/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..857ac78a26dd451a7c80c1aa5d752679d4812aeb
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00093/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:588e1a47c898d3d40903149be8ee7a205594dc2326785f49287bb25a79705529
+size 1641783
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00093/depth.npy b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00093/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..b78228dea958474b8f42ec038e5c6e00f0609918
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00093/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8d93e29e8d0292d5c3a190630008707071bde5706d78709ab1288b4bbc49cc06
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00093/instance.png b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00093/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..472acf12e3a65dec6b231fd6925c7572be3b5fb5
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00093/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b0988d523c5a0ed88aa117fbe2f33221d0b09341df8326b41a1b370f776d4b8c
+size 48837
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00093/rgb.png b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00093/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..a36e88b102c42ebba8ce9192e05582778e6d3cc8
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00093/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bda77c5ff7e6185532c7659aea0fa5fd40dac4825ead97a9be202edb867336b2
+size 1466145
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00098/debug.png b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00098/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..c2275609413d9bd74628299fe856b26affaab350
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00098/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:59733d9556004d174f9fb6ff98d841f1e5a6d05f19f2e628c5e8bf46dd9a62bd
+size 1631218
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00098/depth.npy b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00098/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..651b172965776e9ceed4da68ab51788f986eb31d
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00098/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6a4f9b1d45a3df3eaa60df80a45f2259065bbc23fc88dbe256661d1ae5b57524
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00098/instance.png b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00098/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..0e3a11eb20ee85b98d3c00585171abd831de840b
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00098/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a6d414748dffda6a3d32c4ff23699c319eccc66f1f382616daf9b70017f385f6
+size 36734
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00098/rgb.png b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00098/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..8f7f3ac7b43acc2cd0eb255888951f8b20460928
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00098/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:63ec281268bd807b96fe08b365af309b50edb9bd9a8353f83081b99541b5483c
+size 1454237
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00103/debug.png b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00103/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..dfd3472f8a70396551dd51d4df26d4b501bf4679
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00103/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:341f9399049bcb3a1da22e08694fd05777bbe541835785f723524ed9ef1b8666
+size 1621993
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00103/depth.npy b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00103/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..e3ac720dd2d12b0f0e557a0508ee762498ce4796
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00103/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0afb64cf9fb3a737f4d83d03207f44cb5eb0017da4a051ed4587f51127598574
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00103/instance.png b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00103/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..75f2e342618a246c366f975056bb5aaf725f1afa
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00103/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d7fe26633e75be0d24771bbc7a1a39fcd9c39e64af9900cf064a2ee0e3d22387
+size 40798
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00103/rgb.png b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00103/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..797cf43b1b44052ef79dc96a044cdaf671a189ad
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00103/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c843d77654570cc10b357ca9a8557de018bcf1c9acf641acce394f8a5acce799
+size 1445284
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00104/debug.png b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00104/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..61217ea1e56eb088e4db9eacfa8463045a69d3e2
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00104/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ea8ae126d47875fa0fa47be5813ed577c08e01aff6c92147aa52fefc672bcaae
+size 1645230
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00104/depth.npy b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00104/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..e88e0e1ca7f2a3f6a071e159c8df67114098b3bc
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00104/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:82266a30a440af7526baad4006bd7e2bb8401e63816a6fd7cdc8976d2417258f
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00104/instance.png b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00104/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..64a7e5797b6b26195176f362fd088e8d21035259
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00104/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ef799ff61ca8fe696f8635774b0ffd2ca1ab016e948712d806c5bcaf2ce371db
+size 39880
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00104/rgb.png b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00104/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..dcfb55f757b7ec6c6a38a56c22df6f0755c9e8b3
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00104/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:51a79fbbab5ef477f4549f9ea80e729430b16a2936a7dbfd76ff551d565ea7f1
+size 1470371
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00110/debug.png b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00110/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..73827c9d045db0a14d796aee29847ab0bf9339ba
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00110/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:581f1add322d1c3975b72ef9896442bbfa6e07b376c7833f7353d486eb57e2a3
+size 1649817
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00110/depth.npy b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00110/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..40152c62a65d6ec70dbf6774c7af36485ad5e39b
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00110/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4299794da44277163cd6d363afe12ebbea444fad5fedba292d304c94df05640d
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00110/instance.png b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00110/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..5e4f8607de9f1e0b279f04b4626b77b539d16e6e
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00110/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fa77906a04b7f6e390b94ce9af549c6841d46fdfee68e664a4e7872a6959bfef
+size 46897
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00110/rgb.png b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00110/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..8bb38aa080e70ca1a0923c85f5c9f3aef379024f
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00110/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:52f758af2b73337afe62f3db26be96ed3ff69b70916f7351cbb2a9157e6261cf
+size 1469648
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00115/debug.png b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00115/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..8358486556201d408c513811369d04064822c65a
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00115/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a31a2cdec84ed0c441972683fceb3751853031b1ccb3354a9a509cf97089be79
+size 1620150
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00115/depth.npy b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00115/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..d52f141f6f663658fc4b63c9e6c51152ab9819b5
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00115/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6deba74c77a326bf2c46002bcd3c2506f4b65120a984f3aea90e678831f77d5c
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00115/instance.png b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00115/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..50c6a330d96a485ae8816ec5bb8ed955646da6ca
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00115/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:28ce2d68e47b27943f48d490cbbd79e562f4f71d275af8904586482600056629
+size 47902
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00115/rgb.png b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00115/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..2157681df8b05ed784c36fec33ef24257bc96f76
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00115/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:58b3d10a6410a2c6bcb0ae0f8414686e4bf7580ae91f95e059a2190de5ff099b
+size 1461659
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00122/debug.png b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00122/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..dbc24caef9587e69a35fdec558189618362f654b
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00122/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c7361837f1997655a6365e2adcb1bb76c2c1085aec9dfeb83b37ae9908ff5776
+size 1646660
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00122/depth.npy b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00122/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..8f6169c9745f574dd06b76f5e0fc6d02d930a4ac
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00122/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1efe574f694363c4a4f4dca545292299ee82d8dcc73de30f05974ef8e59db0ea
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00122/instance.png b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00122/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..dd0781c2f274cd8a0508c2335a0077127f730e0f
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00122/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1d2a1a7f7d0d14b9d2aa9f627300c907578497e3f4d1397c5bb0f9ce40a80480
+size 51607
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00122/rgb.png b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00122/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..cffc50cfe897f9cd746b207189d0af0e050c4cb0
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00122/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2aa53bf001b3fabbe57caa1d6d00e328cc1eeb07bc4c26a345868544d0bcc544
+size 1495414
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00124/debug.png b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00124/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..57b29ea2d40e4caa6233fc4f0d9d3bfc8229a4e1
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00124/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1d45c5f33e3087b1580afccf6bc62d810b07fb88298ff8cf1d2cb371233899cb
+size 1618182
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00124/depth.npy b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00124/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..834e28461911960bd62fd670f4b620c7df40cb99
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00124/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:58926980cd106b6f3f3025439fb3b3fb7f13117d6ed81f3eaf4b317d212bc8c9
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00124/instance.png b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00124/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..ba93543768d535e3011a7d0cc0c742affb5738af
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00124/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c10fd1a3697062dd99652615fbbe60473c83765eca0d0965d71c6ad4b6004948
+size 47838
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00124/rgb.png b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00124/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..6e126ef898575a66d2c3268a62638bd2cb6a365d
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00124/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c323e38129e72a0582b68dc72c7b27d701399657e07d41dfe3d048f5d9a93314
+size 1514410
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00131/debug.png b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00131/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..2e46f06e5d2873c281ffc1f54d6b3a2226a0f932
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00131/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f5d8df956638640f7134fbcef5910664b3e361a137f69e26e8ace8aaf2b1318c
+size 1592351
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00131/depth.npy b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00131/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..00c2903cc6e8692bb37b86f35d0fc5dea82979b7
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00131/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e8307092b074961a76d768b2b25b86df58c1039440114bb1bd33365702652cef
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00131/instance.png b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00131/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..cc881996b0f6640170af9361606c614282ae0f99
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00131/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c70015018a49c54dec3f4f553ec512c1c3ae51426c710e1ac390cba765e81c3d
+size 44463
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00131/rgb.png b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00131/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..2fcade8bef065722519d3fbc7fff04f7a96a2457
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00131/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d421b8a7775c15a335f90c751cd0372bcdcd1180136d06013d3a8901d95ce8ed
+size 1496648
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00140/debug.png b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00140/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..93a688f32fef437e0794df0bcdf49d38aefcfd7f
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00140/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:70f0860a5a5809bb23214a1f130aa0e442a6a24b210261795d6a3dbc04a84fbd
+size 1564656
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00140/depth.npy b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00140/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..3004009edc2d93b8768c58ccfa8f035ed7eecd7d
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00140/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dbb025901379410a14881612e26145989c47a55b4612b59114320688ac756a4a
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00140/instance.png b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00140/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..536ee63a4ab25720c6c2d0aa01093ee3eeef5bc4
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00140/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6d90b86f90c84c794bb427a1df468d1a837a787114ab86241e182857d9490e91
+size 42690
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00140/rgb.png b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00140/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..fc13d8584599a1a1df750bae7abe1c2105094793
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00140/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:059eb6cd14e6b0fe0a16260a00dc48bf3f77d4d5ac2c2d88dc52e55d23d1d8ab
+size 1505419
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00143/debug.png b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00143/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..9d3d47b5045005add48d71fde6984a18472071b8
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00143/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:df3d093097799cade2dc71f84d9a33e86f7217cc5f1aa3bdebe92abfc994683b
+size 1564170
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00143/depth.npy b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00143/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..92bff0c94ade086486ce48246f374c6bbd329843
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00143/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:979ecfe91ca8f32f26355b35635516ed8dbb8c4cfa17ee78162ecf551a9b9668
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00143/instance.png b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00143/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..09f87f88f88ae23055c97fe7e6bf6735e9b4e793
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00143/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0951ad0c86addd30fc2bd1f785cfb500372726658d52fe6ce2023fe2900d47a8
+size 39410
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00143/rgb.png b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00143/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..ad7fa73b3e1535ed1ad9776d517d38ff4d47d5fb
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00143/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0c1057d121a5410a73a4ee844ff8e345e869cd1d8366578fa51dd209b3212bf9
+size 1523090
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00148/debug.png b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00148/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..419953aac0f016b5c8e2ec980f026a39f83723b1
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00148/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:18f5e295d9eaa27410caa0e948d91f7b888ae28fea6649f572331f83177c6fc7
+size 1583772
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00148/depth.npy b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00148/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..b52f53bc112bd0247bf7d8f887788a7df4b11948
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00148/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e98ce02e838dc9e23a3506101bba891e46f57fd16b7455b20734a4bb5d202a65
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00148/instance.png b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00148/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..4cac8fdcbbc2364c0601235815cda010c54f6032
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00148/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ae53fbd5ac04c7472bf4642c26e5b0d5fba787f67e619fc772b5244cdc1d9d70
+size 40502
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00148/rgb.png b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00148/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..aeed70675875e573f7d41ab5b83a9ddc8c416a6e
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00148/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0016aeb4e046e8c9dc07e1bbe478970d9a1a56e824071cdfb45fccaf115b011f
+size 1528915
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00168/instance.png b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00168/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..590b16acf657a2bd7934a34184aab0aef3ee99f9
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00168/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b369a3dc02e5603740209a6a7ccc667df95f284e9a74467dc211ec3f00e09892
+size 40640
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00172/debug.png b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00172/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..f018e0d609f15034b1cccac67228591fd251fc1c
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00172/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2f83d01dbeea98c6ab7aba29f1168c462d69177fe4e24234eaa402c057b0727d
+size 1555664
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00172/depth.npy b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00172/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..42928f39491975f40d271fc3438b04505af3b843
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00172/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:53eccc1f7a1f79e15254e7a76e8792b6da3d483f11171c8dbdc093c0db08f461
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00172/instance.png b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00172/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..8113d922838a52e484ae87c868963935958295e2
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00172/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7be847e03f536f6702406b18f3f74aa2f58d8508648ddb30f5e8c3ecd22a7afa
+size 38688
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00172/rgb.png b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00172/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..3e419827e74007f065a9465eb444b65a5467c100
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00172/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0d21e4dd39ae7b7c120671bc0fb1f41ef10593e78395ec5a8b465b4bb9aac23f
+size 1525931
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00176/debug.png b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00176/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..fa043e1f8e53e583810f1915fe44343bbaad96df
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00176/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ca4f4262c824c705977fc7cafeb47d6976742e575643a6917463709f0f81ce7f
+size 1563896
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00176/depth.npy b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00176/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..977dab5e3d51c048bf67e954e10795f7a89169de
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00176/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0828e76f64d204b32c3f78953cf96ae3f9690cc0b723955876bad00a094e4c4b
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00176/instance.png b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00176/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..4833967797970871e6230ef6adabb74bae7c267a
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00176/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6228115fd15eb4efa5c524bdea36bf68475f26069d6799f8299b9ab4190981c5
+size 39056
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00176/rgb.png b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00176/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..9ddda9810e2dbb30b477fb733beaf3392f47e67e
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00176/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c5dcae013dcc922b37dc8d9c54e4fcc565576e1da4d2452a410a884fc293cbef
+size 1533274
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00180/debug.png b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00180/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..b753820ae6930346136a6501349562478a147f1c
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00180/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:053fa780a12e3f25760684e9eb0bda75b5b2df809e2954c8ffa98ac7303d7ad9
+size 1562399
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00180/depth.npy b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00180/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..2252eb6ca4a32c227bbc3f4b6296150202c1e15e
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00180/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1a0cdf925aef568faa8840924a08979a4900bb1c1585f1dfa0895b56d5aa088e
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00180/instance.png b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00180/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..501f0eef22210831db68c657e059d74c8eae3e75
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00180/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:22aa11975cff1e23b102eec5993fc164eb8a769157c477477a061eb220ccc992
+size 37442
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00180/rgb.png b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00180/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..31d2c1d35277660cb5f7f5480c8207a5fac472fe
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00180/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f82c24d770c4a2dd7e9bb9f4cb3c1b80c4a12c615f8fb9454dd7f3d8da98aa0e
+size 1533806
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00182/debug.png b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00182/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..4b69e5174e98ff10da0a3efa6512d6e3c199dda2
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00182/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4e43eacb95257f869ef0fcaa83998bb09b6237ecec71fd650b6a7a814e1e9d42
+size 1586977
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00182/depth.npy b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00182/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..17e3c730ea2b99afe1ebbeb898517ede49e03c78
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00182/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c59ef9b8e30e261610ab02dbc47da6238c05c1267cdbb0c87406311903026b92
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00182/instance.png b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00182/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..646c4ef75f2206b517f87035ac75e50e149a37d7
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00182/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:406162400744956523a3e7f8014a9b71e765cd17e8bf30d837da6968d4932f86
+size 35592
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00182/rgb.png b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00182/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..fc428a585b3f8127e65b93fe848e61542806ad09
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00182/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6d94f589f477c1e5d0b97996ef58d1645ea97ef8f1b7ed9cf72ba40f646cec2d
+size 1544416
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00185/debug.png b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00185/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..adde153f7b1dd50b940afcc0e746facb69ca8c20
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00185/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:76b646e3875b4a6b96ecbc612345b95bd6635ce87c112452c1e3428899403dab
+size 1601704
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00185/depth.npy b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00185/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..bde3fbbde71313fa87cd865c40c875cdb26ac92c
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00185/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:57214176c6214e3222f83804c62f48f1b8658d6bdad8640173a86d020df43c8f
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00185/instance.png b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00185/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..cab10f398689311bad785be215e99c16b6789c86
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00185/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:93daf00492ae64c9733c7233225022c123b5c8383fdc9c037b5e73bb48ba82af
+size 37779
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00185/rgb.png b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00185/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..3b3852ba261e4e0a0a389d3bc5f996b476397193
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00185/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c90a1c10361197d65a001f436c837d993eaf496345678b729d6e076af414d4da
+size 1559642
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00187/debug.png b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00187/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..b75a328a5f1e2b55b979d04db0fc6a2be486b16c
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00187/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2b4624cd6711d5269e3e26019887202819b868f1df7461d49cc79cfd3b761615
+size 1588039
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00187/depth.npy b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00187/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..9998d5e489320b0e3d8f3a5f4c534312c44e2f67
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00187/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:af040245c9e29a9ff29daa7cc6828a52ee8ca70913d2d624486e3ebac45a8b79
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00187/instance.png b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00187/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..0803d4d3e2c85d73ecfbc5de8ce202c4cea10b65
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00187/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8f1b420484f34df1f6067f9dee02cd6f33eb83e562109a335fd8949b0c035861
+size 37883
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00187/rgb.png b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00187/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..c5ca6175ebd874aede0c8f17bd8fdc3f082945cd
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00187/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1574b02d545af7e4edc580333a52b6a02ff03eaf14126d131a8a7d667cb133d3
+size 1553932
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00188/debug.png b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00188/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..b6f547da31f88d59437001a0c30bcd9293e62306
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00188/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:386258fb9e766215c9f3b4c1754e52273faf941bfa098281bf3f0157b3cc469c
+size 1585460
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00188/depth.npy b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00188/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..c52ffe64b46ea39dd1cd1a6eb0acc6ff99395204
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00188/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0fc565e6595839de94ca5bf0bbef2dcb82d3cbdbd14aaf34dc7027b4171d9df3
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00188/instance.png b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00188/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..2cf3c4a45557107c3fa314e671ae114eca5d6394
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00188/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0eb18e73d04c2bca0595a607ed0248ef9ec943bd1cc59ed5cffb27d89a4eb52e
+size 40183
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00188/rgb.png b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00188/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..8a3ab44cd113e1d69cce6fe35937895b90ef453d
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00188/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a5846a705c1070513a6f2d78948ef5820c0a02f00534854b6fa23cb27c0f4632
+size 1547682
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00190/debug.png b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00190/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..b20a87170ffd42cdd1c5203f170107fac59e528b
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00190/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b09c9c5fd2dc109a0ee917fbe9535eecb4f4f9b93c538075cca2e71e91264f1e
+size 1583298
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00190/depth.npy b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00190/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..3763e7a215fa405e7d35d0aca1453f01487b575b
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00190/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dd18ad1a2c19f5764f723a96075857c419c14eb5689ff4cf4da982df309fb5f0
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00190/instance.png b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00190/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..a11aabd466d2a5d79896701ca7c0466601800e1f
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00190/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:00e74cae06dba71aa507f25b7a8c5a79f1ec227770f5fafe296058302e4ccc94
+size 37348
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00190/rgb.png b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00190/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..19354dfbd4a4e6330b776d3b53a1f72d6c1cde17
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00190/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bb123693798be0591111c5b59d878c3ec4aee218a7d6e14dbc9a925926b3d1ee
+size 1536596
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00192/debug.png b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00192/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..51c2217aa90a40980b43090991dd3ce37a541263
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00192/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7968a6163da31ad856ddc4d1cdd9e8a2ab5c61f40901f99a15a4ff2cd33cb688
+size 1581040
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00192/depth.npy b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00192/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..acca5aef0a1084b551d615af8e6900b801356937
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00192/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:10460658383cd668715cd5e5ffa49a3e233021032dffa2792babae01a3856b20
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00192/instance.png b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00192/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..490eb841263af3744d06885086bb1aadcba107f3
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00192/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1e1fd78fd20870bd26f1490db75b6f49b1ec9034936495b4975f39c4162e1424
+size 37746
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00192/rgb.png b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00192/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..c7a99063386b07ab277902e9bceeb71757ffeee6
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00192/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b4aa3e3601b39bcc97f9d0b4b9c5478a55df60ddb42c04fa073aa37a7ba730a5
+size 1539791
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00193/debug.png b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00193/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..bb20df856ace1f18897978bbcce9dd77ae695fc6
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00193/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:46df70cfcaf3330856b4e6549f59842e2e446395f3220e72c2ddf980323e2289
+size 1599840
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00193/depth.npy b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00193/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..023bc2f5a9fe5e3ce4a9412d204031c6bd35efc7
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00193/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b54a5fc224fad122bb9f5f97eeb1c0ee2118e63dad1d98bab504217ec2fd6c0f
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00193/instance.png b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00193/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..f7b88f7226e2b658251ebfeadef392cb4c4d6552
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00193/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:23d7895fd61413f4df5b8790705ff157ef5591c047d8ba98a1cad0beb5f5832b
+size 37434
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00193/rgb.png b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00193/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..1e13164f0a8dfb55ac30fd7378c2c6a0166157d5
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00193/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f57caeb5f3ad4dbe18f21ff7e09e4ea8ffa9fa2b35ae0da03a4598aca0a4c283
+size 1556834
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00202/debug.png b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00202/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..e0e88005f1fc7c545dd060c62538369174a5934c
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00202/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f72d078f14616820062269ebefc42e8ebdebce5fed508d5fcc17fbfe93e9bcb8
+size 1617251
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00202/depth.npy b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00202/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..2170ba3a7dfb118f629ec6ee12bf96003e53fd70
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00202/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cddd9cdf4ceeabfeca747d6bf189af7f06a31bc5d56be3cad467ee22d957ac23
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00202/instance.png b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00202/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..ae0e7295505973a23081d8c517f1fb66620a93ed
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00202/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9e39ccac40c3e1ee4f8b392d08a46c58e7c154e4330b2063556f4cc01a88b21e
+size 35809
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00202/rgb.png b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00202/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..f419a94fab157f01cd70a96fef1e7c655776ce02
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00202/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9ebcb835165aef9e27e2fd79235b48a515fa5a94a3e15acfaefb0095983f9f4b
+size 1590149
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00204/debug.png b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00204/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..1ce81ab8a6e094194ff7663d1bfc5ee26e1ee171
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00204/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5d01b60bfdf3af63d92d571847f196bbf3aff7845b31d64cd40b0f9a524c1f11
+size 1589676
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00204/depth.npy b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00204/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..a0a503c9a62a443c717d2445f87544b265fa2934
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00204/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6859161f16a5dba6eef82b375a6277b606412ca8c4c15c5a6155312d8df13022
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00204/instance.png b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00204/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..659852cd3e5b23ee587457c9d1ad69d5ae9f45e0
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00204/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2cbae2df7b6f9bca5e82b949fca56d54fd1576416058f5ab789f0fa9e09fbb16
+size 48116
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00204/rgb.png b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00204/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..48402d2b8db50a1ca01de6bffeab3c9cf60e0b07
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00204/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cb0183ad927343c4eaccd564da2c59058cdca114d2e383346d76ebe740c4c264
+size 1542890
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00209/debug.png b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00209/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..9b2a828cd76b592a9937beb540bad70f02e27dc8
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00209/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:13f22653be3b60e1f541a3d84a5edcfcc46e9f237f3cef64523aa3777b0fb4fc
+size 1595031
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00209/depth.npy b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00209/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..a4437b26799c5f5a2aa0436fc0f78c325708410a
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00209/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ba600c92b10e98f28226d6562b80316635d69529c27bab5f40332dc7c7f233ae
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00209/instance.png b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00209/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..7bbdefaa4823a5b07fb6de86206d49c98f94b490
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00209/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:70cf6df8f6b41bf47a51177c39d793b195e2205ceccbfc712f977127226fef46
+size 41558
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00209/rgb.png b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00209/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..713b2d0c342d2796668b4e2261065aa17c478d83
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00209/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2be2bbad08c7bdeb83170813b5fd7083228ca1c6ccec4b7e37790a5493acc073
+size 1544960
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00210/debug.png b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00210/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..803c3ec4d37838e71abd8c566a93397ce308ac0a
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00210/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b3638031cb1cd18f0593a9c2efbcb0e9b5fafe2fb070ad734433ce140dced7f6
+size 1635198
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00210/depth.npy b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00210/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..c5b5199f0abdaec3a0856f2abf0559ee7207a740
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00210/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b8ccccb9aef27076894a2da41c1719637f58979a8b8c895d48550f9da984a8e8
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00210/instance.png b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00210/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..e2f7fc5454768d4394fcb0bab38970b669b27519
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00210/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:afda2663e0525f5ac3339395345cd4fa0333208bc48e67948ab7d4997b7ba94e
+size 35022
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00210/rgb.png b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00210/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..69c627cad32d0cbb0541a8eed5393c9a652df832
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00210/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:345b919cbd25748d268680d5990a5603c9f001de37a6be1a474943841fc99fdd
+size 1570237
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00211/debug.png b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00211/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..a30d178322089c0ce30ff8dde6464fe8cfb0254a
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00211/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ed2209c680b82d664ea50366870149009b0f88846b3d51173e56e40a08624813
+size 1609452
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00211/depth.npy b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00211/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..388af7d01e25e847e841eedcc4c563134fda1aaf
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00211/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c42f79c35a613d35c3f6e7617cc163bc438086ed71c90cf99107de69de742b50
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00211/instance.png b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00211/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..ed23205af5be21dc68250b2c9f32f8b04fa3811c
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00211/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:12c0eec275749f309f0041fe01b6a04aef8eea670a446347248d19b80d65be89
+size 45869
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00211/rgb.png b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00211/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..1fc032553adb74375df3a3e7a3f10f6b574bed1a
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00211/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4509533f23b65e14cfca5611e2df8b35d3b5e17b4e86d1b3b3cbb061b49b9b9f
+size 1555978
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00218/debug.png b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00218/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..f0ba46a99538b81750174bf1b1b5066e96b29093
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00218/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4080b0957808b0550c7f86111f40cd648cb639dd223c0494ba6f3ce24f0ad327
+size 1604603
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00218/depth.npy b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00218/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..526cb613fd452feb29a9c73a19e9a4c86473eda3
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00218/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:788828d7b86014e66a9eac43602df4519dcb2f561c62dde3334cf11fdbc34c8e
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00218/instance.png b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00218/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..9dc4c151295988043064dfebbecbbe242da8dc89
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00218/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7df7878d610d2e0251290690255418eb94f8d2d314845629288c6a0f2f4b6eef
+size 60453
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00218/rgb.png b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00218/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..c23991700f3040f3771b60528b345ea23c4ef883
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00218/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:03164617645065f37be8de30f25d24a09ef2e165a22c68b9ca2edb00486f1cfb
+size 1526514
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00225/debug.png b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00225/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..1876bb94059108dcbc06d7f962ef1274225846c0
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00225/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3a70518259978d84dba7512c1bc293956b1ae8990e19e53974488dd213d895db
+size 1572175
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00225/depth.npy b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00225/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..10f4b0bca64be4baa1496a8ba4bb8e4e2af1739d
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00225/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8d09fba3d9146e866f4cfeb8e7e70fab08f7ca204ed10ee58a5bda2ea439c4f2
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00225/instance.png b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00225/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..cb2c3fcfa963c685283ed8bff91930e2405ee25b
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00225/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:390c6c0778e71dcc8720ffb17c5680d8ddf8ce99c6901d0049b4a1fad8f16fc0
+size 56346
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00225/rgb.png b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00225/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..eaf6ce11c1cda2e4880aca7e0176f3c06d9fa104
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00225/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5bd5c809ef267f87e88a4a87dc9857f884bcd4632c5e2617be5e3a8c9fc3fa1c
+size 1535425
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00226/debug.png b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00226/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..b19307ea375c79fd367a62f0b781c4263da176fc
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00226/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6967a27edb7a49d1f7aecf2da8136e73d46c3b7e75df613cdd4452960f8de36c
+size 1588579
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00226/depth.npy b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00226/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..6e26afecc5bd5865097da58ea2f8e1026a0fd765
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00226/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e8dfe2749f1a6d783f3e9eed52566a342a6a91826eaf74f2a87f3987cf832307
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00226/instance.png b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00226/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..5bdf18de2e630c265308bfbb9421c0a86f669bb3
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00226/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:abef631951acee85ad59b9a9c4007a2a9465c1a375000ed30e4c44d476089dd4
+size 63030
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00226/rgb.png b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00226/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..fcd727bc275bc760c3068ebe16a7c87c6569d7aa
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00226/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8f435d352f6e0b43e4f6d0d6779de44a35a1ee43595973ee19291b6b241c40a7
+size 1592113
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00229/debug.png b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00229/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..840a90390a256f1e26fb9bb20e2ace7ddb84adaf
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00229/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:818c5292f5ed97a5bba9f775cee27a58ecc6bb353d814d00b561f6b2da7a5e8a
+size 1583170
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00229/depth.npy b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00229/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..7e1ea524fecfe7e5e4dcd311fecc0d8c3294b823
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00229/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ee0e92f54a58439064e8ab945af54955b85ddda6c40e440c9697174755bc4b05
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00229/instance.png b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00229/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..324f7a73862011b049e569992afd69872607c30e
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00229/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:537cf99b2a8a62187911cd3bd41433f10f39ab397249ee7042ef2e2f8a93d130
+size 62242
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00229/rgb.png b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00229/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..d3305bd910287ba338fea1c7c67c558b5920d114
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00229/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:de56080d99bc7024cf141b8146dea1661b3ea68c9396470ecf4d5085cee2a3a3
+size 1568964
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00233/debug.png b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00233/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..ca9814252dec346af44f2e11bb0756afeb66c5c8
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00233/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bbffce8e413e046a2c6974d40bd4867d51d421384c9e10fbc8814bbfd21dec93
+size 1596608
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00233/depth.npy b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00233/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..e7d462fbde28d9cb103132146dc547b5b1b2a9a7
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00233/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a482b777484fa0a687b5d688c57fabad8598fe71e34cfd674f11a4319eb9da14
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00233/instance.png b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00233/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..8cb64c043f1fe957bfc29366212cbe097f06f1c7
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00233/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:66173ea07eb73b47f86322bf454178268f74955288ae7cc9b53add5f6ba1b33e
+size 65646
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00233/rgb.png b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00233/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..5a0eedf098fa7437481cc389b641268a36247de4
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00233/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:856b98b24db5f25295cf6d2bf91b6a09266575694dbf014ea6ca3c911332df9f
+size 1589323
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00240/debug.png b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00240/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..e4d00aa47bc02dfb1b520bcc272bf3caaa46ce3c
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00240/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5f6faea5d8134aa3205c61bdac5feb2c32eb5480c1d8648d5f1e7ed414121ef6
+size 1626527
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00240/depth.npy b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00240/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..783cfedd07357b8cb3f90ee5bbb6ca48292be1a4
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00240/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5eba211646a73b99c28b0f96f712fa6b503c53d283a0d61d3f226f812050eb57
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00240/instance.png b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00240/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..cdb26015ed655bacf0fb77ab72024cf34f391abc
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00240/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c140ff642559a7c9638b34a9d6988f62bd504833c8bffcbb197ddd23f3790d52
+size 80232
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00240/rgb.png b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00240/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..7a91e52eab0987843a5188bf30d4ff6d8ce7d914
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00240/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:82a89e5e88adbb67fd917e4ac6b5ea7cbf6567f6ecf354a1dc5dfd682a0ede3f
+size 1596215
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00241/debug.png b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00241/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..69ca472f7df67d861235a490f772bdedd945c4d3
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00241/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b322a0752d90c9af94af8e3f2695d329c18459ae8d1ab15ec342100b59a2ef17
+size 1615201
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00241/depth.npy b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00241/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..bd1ff483fa0802b7ba0a30e3a158cd2a332873b9
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00241/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1e0721870fae88108964bfaaf1769dccc79e9a0a6a996bfdffdfc440b2a4bd7c
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00241/instance.png b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00241/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..b516d63d46e04d1a2865484ff97afca231f2d572
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00241/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8babed8774300f6b3d1110451a6e5f554f119555689e6b49d18e62d48fd5714e
+size 75280
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00241/rgb.png b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00241/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..cf72f29438e99e94f52dcc821a14c6f2f751fc6f
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00241/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e63d92901b1b0e6e50b7440bbb6ec2bb3bbd71bffc466db424710af28d6afa41
+size 1593616
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00242/debug.png b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00242/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..90f684ddd8d087efc8ec558b887c4d4affa160de
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00242/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d00dd5028abc2789188c37628013bc38632a9fbad8b4fc4573c5f8164e08fc5e
+size 1638639
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00242/depth.npy b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00242/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..461331535fb9515d1e21640bfa8bfe20b67488cf
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00242/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:98e2fb4b8a167346a37627c0ab86ab6e87664502733d6fe30c883c3bb3952518
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00242/instance.png b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00242/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..949b0f9e346113c83087e31783c27f80938032e1
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00242/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8e2be33d587d22f1ced1acc6f345bb6280a50ee40a3a711cc73e42233d1448db
+size 80668
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00242/rgb.png b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00242/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..42d1bc0f1a350e552fb621861ae213a7520c6b1e
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00242/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f601a70107176cf7bc63c6260656bf7dcc2ae029ef3c86d110fb9e8ec1246d3f
+size 1617312
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00246/debug.png b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00246/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..77623f188f90b9d3ed818366bc19d1bbfd315163
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00246/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:871b12a2325c75ad4787f3e994139b2cca174dfbf5874a6ecda68030e57c6dff
+size 1635381
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00246/depth.npy b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00246/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..1288866fe1645844585011bc07437faba5c01c09
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00246/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ea81a5f8efc981d31693b1de6b92b369609ea98d9a7184b67136695ad3634970
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00246/instance.png b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00246/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..73e66e5cd6ad2153d56eab6d48fb8d6409b94a52
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00246/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7966bdc8bac542cf3a2d4b901140b929aea1701abf2ee346e261ee6cdbdb7710
+size 79499
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00246/rgb.png b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00246/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..efe2e9c2fbf00cced10805864d37c7658e7108c6
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00246/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a399dc6a96e6206d7e562724e452762a397c42860c7650ce9967386270c3a726
+size 1599701
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00249/debug.png b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00249/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..da36a24a3760726d5d325bd8c89f7c746ca7c103
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00249/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:05bdc6837e19ffdb4b4bb2f379fe4fc1a6f22dc7b71cb0ae0e310d8803d3f10c
+size 1648603
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00249/depth.npy b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00249/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..07a4baf8092c52af4fc8cd9024e583b05f352622
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00249/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f9cad2201959e0a73a955976af8c4ee32544aabd8abc0a22bd417d2e5ef59ec2
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00249/instance.png b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00249/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..1e99ba9dadffc08e818885981a6f984aa8aef6fe
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00249/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3814a6c595c42f8fef0570ee80b6f511fffe8c5886b5f59a4a7b8e4520aca991
+size 76251
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00249/rgb.png b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00249/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..99b3319a41cf2cab9c2973a237e4fb4274e17022
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00249/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c9f3edc28d0203df3a32d5162cb8c6f037f158ae449c8b7bf812985da43a73bf
+size 1628843
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00250/debug.png b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00250/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..241f7ea72d0c98aa23f27296b0f2cf0f82ed400c
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00250/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:333bdec6c80dbcf7d6a0a756b07db3e5e7d091c53a9ea70f1d8e8783435e1d11
+size 1643633
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00250/depth.npy b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00250/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..abaf7a15b69885ebd89b5dc95c07abe17289a088
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00250/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7cdc3b46c4ab87a765d2271baed66964edf5f828f7ec110544e7e8aca4f67109
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00250/instance.png b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00250/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..fec876ce75c250acfcb5435eb79e56fb294f0c3e
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00250/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:00e4b6d41e9de4a93c90f61b3f03bc7866529ceb81035eb6f253120579afc56e
+size 75878
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00250/rgb.png b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00250/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..1bbd4984c819ee0650ad47d0c0290f2f3c23ab54
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00250/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0c3a3bad910fae9217cd8db2809caa8deb52ed93ecaded52dde5aed69d20e3c2
+size 1610869
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00253/debug.png b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00253/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..7858d93b22e1208c738bbd740f0df53d3d08b736
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00253/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8ec05e01831c67fd1777000c27c16bc724a8075b51e35b84d4acf00061a89e10
+size 1651929
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00253/depth.npy b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00253/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..0ce39a4a95b9f5edb2950180dd30c72db872712f
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00253/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4647c4353d01f34fa8fce5eed242188a2c8b77e17aed6866ce6d5e98bfe1da52
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00253/instance.png b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00253/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..e1323634a69538c825a27ae1acad223a1dd91314
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00253/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a7b25ab38ad63a7104d3688a8e1c925287db464122957e5c5a29159b4d40dcc6
+size 77185
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00253/rgb.png b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00253/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..acb3cfcdb9333aca03560f3fa6367cebe26aca1a
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00253/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6ceb16a923479d03b5f40d6ba139e266ac3a707940c0e48ac934703208c9f5a7
+size 1594519
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00265/debug.png b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00265/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..c0b6bfa8575f865436069bf12fe00b9ccdfaf98a
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00265/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:84bb8b51b858319b1094a99ffb0ce507d025100e8d4830c0133848bc65668307
+size 1537084
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00265/depth.npy b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00265/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..1b283f557278e7b222f695f210167314c597d9c9
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00265/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ec75b825b61416a280dd1f791fbeb8d0604a51359e9e8029bafc9658703c9e90
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00265/instance.png b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00265/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..ead5c967769ef0acbc3f4e6f8ffd3b65533f51dd
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00265/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:39e39346fa8929d2f863ca81b1cf1d8ab71b60adc5c9740882d8171e2d410ed8
+size 45511
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00265/rgb.png b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00265/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..590d7c748d4b6674491f2e528e9ba4ac274a0bce
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00265/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:be922849437c07ca7b8b17926a4d9ca112e09e4e50a65bcac00c7ca329026cf7
+size 1494253
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00272/debug.png b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00272/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..0f64858251721c3bd0bc6129475f74d0b5b41be2
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00272/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4e45b7b50546cbaf2945e4d8f4c06af1579b45d5f9e8013a0f787b7d3d3116e8
+size 1509991
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00272/depth.npy b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00272/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..624bae61e6d1854d1bbeef3abd5e7cfce9a05f10
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00272/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:97dea2a43ca8ae06961832f03c8c6ce4e04a6f8808212c6a67b59f05f6c7e999
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00272/instance.png b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00272/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..df504c4ad62752059937b5c1bddd22c7cd365f4c
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00272/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:af70a3b99a5cc97ee3702e0f86e3ab11b8e9d2d8e1c7b3bb3e82ff672e083a72
+size 39350
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00272/rgb.png b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00272/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..d32b26ace9323676e8c072c8cb7e53995bfaff2b
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00272/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c811ff726d132c527f5ac4c667a46cef69b656f59d005976af1f35a58fec630a
+size 1481280
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00276/debug.png b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00276/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..c42a13226e2dcd59f2fc503d58e3b2d3045e183f
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00276/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1b4d9aa08aa44538dee98c4cf9f92d4d457dfb6df8ce5f717558366617c89e1a
+size 1491398
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00276/depth.npy b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00276/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..3ba04bee3fc703eaa5238cbd77c8126b7a59efe6
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00276/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:85e29b9514d459f1c0d5305b1746d605f4fec63e977ecc4489569220327d210c
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00276/instance.png b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00276/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..58c0879064b29dbbe819e6e236b1dd72a83b47e4
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00276/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a2ea5a9a2e60fa8a67275626fb2d810d747b8c30c55681116c1116a86eb7beae
+size 26152
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00276/rgb.png b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00276/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..a3ee808b7538123320ff9013c392ba8a820595ec
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00276/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c2df5660503c15a6fd7d8ccf0f00505d683f3bb8c4efac8624ff7ffe4e6a0627
+size 1492210
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00279/debug.png b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00279/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..95d1d2eee0a49b78beba0f66f4249f3001cb52aa
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00279/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d87eaa7a3726153d06f609d3eaef8cec1a7cb35b2580a433ceee1db726338953
+size 1466839
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00279/depth.npy b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00279/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..daecc34a14926ae425a4d3c658bab6c2c614557b
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00279/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1b877feb2239ac825ab73e987217000b83bdaed18198d495f511f7a72d9113f3
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00279/instance.png b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00279/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..5697f30fc95621e2975f6ea65060cfba10dd1a90
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00279/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:def9d3ac7b7c9cb0d8c2f528a6054945ead3babb9487a879e0cd78cbba2ac6f7
+size 32923
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00279/rgb.png b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00279/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..e67072d2185edc33ad023bf6a746891aec2887a1
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00279/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:abd32d45cf91fe871372c0a7329354f9b19e02538c7c52f9d32ef43b34841754
+size 1460011
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00281/debug.png b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00281/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..189797b90021dc2320370b27edac268c70e332b2
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00281/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0ae450c9d473e6517fb37f3bcba4acadd1afc5552976af096e30d8b9bb3fb898
+size 1472936
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00281/depth.npy b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00281/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..d43ccace2baa20515fd72a1f41010db346c8bdbb
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00281/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:53f600e1d938e785cd0ea4080f499eb577e3ec2390bcb411edd548038d3c92eb
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00281/instance.png b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00281/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..da0a8b90ba62ba585b1131bcf3c6001a86030c27
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00281/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:143c79b4ce03a31f6734cb2144dd585c475928a6d87d31c42d1a5fd432e32c98
+size 36164
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00281/rgb.png b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00281/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..31c916878923486c0da33f178cf878226662c963
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00281/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5493904a6c713fa9a43a1b6c5fb26ebdac334e4e243eea75ea84fc54e0461685
+size 1445475
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00285/debug.png b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00285/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..355a6e4484a4d6946677ce946020790ff3abea01
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00285/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0e74ae5b837c2a4a02020c29f8239d0b77758fe4ff6dc856d8502a37c217e729
+size 1458022
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00285/depth.npy b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00285/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..f8db35a886723930a288df173662b62bd9a27ff0
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00285/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2c3ba8bae2221ebd4ee49c9b1b50496c1c4afcedab60c12f251adc365b0d93f9
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00285/instance.png b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00285/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..c022b0b9e463b8c2f194cb20ce6f1a05942c196a
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00285/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9d04f4336ef57fc6090b80e2e4d63db3f4880fa23fa20a6657134107e9ff9396
+size 26209
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00285/rgb.png b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00285/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..2a878ce390b2d7ba1bb0a3cfa68caad0202e2dba
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00285/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:09b7052205369cb8d5e93c807dd9e19493775d3e9119d4c098942f567d5608bb
+size 1448843
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00289/debug.png b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00289/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..96874d6f919fbaf31009518d8e3cd4726941625d
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00289/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a8a4ac3c0343f77e6a8648c1683502f0f6574a0cd089c2a89eea85ad4ac39f9d
+size 1413171
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00289/depth.npy b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00289/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..446442cfc2b91a428fad5e611a736315e2d8774e
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00289/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6111e4e344a623ac1f118c3218436c49f8eb4819d3405333f29ab40676c4f43d
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00289/instance.png b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00289/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..512f3185e729e42eef81908d7c826c5b135d77f4
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00289/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:795a7cb8454e661b5d15e6f12d7974a2640341076cc43f19d11a8220a5488195
+size 23178
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00289/rgb.png b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00289/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..72ef5783216cd89c18cd386810bb6073be4b8141
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00289/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6b24972a4575fe3ece4ec21447daa0c4f0000a97e22f88ec0681ee9baf185398
+size 1432369
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00291/debug.png b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00291/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..ef79be33e06b03bf1ad74459b4b7865b6c3396df
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00291/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:df656a048f2aafb4ae26df6969bbce2a9b0ccdc6350d11894fc2431914b56e3c
+size 1481560
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00291/depth.npy b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00291/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..416bdc9ef775eda0dd0ea651daacfcfdbbd31545
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00291/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9345687c4c97de9fb08968b790c526d1be430570e03e4c51a544c07bf88a71b3
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00291/instance.png b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00291/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..cea11e09b4967cc01463aace2bf4b083133f7a1e
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00291/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a2a926277c2a309e64c1f2988c119942a22dc427c7526154b2a95f1c95e0d441
+size 30446
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00291/rgb.png b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00291/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..7f9c2c40ab687f8349d0cbcaa37450f1c54b62ca
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00291/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7faba7cb7267d5092eca06ca3ee06621f682b6fc2089d6f09d033f162b290518
+size 1466552
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00296/debug.png b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00296/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..71dc8b537871789507dedad8021a4277926e75ef
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00296/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:663364fab11852dff90a1e908683238f02785ca844309031b1732ab88764070d
+size 1500829
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00296/depth.npy b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00296/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..ca6ec39d1c84b769e4136d5800637c8c938caffb
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00296/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f23cf57e23a0c20e458d0e6e97bd8b6f281f80dda6827f73a2a814bfbe85bda1
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00296/instance.png b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00296/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..57e13371ad786eb372293b61bdc2a42fdd2fc3f2
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00296/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a7398f27f4991cbc64ffe0b5045b07337436dc26fa85ae3eccec0bc27fc7db3c
+size 29673
diff --git a/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00296/rgb.png b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00296/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..6b4e0f13192870b0fe5f42945ec705c862a005e1
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777105638/aug_001/frames_playback/frame_00296/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:445b3bf785940461297ca1f0e22a005c39236aa70c51c4cb61532a73d5e5eed0
+size 1499984