diff --git a/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00001/debug.png b/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00001/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..c72ab3fb6af5d2ec3643c103279ca68734d3a620
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00001/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ca79501e9f1108d35e0e56ed578fa7b1cd4fd70ea35f12d97466ee7a2ac9ee77
+size 1202220
diff --git a/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00001/depth.npy b/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00001/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..bfc0f3d1e91c99e39d7a124fae6b78d4283b35c2
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00001/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7e44c7f4a817dbd820ac30b381b2caf6fe8ddfefe33b7bdec45e51b8e8e8770a
+size 3686528
diff --git a/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00001/instance.png b/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00001/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..3a1c3675339def581ff7bc3017d4c2de23a61bce
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00001/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fd966a36fb3c6c450e10de2da89551716aadf2918deabc81b6f6d6e982ba84b3
+size 12120
diff --git a/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00001/rgb.png b/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00001/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..649f3c04ebc7172cc61e5f8850a3265323f75ba5
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00001/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d868b4037e4ab5ac840a6c480c3caaf7bccbb437d3a465d9f93541a57d76a87e
+size 1107975
diff --git a/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00005/debug.png b/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00005/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..39f07ef04ced1d177c51a6d3cd3548e067562a08
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00005/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f742536d5d9b2bf4b18830b3e756eeef8e2ca6b56cb1790c5e93a0f34f31c1f0
+size 1518756
diff --git a/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00005/depth.npy b/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00005/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..f172c83b4bbf739330aba0098626b60a2a1250ad
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00005/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4bc286c42ef1c70341df3053fa3dff8e006a50d0d498150625cedc6487af823b
+size 3686528
diff --git a/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00005/instance.png b/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00005/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..c97ba27e3b205084627ae26dafe57cf88b349119
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00005/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e949ca3db737c86da0643f3c80fa44be017b53e6758d7d81fae25b6ad7be40aa
+size 43705
diff --git a/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00005/rgb.png b/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00005/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..a5fa0eaa03cab2285339f1085718b705b20248d0
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00005/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2a21ef9808cd673ae5f60810ee580aedbf1218859f4e2fbc117367f7394e1112
+size 1405124
diff --git a/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00008/debug.png b/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00008/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..db9c9961cad53828311006e043fdd8c18d82e817
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00008/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:70a6de95096ba9b4b36d17b0e8e912acb69fd1c0512185ae666379c659848674
+size 1792824
diff --git a/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00008/depth.npy b/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00008/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..556ca6fb3e14de3f843263c2bab6f4bddcf1ecda
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00008/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:129573a02c76dd931f1387bd79c15fb9ae4e28e110bd0d189427c43ea922762a
+size 3686528
diff --git a/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00008/instance.png b/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00008/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..529884408f01f5c7f9135c73891ccbb3f71d86d9
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00008/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a229af365e67630e8e360c5ba8abf9eef64296d08aa691db461b248dd80466f3
+size 63209
diff --git a/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00008/rgb.png b/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00008/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..19af416a5e16bbd8033e7d2c865dcab0835ab8fb
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00008/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3237043926c84812cf147ec9557464ffb5654b02dd0d3fa2f82741ce30a3c036
+size 1698244
diff --git a/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00009/debug.png b/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00009/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..629b850f6b3f34258517a293c8c95f1ca5947d8d
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00009/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b213de418d0edd96c26ee9905acc2cc1018ec2ceeae825f3e8722a5d5fc39fb5
+size 1868280
diff --git a/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00009/depth.npy b/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00009/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..9965823ff91a54bbed2e8477231da223bf7ab6b5
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00009/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:068bc1b3a68087d40f21d0e57a042f3449069e735a59ec09829c86fc48e43349
+size 3686528
diff --git a/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00009/instance.png b/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00009/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..bfbd9431e307e8dc31162f62ce58eec4d9b7d962
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00009/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6604d90d536ad70fa95cfc6aa1b5b264daa9f3c5644bc3766eb871d45dc88f79
+size 67350
diff --git a/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00009/rgb.png b/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00009/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..3f153fa05a7232b789f580544ebb399deba5445d
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00009/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:389768268181fc7c0ce3683ad1f03d195ab684236b30cb82a5f4b1bed423c8a6
+size 1767636
diff --git a/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00021/debug.png b/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00021/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..5f496c0de503963ee35ecd430cfedf51f2d97cc2
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00021/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cb53202788c7b8b958e4be77b05eb2c29d0e83f6e6564ad668657f9f32de3ce0
+size 1924098
diff --git a/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00021/depth.npy b/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00021/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..63e36805971306ef3c9f4c5b73965063a8a89533
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00021/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5fb818280c206ec27d2a5c7c245c6327a88d1e757a6df47022f9787e972d5187
+size 3686528
diff --git a/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00021/instance.png b/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00021/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..85a01f9fbdc8c0f9cf38b8207d3358c1aef52c04
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00021/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2df9ec42973bf9a5e5200b2954b0a956b74e50585155faceda2fa9d3e3f953f3
+size 61900
diff --git a/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00021/rgb.png b/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00021/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..5ac5efdedc6a1add38e8a198d7ad2528f18c53af
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00021/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b2a150bcec1c128cd6a11dbeda1e78b9b852e62ef3da0c40e2c3bea1f64a344d
+size 1829410
diff --git a/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00022/instance.png b/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00022/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..8ea75bbe188db94c7ffd9e8c6cfe8c15d8bed6f2
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00022/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3a9ba88fd05491589b57bcaf2b1db50f0840cb7ed7a4be29a612ee43d93ed23d
+size 52873
diff --git a/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00032/debug.png b/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00032/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..c36a0e88b8de1b1e8172b73334fe254b02fc0161
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00032/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8abf0af5862a7300ceac7d67cb25436135ef3204b481ac70faa4df6bcc25650f
+size 1924199
diff --git a/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00032/depth.npy b/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00032/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..d744664515c56c5215afd7f4762b71efcdbcbcc6
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00032/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:84d16cbc4d0860f2657afe365cf97fb8b9775cf8bb742202cd760aaa9fa1266a
+size 3686528
diff --git a/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00032/instance.png b/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00032/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..cfc16ea1ff4f84657aba23824899c5411e64b981
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00032/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a7265ddeedfee08524df44a72befd8fef7d76501f18c06ebeaf1d7b8c7087f59
+size 72003
diff --git a/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00032/rgb.png b/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00032/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..020e3f6effc148d83a18aef740180d655190dbac
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00032/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2051b9f0bc86ca553c56a102656b796ff6fe934ff5a500024b50097c9780b3f2
+size 1842712
diff --git a/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00046/debug.png b/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00046/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..9c884544dc7f3b8329f1d31fca60f27ea392460c
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00046/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:49d1a255ad5f6848b4aa7e624a1775d86fdd723302289c8a70b43bdaae909ad4
+size 1812945
diff --git a/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00046/depth.npy b/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00046/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..4c743600eaea5e535fbf97829eda442a18e91a6c
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00046/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:41b9501502ae828c5f7ea45faf437a10b9654b87304015b50fb7edcd66eb6edc
+size 3686528
diff --git a/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00046/instance.png b/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00046/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..bd67d8c1eff22f4645afdfa47891ae0adc59999b
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00046/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8742441502849394cd3d7308190b9a957fb828cc9758193ef0278211c50f6192
+size 66489
diff --git a/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00046/rgb.png b/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00046/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..eeef2ffe876e1ae42c1807b559a725d8b04903d4
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00046/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4ae1fe1e14b1796b1cc16354fd94a5369861be64a2308335f1eaaf7d9affc862
+size 1729834
diff --git a/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00051/debug.png b/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00051/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..074f2b6526d6e79a73e7561bd6485f112d1f222d
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00051/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:30b3936f84b0dc9d51bfcc2172956a6c001e65f692d086bc66a8ab6a98414d77
+size 1661949
diff --git a/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00051/depth.npy b/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00051/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..18de672334a13177906635172b1ddfbfe7eee6ce
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00051/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:50b88acd5c61a6bbe71d861aaeef69b91d3136bdc832ce6fdbce989059dbc762
+size 3686528
diff --git a/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00051/instance.png b/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00051/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..93ce64b556922a9e174701e3170ddf0c8688a920
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00051/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:22ca077e94b6976dcaacd0327ba084a94d6e16dcbed09b0ed290dd3d37325d0c
+size 55287
diff --git a/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00051/rgb.png b/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00051/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..6bee2ab7570b8428e2e8544f50809686082eef83
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00051/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:971ee16c375b9216584bfc6a803f07923ea85bb59a32a5a7eaf01e55beeb16fa
+size 1614438
diff --git a/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00053/debug.png b/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00053/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..ecfe2d2fd32580c6d30bb9c118f43746e5017d2d
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00053/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2d7c8048314e7d0d4b839e7b573861a60585e0810e7cb52c554cdcd844fe8049
+size 1683549
diff --git a/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00053/depth.npy b/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00053/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..1c4b49e46618784ca2599636f37d2a5b858fa84f
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00053/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:07839c5a15260bd3ea87c21e371f778e253586630a2ddaceb5c5a1dfa978830c
+size 3686528
diff --git a/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00053/instance.png b/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00053/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..7ca271167e5a789fcf86f9978b59fbe720b8bbe8
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00053/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:427dc16597b5e95d88271228e9acdf63d71043b34fc7e86dfab817023b7ea4d7
+size 55993
diff --git a/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00053/rgb.png b/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00053/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..0724642011b3a67e23a5da3e0a481bf8b9f37291
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00053/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9f39b0473166b8f1b507e2d6b2a9597111ee605349e6bcc3269b3798a46ec21f
+size 1621364
diff --git a/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00056/debug.png b/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00056/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..38805643f4bb471af861b2ca65c961a9bff47489
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00056/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3d2871f92df4bdbd5df11fa62043dcd5ab78cc287c7c23fcacc9ed130a9a7023
+size 1581586
diff --git a/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00056/depth.npy b/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00056/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..b8242f3b86709e74e16516ee4a0f8980218850fb
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00056/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:49066959c78600461b3468afad9a1da1569206a6da2d4f5180d345460784f68a
+size 3686528
diff --git a/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00056/instance.png b/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00056/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..3f1515dc1a0cb49e3e3ad7d3394cd57dba4c7c43
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00056/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f3f13db05613e6f9611ddc3f1f07d94289b9213198a6c44a5c59101ee88526c1
+size 47360
diff --git a/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00056/rgb.png b/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00056/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..74f7a0739214e8650d4e92802875bf8a40f9bb92
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00056/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:85c7134249f5daac9bb42d6df2e448ed9a95195512d62c330c9cab777f8fef95
+size 1553250
diff --git a/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00059/debug.png b/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00059/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..f3136c79c3b81676cf9869ad5974f911cd2e753e
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00059/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e6336a17ba3213ac6d03aa0f3ba86d215a4758df9c462a1f01bc0af2e4604b1e
+size 1563140
diff --git a/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00059/depth.npy b/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00059/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..82769482fd127ef7fe8d00ad081e8168af9bc85f
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00059/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bad3066d68d2d4ff80819db461368252cb58926d5da3f14fe65a59483b7522ea
+size 3686528
diff --git a/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00059/instance.png b/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00059/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..4930cb09564e1def7ad1affae99abedbf4890259
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00059/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:887be5ead06bf3f3903ef6da68c533a4adc41b6d6da7208e785e08c1a1720bfa
+size 42165
diff --git a/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00059/rgb.png b/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00059/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..7a57b4f4a8de1b6eef56cef2535e2a1d290e581a
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00059/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:12058e3bdf824efd8527814fb37479fd3782ce8039d60bd4f14d86448c355221
+size 1527679
diff --git a/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00063/debug.png b/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00063/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..73cb77d864193df65ae5740086a77be7f66249c9
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00063/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d165378c957b46210ad121d538c4e2687d39fd25efd84c9b064c755d03ce4d84
+size 1506334
diff --git a/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00063/depth.npy b/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00063/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..8e29c753d3bd9f43719047cc76fc3a510a76f3b8
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00063/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b40226468fec2e427d7b7795338f149a691eda986604a3d4ad76146a8c5365a5
+size 3686528
diff --git a/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00063/instance.png b/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00063/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..dbee3c1018cadcbc56851f34e1ab6d1644dd042c
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00063/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2db624ae7ea925ebad2cf666cef996fd014eeb8bb757063e48a42604fa678145
+size 49165
diff --git a/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00063/rgb.png b/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00063/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..49185f596174a0074f1913ba28c919795727af9e
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00063/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9f9c39cccd410c24ebf9d8d604ce81d7ecf28895c67eb894dd705753bb82bedd
+size 1472924
diff --git a/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00073/debug.png b/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00073/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..56a10db7a639bf5e02752a41feacd3fda17b8446
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00073/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d45305962164203df9c8520d9aaf5d76a23148ae1974b05226a5fbb524dc4f64
+size 1396202
diff --git a/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00073/depth.npy b/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00073/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..1e6015601280f11186d6aab651ef62936c9dc3e7
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00073/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2f459edd37657580bd09b375d290401006c2891663627cb5c168f091d410b24a
+size 3686528
diff --git a/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00073/instance.png b/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00073/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..94063f539467d61857dbe61f7677ddece14c4ebe
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00073/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7e5a11c52f54b8db02826d0ef78c41e52ff741839f988b36fdfd04da3105d3ce
+size 50862
diff --git a/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00073/rgb.png b/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00073/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..b94c91091c27d86013d25b05ae16155a1244c185
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00073/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cf39165850819d150e5ee9378c8a97c1850f0ee529953eda102eb396479b1562
+size 1416600
diff --git a/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00082/debug.png b/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00082/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..c0a2fa3bc4adb9693ddcda77c431cea6deb4fcfd
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00082/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c4cce8e2027c8434d9b7c2e09fa6b69df20ae18029a02de404ac141937dd4485
+size 1432841
diff --git a/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00082/depth.npy b/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00082/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..63442e473bd926d0116b36d0714b8200d168d642
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00082/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1a14a13e3b067b1ec1446be066e1c6c887c27aaaad01c258a2f028b7d9d5bad7
+size 3686528
diff --git a/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00082/instance.png b/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00082/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..21e5554ab27c874f4a59625caa1deb16cc629fc0
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00082/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e82727baefbb4d274ba16d273bd8d812e73640c2c5f8771ae54c7586731b7d08
+size 46271
diff --git a/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00082/rgb.png b/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00082/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..c7ad40e23f369e3023895608b1932bb40b646bbc
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00082/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e2c4a54c0af74187764d5ff42db78be45e065cb04f7c648e2fd4c14f1676d80a
+size 1437235
diff --git a/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00085/debug.png b/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00085/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..1e1a8147eea2b5b0afed42689e2ed348dfd719f8
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00085/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:206293d0381448595be55e810287244df32d06d2f8b6323634c3b2677dd7d959
+size 1440001
diff --git a/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00085/depth.npy b/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00085/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..b62a3c2509032541a1b595c9d1fd03ee7f5c6174
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00085/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:041faaa21c3b1f64b7731d7fbf4129a57c1aaa682ce494831fc12660f6a60884
+size 3686528
diff --git a/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00085/instance.png b/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00085/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..24798d0aa4a3b9bde0ef746f3e7c84efd4365617
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00085/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0bbf110dee035711fc4ed7562f3f02f8582e36e636ad11cc0ff5b4be274a1ca5
+size 42204
diff --git a/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00085/rgb.png b/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00085/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..9d138c617f8e4d936875c396ce63f64608560fcc
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00085/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e2bea78d311c54782403946b7f99f10feaa9d2b48ac21d074f8afb7b491c9445
+size 1428693
diff --git a/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00091/debug.png b/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00091/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..25ca5f16c01bf8bf9be14414fb0e9d0bdfff79f1
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00091/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f18e7b899d6cefa0d5f049ede8bc92c82ec06fbebe349f88a137aa566a6c999a
+size 1491625
diff --git a/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00091/depth.npy b/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00091/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..3b7e57a46aea2ead252528a6ae449b391489cf0b
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00091/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:79291f69ee4c93037f7d1d26174baf7ac6976ca18be52981dee602e5597c3c26
+size 3686528
diff --git a/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00091/instance.png b/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00091/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..fc82c873ded68a1039a1a9e88d0282a15e1f2cb0
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00091/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ca9f5e50e90940042b4d76c0329da21ded13a3ce8076571490082b6d94a9a204
+size 42062
diff --git a/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00091/rgb.png b/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00091/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..9f61a4769990b6a03ea9d05d7107d2e66e52e802
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00091/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bd8d3f7f5b813c60f4d413650acd526d2fe197fc1c8b5584f065b98480b053f6
+size 1429265
diff --git a/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00093/debug.png b/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00093/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..2186093b4bd5af5bbf7ab295ee3da1ea1368aaa0
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00093/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d8f6e666b79c3647f7bf43645baeb234c18e9c527b6758203acd0571b8d8bab2
+size 1519528
diff --git a/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00093/rgb.png b/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00093/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..535a4e90ee952eec04b4fa42140a4e44fbf138a9
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00093/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a5d700d01cac29635ab34179047390ef2e915eeecd3b7cb4a5e53649c78f62a3
+size 1438330
diff --git a/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00097/debug.png b/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00097/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..cc4fac85d26a54271904bfd171bbd35b79c9f98d
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00097/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:476807b1223373b0db81e1215af93a5f652d1aa60e1e4b87573254962e4d6f95
+size 1559609
diff --git a/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00097/depth.npy b/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00097/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..03c1c0c9e8b62d4c1145177e4defd8a66abe7b37
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00097/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aaa1d5c8edce7dcad96a93ca820c19b879b395c1d76a9897782ea81352e54b12
+size 3686528
diff --git a/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00097/instance.png b/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00097/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..705a1f7f103d91617e79071f90e5061e62c50ede
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00097/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c0e94c5ea5c4937931f08a2dea8b1a8ec6e8074b0cb61c12591176f3df6bf0df
+size 40837
diff --git a/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00097/rgb.png b/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00097/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..b4e1a48dfab30b9b0fec768469a89f8ae5852da5
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00097/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7369388639068cf99c781f4b7f5194380888f0c52260824ef87c9e8a276474d9
+size 1461334
diff --git a/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00112/debug.png b/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00112/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..98588e9b892a53b1d91fa5b7dbd128f7be1bd96f
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00112/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f501323e5d76bc0e3bf1e35b6f0679ca0cf9e8463e920d2dbab96f55323ee53b
+size 1621549
diff --git a/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00112/depth.npy b/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00112/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..e419e89b74a139e8a197393a6156cddf034dc0ce
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00112/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a7fd4c48550f7c7fe11992af7aef24dbcc25bd3fd493339a5f2780dfb695cb02
+size 3686528
diff --git a/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00112/instance.png b/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00112/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..71be870f7275612a339547068e48106898cfe0af
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00112/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8988ba061489c2e3bd8bac04281402cd4513cbb9cc66936a02f59054754aa5f3
+size 36610
diff --git a/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00112/rgb.png b/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00112/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..a20916581c19efaeb7cd635d96e1d6c1ee6df39d
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777072988/aug_001/frames_playback/frame_00112/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9d983e765b91fc89f63e5b353af132585dc26993e7ac7e8a0af5f1241343abe6
+size 1515783