diff --git a/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00001/debug.png b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00001/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..ed66527a727336d5a97add0764be5d7b069a3a4b
--- /dev/null
+++ b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00001/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dd48924d4b37420d1b14b9fcbd2947a539a56b71a991c6c65b91faab84b508fc
+size 1522409
diff --git a/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00001/depth.npy b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00001/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..7e613dc091a79e15d820f7201796dba7dcfa3449
--- /dev/null
+++ b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00001/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:969acf6737c0cbb13d193bcd76d474722caa8c44d067790e15f91ec23713ae8f
+size 3686528
diff --git a/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00001/instance.png b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00001/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..cba8b125bd1a8f6c113858b466f6d337d522a96b
--- /dev/null
+++ b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00001/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c15104deb3cfeec206278ebdc2ab3d7cf0d40d2fc610711bec4d8afa85911d54
+size 75510
diff --git a/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00001/rgb.png b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00001/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..38f10e195513a85fd4c022f65c1c21a56b4f4813
--- /dev/null
+++ b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00001/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3111afde1e4f2bde8e671b71d1b2d657b45b3a9005644a6ec8ec3a4897c87d11
+size 1537524
diff --git a/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00005/debug.png b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00005/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..210a1eadb2f4c5992631405c29e2815661c0bf68
--- /dev/null
+++ b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00005/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b9a4ccd3984abc86a6072bde786936c6c03e1ee7cdc13ad17862295de745b033
+size 1532601
diff --git a/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00005/depth.npy b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00005/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..6bc0740dbe5933de52a22a68b33a6cf04640a9a9
--- /dev/null
+++ b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00005/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7133262450a938cb99f8cb891e5b760f5b1686a4d6767b3c10e080a74308ee5a
+size 3686528
diff --git a/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00005/instance.png b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00005/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..12502d4d04e563661ac4354e63d09833710d09e8
--- /dev/null
+++ b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00005/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ff2fb875dfea2c534d0b3f6ff8ece950a84894c5390e2a0723cda5db4ab48af4
+size 78164
diff --git a/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00005/rgb.png b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00005/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..ef2e7c80c583f52d1a4b3113bd985d697459f5f3
--- /dev/null
+++ b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00005/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2fe9a5b6d44319075d79d8a7e145fc5e1b9b27daa8ef68bf206d27711a8e1ab5
+size 1537880
diff --git a/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00006/debug.png b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00006/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..7ae8b1c5c4c108a285df0dbae88de103eaec743f
--- /dev/null
+++ b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00006/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:df20f8f2ac9c1566e14b857167811b34bdde7182b66167dfe5c3ec2cacad56a4
+size 1560912
diff --git a/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00006/depth.npy b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00006/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..5ef9b86d3c82acac24cb9da3ff43551d5578cb22
--- /dev/null
+++ b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00006/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fafb70239f01046e5c5cf7d0e706f03fc1cfb2698de7fbe97d453099408dd468
+size 3686528
diff --git a/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00006/instance.png b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00006/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..aa5d19fffbc8fe8ee8bf0f2bdd261fed5b2abca2
--- /dev/null
+++ b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00006/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e7bf9b63ced221694601e855643b1e4e258953897e76033e7511f06c70bf8c53
+size 81959
diff --git a/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00006/rgb.png b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00006/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..d09e686b75a7d21485f258467d18202646016ec4
--- /dev/null
+++ b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00006/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4e80259e1b00f6972b2c13a47358c81571bdaec81d2663621e967d8826fd8422
+size 1548790
diff --git a/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00011/debug.png b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00011/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..71f764aabb270e477c71f8d94b9b2f9c8b748e4c
--- /dev/null
+++ b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00011/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6b3b38456bc5d3d42709d53fbabd71cf70b30e87a203c27ab4acac25fb3a87a4
+size 1609238
diff --git a/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00011/depth.npy b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00011/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..5c586da91fbc5d877274f733119b334d65c009c4
--- /dev/null
+++ b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00011/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ff55fcaacd06a8ada4bef62f6450a0d55ff6c1c28d59b654245ef6d085e17be3
+size 3686528
diff --git a/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00011/instance.png b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00011/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..96dd2742a19bd34bb0e77555422a8690c8c16367
--- /dev/null
+++ b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00011/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:49e03dc1407a9c8a0e746a55a74279d36b33d65e748bbf8a9b56b0118eb8d2f2
+size 87041
diff --git a/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00011/rgb.png b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00011/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..a576bcd69ed777ac958f3215ee262fcee26c553f
--- /dev/null
+++ b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00011/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f34609e46a4cf9a86e568fa5fadd7eb6bea93438967413eb1db5a388257a99b2
+size 1572513
diff --git a/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00030/debug.png b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00030/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..9010fff2492c925cbf14ae5b11ed7210ec09d523
--- /dev/null
+++ b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00030/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:42018aee117b01a939ce3fec8ec179c8afc48c9a6ce9efe78a649cd73e61d473
+size 1616224
diff --git a/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00030/depth.npy b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00030/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..cc92822816cdfe18ed0561759753a8229100047c
--- /dev/null
+++ b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00030/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0efe6eb77d4cd83f4bf95bd02fcefcd27d9c04cbf48229735a35c4cc8c3cf6f0
+size 3686528
diff --git a/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00030/instance.png b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00030/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..81c27f17f2fe6fe5c04bf733cc974040bdb26ec7
--- /dev/null
+++ b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00030/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c20379d471b1fe7004e6b3764937af2e2c81e8ab735de3c4720ef5c00ba6b12b
+size 77544
diff --git a/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00030/rgb.png b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00030/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..c3eee9a8b8daddc1ab0b7fed14e166e847455f32
--- /dev/null
+++ b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00030/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:15462bbb6c1d77594f015468080b1541043dfa412295e53cf080fce81e9475e9
+size 1595389
diff --git a/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00032/depth.npy b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00032/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..4f152fbb8650e987721a4125fe8a4bb79b70a265
--- /dev/null
+++ b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00032/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:02cf4e6a7f9665a529f5977c33f24aca3a9ca9216110e323059eace3aab0a5d2
+size 3686528
diff --git a/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00032/instance.png b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00032/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..224ac0c963e222eefe7ca54ebfb5e5714405d2b4
--- /dev/null
+++ b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00032/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5a56d9ca8a9ac17c0271c07bcaa3d5e256dc437b321befbd5121230d45e00a7c
+size 75387
diff --git a/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00051/debug.png b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00051/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..c5d2067bf7678299b4e8bc822a0cd7f61a686a4a
--- /dev/null
+++ b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00051/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:065080c6836e8324a4bbfae7ed227ccae02482139f01cafc0dde69e88b913328
+size 1683950
diff --git a/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00051/depth.npy b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00051/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..9fffe19faf819a76ea60a421481cd4fa3e4367db
--- /dev/null
+++ b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00051/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fa1e9b03a56909a004601048ccfca8d4f825587c7cc8ce52edfc8f1f3a5e092b
+size 3686528
diff --git a/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00051/instance.png b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00051/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..9a0fbc03fb9870292428b0379fabb04492be4bdd
--- /dev/null
+++ b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00051/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2a15efe4a09edc13f97997208dcfe4d96d65f7726dddb897fc99386c3f74441f
+size 36959
diff --git a/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00051/rgb.png b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00051/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..535583d67ce778cf1d12ade2cd205356ad2de257
--- /dev/null
+++ b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00051/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b7494b224b5f25627023ba0e15d0a5498f424ad941061e6693e80ced9572ff11
+size 1616351
diff --git a/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00056/debug.png b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00056/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..d7dc5412205ebc14668e575494beee40e3228ca7
--- /dev/null
+++ b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00056/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e172f7794094b5309e25037f779a9bacfd1a7f6207290dd4137a972112cf53af
+size 1663649
diff --git a/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00056/depth.npy b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00056/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..cfc4ad8d1b53a53291adb11b43b1445f74f92ed5
--- /dev/null
+++ b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00056/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f879e6872eee6eb1ec7588b19ea41f0930063f08bed049f60cb5f6c86dd77b57
+size 3686528
diff --git a/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00056/instance.png b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00056/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..3888afd414fc8e59cf5507b7c49c3da103a67ad4
--- /dev/null
+++ b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00056/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:482126dd7b157ed9d6a2216842755b52ac6007a040e145105b0677b234a88fe0
+size 33888
diff --git a/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00056/rgb.png b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00056/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..bed7807744c9a71df59b4f3d5a6ac9bfce09489c
--- /dev/null
+++ b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00056/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:38ac918e1f6a7f70979c25ea4ac8923b8bcb8f1aad6b31164ddf74264f0ca3d7
+size 1596786
diff --git a/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00077/debug.png b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00077/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..01a9392501e611177e73d1b8c19f9b593c0a7b33
--- /dev/null
+++ b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00077/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b5221e566ecc973817f697ef554b313a7776e84e8a7de4b7634cba76ae6b4a1d
+size 1657142
diff --git a/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00077/depth.npy b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00077/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..ddb5b2bcfa4896ca5865ff6b2f267d7098158454
--- /dev/null
+++ b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00077/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:64c58dd1155d9e5b501ffe994a537527a61c4a2f358dfbf791ad80c330a47588
+size 3686528
diff --git a/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00077/instance.png b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00077/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..248a17d7d630212152fae41325a68ecb5b2e95f1
--- /dev/null
+++ b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00077/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:99a0c792487e8ae0425f4ae4b018220a59f6b3eb879f34b1840630cb0c214fe8
+size 30652
diff --git a/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00077/rgb.png b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00077/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..f3cd90e51bc493475536de0c822ca00cee80bfdf
--- /dev/null
+++ b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00077/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:92cbd21b456d9107177e6078d5cc1a4a2da36da2c271695fe14e4ee93195b5cf
+size 1545838
diff --git a/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00091/debug.png b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00091/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..169182314d03cd7187f96ec599e23b46e44bc53b
--- /dev/null
+++ b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00091/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:47e771d53eb2f1a462bd1aeddae919008aba147a0f78d4593c74d503f91a3f16
+size 1632677
diff --git a/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00091/depth.npy b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00091/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..eb1f6f7513a37cb6c8ee669f7f453e471a46e388
--- /dev/null
+++ b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00091/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d03980959df24c6dccb04a24075eaa8e8e422caf027f94ebbbe6ec377c733d58
+size 3686528
diff --git a/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00091/instance.png b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00091/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..d71035d5fb1c44a81b6640d41d51bfc1233a6647
--- /dev/null
+++ b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00091/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:74b2f5c94df169ad39a137560fbaa0414ee0d4af9c4e53674d42edfba463758e
+size 41612
diff --git a/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00091/rgb.png b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00091/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..3435b57a25013a6f56c9a24653ce677bb84d4f6e
--- /dev/null
+++ b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00091/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9c9cffe4c2acb9d2b6aae998c03e45fe932da2840f4a92480a11d4f46cc9867c
+size 1542839
diff --git a/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00093/debug.png b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00093/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..d7474b93fe7e8d0b03714605b26c054b722eb3e1
--- /dev/null
+++ b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00093/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:463d00218bf5eca71eead816da4167e4599ca7170e89527f5c8c4855822b3730
+size 1634489
diff --git a/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00093/depth.npy b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00093/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..5d60057eab3c701d8d59efdfa813284058062681
--- /dev/null
+++ b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00093/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:873abc90efdd0dc58cd8e867d9c2a4ad1b73219f5c28fd13aa02df8e69781037
+size 3686528
diff --git a/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00093/instance.png b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00093/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..968124c44b10d84976bb0d74bb8dcc8b25faf6fa
--- /dev/null
+++ b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00093/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0c4cacec2ee8b3cd679150a5a2eb2f29f58d7c1568998525bb98211e6b875c95
+size 42036
diff --git a/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00093/rgb.png b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00093/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..8ba61c968b7099d78fa6983dea891f73c199ff8a
--- /dev/null
+++ b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00093/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:05698cfac7cc3e0f430ecb79347cc0d06cddefa6b6fc509af30f9684c36a03f5
+size 1530612
diff --git a/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00097/debug.png b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00097/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..d8454a2072c0aa42f6811d2eea95f8fd79b32c78
--- /dev/null
+++ b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00097/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a1689aeacf5c0fbddf762969c69a058583d04d52826e44f14aa652c4a27130fa
+size 1663416
diff --git a/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00097/depth.npy b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00097/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..d3a877e01611f0abe78affff2f531812e3e31ee4
--- /dev/null
+++ b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00097/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:24ba5be4af1af52f97e7ed266301113682d10412cf618066deca8581aa6ee082
+size 3686528
diff --git a/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00097/instance.png b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00097/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..83693f4f7d67986fbe3093c023f3ce9e006f0140
--- /dev/null
+++ b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00097/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f32a0324fe76d68801e3e8c9eb7f158270a1b1c373942961237a6583fde8f138
+size 50681
diff --git a/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00097/rgb.png b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00097/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..6377d420b60976907d93ba4f844b3d6b223e8f5c
--- /dev/null
+++ b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00097/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e0d98b102c0711b1f5278d5b8733e54ac44196c8fc4a6eec3aacd71db27a8d8e
+size 1556925
diff --git a/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00098/debug.png b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00098/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..b402d58431edfcb4f0cccec7421247e3fb9ceb54
--- /dev/null
+++ b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00098/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4cdae94a07101a622425d3eeb64a5161f27aea2f8e0c80e84a24f699427d7ad4
+size 1656640
diff --git a/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00098/depth.npy b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00098/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..b1dc7511459b99f695bc0deeccef8df6c44bf70f
--- /dev/null
+++ b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00098/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d78631f932d153558365bd4a491e8733dc331fc811f39f9e5b98c225f0624943
+size 3686528
diff --git a/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00098/instance.png b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00098/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..4af97aa1493bd8590c622bb4e91be54cb134fac6
--- /dev/null
+++ b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00098/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b76d5dd86e608ba4311685f8538e777e8addc4719b888eec5241d99f35e4723e
+size 50427
diff --git a/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00098/rgb.png b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00098/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..ac4a45044ccaa9e2580338c1c42520147659764f
--- /dev/null
+++ b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00098/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f15452180a825274611429d8cf7581d06ae3cf921be12753d09c78f4872991e3
+size 1546854
diff --git a/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00103/debug.png b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00103/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..520de5fa3b4ec0e2e1460c6819ac806d0ec74bd0
--- /dev/null
+++ b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00103/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fc9189e5a41014d87e9f2fd7ab1c97927dcc460c1f0a1124a35937f7cfe62eda
+size 1638777
diff --git a/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00103/depth.npy b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00103/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..d8597cd2be46482eaa3a022a1c5feaf33c13093a
--- /dev/null
+++ b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00103/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:21adb13ed3435366b1b7f369f87cf28208a20357b31181077458ace63b279998
+size 3686528
diff --git a/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00103/instance.png b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00103/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..138f040cf501dd9b17646f0f071f467f590d466e
--- /dev/null
+++ b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00103/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fdff85867d26955dee8a045062d9efe2b36d1ad181b407c4e4cdaf8a865bd7d5
+size 40670
diff --git a/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00103/rgb.png b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00103/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..b3377830e8fec0d90a421f952c133e635206c212
--- /dev/null
+++ b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00103/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aa4379a26faf2ba963e555783d19eb3c69180973894a1bac48ed6ab974b16916
+size 1530977
diff --git a/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00110/debug.png b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00110/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..dd8224d2a94475d3a957b7548f560b75553996a4
--- /dev/null
+++ b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00110/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5a22dd626ae659792a0478f6a0903398bfa3b843b8534d3a1471586c4cf363f9
+size 1629243
diff --git a/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00110/depth.npy b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00110/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..1060e0c2ab588611fec437293bdae83cb375c927
--- /dev/null
+++ b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00110/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bf16a837daeaabafa72b887e65d284683d5f94343baabdd5ab083eb1b3a63038
+size 3686528
diff --git a/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00110/instance.png b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00110/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..4fdd8ba7ec7c89917a7e763ef1faad9186ced990
--- /dev/null
+++ b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00110/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a0a8e6065264c7fe619e0afecb6f09de0ca0613ce52463d526daca98b3a4825e
+size 47602
diff --git a/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00110/rgb.png b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00110/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..88db073ab6520ab15e3cbe80465c7a66586f540c
--- /dev/null
+++ b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00110/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:03d156c8e351204ffd6841cfe124143e75b5de1ffdee62deacd6900cd32749ac
+size 1531068
diff --git a/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00115/debug.png b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00115/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..258f59eceea333f6a97f6b8d0835ebe0ae0781cd
--- /dev/null
+++ b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00115/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9b5595fd5bf0e87baf0d5e2d6c310a495048324804b0d287dffa3383acb86d0b
+size 1652490
diff --git a/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00115/depth.npy b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00115/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..035b26c8287576ecda281396885a1924375b4d4d
--- /dev/null
+++ b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00115/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f58750904b30ac77308b633c02b8bf8c34b14ad25f97ba0271e6864a856dac39
+size 3686528
diff --git a/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00115/instance.png b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00115/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..d97061559cd372127111e23bf3f519a14facf9ad
--- /dev/null
+++ b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00115/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:36acc03abeed96fe35b11f5be27e12bef78093e9949bbdf47545e12a73acd1b6
+size 60571
diff --git a/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00115/rgb.png b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00115/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..6ac5844a11a8678c26c0047e64f343e702f8b1cc
--- /dev/null
+++ b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00115/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:61abe191384690ada7578a1cb5df8722c3feb2d0ec9a7376a244439e52550a79
+size 1579015
diff --git a/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00122/debug.png b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00122/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..f4fe0956530643233f08b1351ec42ffc7b247a6a
--- /dev/null
+++ b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00122/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dacb6b539bbd18a786727520b3846cae23d788884e5fefb3b3b6a83e961a76bc
+size 1593425
diff --git a/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00122/depth.npy b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00122/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..ec4be551bf49be37a6952880b0c0c94cc1a8ddba
--- /dev/null
+++ b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00122/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d7ac61d00d34c3fcc9aa193014d2dee51e889e09b1731eb45775684e370366cc
+size 3686528
diff --git a/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00122/instance.png b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00122/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..0c500102b5c71b9b7f98b2ce73f361b787dc6ab0
--- /dev/null
+++ b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00122/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eb48a6747cba9fa3eae35ba23e9f07fde26799c2eee90016bd5d945113d025be
+size 65235
diff --git a/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00122/rgb.png b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00122/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..e70250f2f3db7f2e2f6ca1a7beb96cf90da582aa
--- /dev/null
+++ b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00122/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5629baf0ed016a1cdd68769f3697e96a9a778669265ffd0464a070a5026aa57c
+size 1519069
diff --git a/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00124/debug.png b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00124/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..cadddb85f0582aff5a823d078eaafb3276f4034e
--- /dev/null
+++ b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00124/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:75eec5efff1edc7d6f7efa46abdcaa26f0d4f13e269e8c1bfcb10f59c3d70873
+size 1611638
diff --git a/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00124/depth.npy b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00124/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..00d603bec986c7be9e9950e6798fea449a4f0143
--- /dev/null
+++ b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00124/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:979683c2d5a7fbdb46138039848c62625b6a35a6dbeb6a1bd287e77a6b4f4222
+size 3686528
diff --git a/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00124/instance.png b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00124/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..3f776084866c8f78491f15a969d6ac3fe82cdd29
--- /dev/null
+++ b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00124/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0e70cb30ec723fecdb2a56d91528f8b17643bde9cd7988bb27984da34deffd70
+size 71431
diff --git a/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00124/rgb.png b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00124/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..81a6828462bf71b2d5004dd214d9f3b483ca7fd0
--- /dev/null
+++ b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00124/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7b936666567b1f716dfca81d14502be8b0159eebf1a9148d3f1b6750afdcec53
+size 1536252
diff --git a/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00129/debug.png b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00129/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..23177783c2750868d3af2a2da1559c08b27e3a34
--- /dev/null
+++ b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00129/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e173e4d94c701112286af75ebd9142fca8a4d792c8283f9c7c54f9d971173199
+size 1618026
diff --git a/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00129/depth.npy b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00129/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..572b828c64ac480598989395c8b55eb141bafd61
--- /dev/null
+++ b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00129/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4e5bdf272976ab70836b75fe29426d6d5f0f5ddb6b1903d999eef17f030b7602
+size 3686528
diff --git a/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00129/instance.png b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00129/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..17faec2a4c12e3ff06a26bdca05a7c0a68fdd2c2
--- /dev/null
+++ b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00129/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:147ec9edeae8296a94b7bcb8e7ca1a620e8216d0db30313e0050d8dfc991cf1b
+size 57904
diff --git a/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00129/rgb.png b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00129/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..311c8f780c2dbb3ff085cf271b71dbe23584851b
--- /dev/null
+++ b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00129/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b3b00d30f3292349b1215805a624f4fabc8907af11eef10fe1e5b9bee697327c
+size 1546847
diff --git a/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00131/debug.png b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00131/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..32f1d771089870ba819cd23d99d6aa540e059abe
--- /dev/null
+++ b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00131/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:002688223f0c9e5fc657896f9ba4c609809d8e5320ca2ee6eecb9d45b0202693
+size 1596654
diff --git a/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00131/rgb.png b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00131/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..aee8a81983b86b2a9f4a6dd1d3c4c30e102c8269
--- /dev/null
+++ b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00131/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e3c493b9bd68b4e61fd5498f45bd5d9d4592525032153c4e8b0ef99691744ef7
+size 1521687
diff --git a/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00143/debug.png b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00143/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..dad19bd020646b856df93508ad9c521414803c94
--- /dev/null
+++ b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00143/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:930e1c516211443220110cd007027668e4c9d656ec02bb1c1dd6477a502ccd39
+size 1704000
diff --git a/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00143/depth.npy b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00143/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..a167c08d5ff965f9bb7704319998937f8d9336d6
--- /dev/null
+++ b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00143/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:72fa6ec97a761dc2fc4f88ee8e62db3c3a91218029ac8514fabcaf45297ccb23
+size 3686528
diff --git a/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00143/instance.png b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00143/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..605decbd9ab26388ac7b9fa8c6131a4ff0baf520
--- /dev/null
+++ b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00143/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:10844091f582d1fb9ff24421cc4f2762b48871a6727d56841bd201ed11a5a173
+size 67779
diff --git a/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00143/rgb.png b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00143/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..77c9cddf9b17eb3f0848d8e66709eb06dbf22c34
--- /dev/null
+++ b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00143/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:055bc2105e599d05a3a360067f183b38828c800f3e63f35b07173230d6ea5f01
+size 1620294
diff --git a/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00168/debug.png b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00168/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..6f0dcb9186f93f26b1181d2e431ae5ad4e5af2a3
--- /dev/null
+++ b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00168/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7019de842e08caba286f2f7e4a6e8cebac239c0422a35d1d9590eaba41d9b286
+size 1842871
diff --git a/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00168/depth.npy b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00168/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..065f56840ee10974db9ce0c796cc530cf5796b5c
--- /dev/null
+++ b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00168/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7ee9c3a35777781fd58dd3566e4ff993f669fe89a6550d1609c09af4a518b2bf
+size 3686528
diff --git a/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00168/instance.png b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00168/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..aaa0142a2a9a2cb8300765e4ef39ae7ae8a8db8e
--- /dev/null
+++ b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00168/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:84777c7ed1006fcd26d3dabb858affe72fb525e9e8e3f87a58836c7e3362f8be
+size 75021
diff --git a/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00168/rgb.png b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00168/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..e82cd5f14edfaaf45ee555289a619125fafb49c1
--- /dev/null
+++ b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00168/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fbc087cf257f2175bccc2bb55198fb82ffa13a45598611eae952128f499f9b4c
+size 1735102
diff --git a/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00172/debug.png b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00172/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..2d2d9659bfd339f5735fa24fbba68bd03eeba789
--- /dev/null
+++ b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00172/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3e31ef34df372282a12e45c7f6dbb7260707ee361ca28b90964b8a4755080f7b
+size 1858145
diff --git a/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00172/depth.npy b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00172/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..f117ea86b069fe6eded8f9be2f593f436991c75e
--- /dev/null
+++ b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00172/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aad43afd7ffa1c4bc2b3dbb1ba28b75fe0ed20d817c96e4f88f130846f04f9b2
+size 3686528
diff --git a/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00172/instance.png b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00172/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..2fe6cf4262c1a6b10a957293ca4001872eb0cfc8
--- /dev/null
+++ b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00172/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d6642e96b67724c793b123dfe152cc57e39fbc84fd817ebe304dfa3669c881c1
+size 73169
diff --git a/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00172/rgb.png b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00172/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..d53d0813b70757a32e92115f42af10eac7cde6dd
--- /dev/null
+++ b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00172/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bd0acecadf3d354eeeb5106c7211e4e7a365d886332c88399a5d07c7bc32cbdd
+size 1755328
diff --git a/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00179/debug.png b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00179/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..3c46c4a1cf53ff75f9bc35090793eab5609dda19
--- /dev/null
+++ b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00179/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:94bdff368410efdb440848e754f48d30dcca4b7664cd8187bcfe7f448a04727a
+size 1769366
diff --git a/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00179/depth.npy b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00179/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..c3e712a79e44b5e58f2707de878f125dfa8be553
--- /dev/null
+++ b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00179/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b45b25ac1ef23bdb5ccc3ec7690e1810e9aa254a2d63acd794ef203858ec7431
+size 3686528
diff --git a/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00179/instance.png b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00179/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..7ad98c31c889bb3c37679e1e35aac1de14f57b87
--- /dev/null
+++ b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00179/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0cbf7f91ae49a5330d02728bffb1058dd54f1c6c705f0c94a461a0a698d5d094
+size 65801
diff --git a/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00179/rgb.png b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00179/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..ed47c9f560a395cb6510d02eef204a24d3ec3178
--- /dev/null
+++ b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00179/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:db8014f99ce72f6c7149d6d9bdfc91bde012f65bc23944378f97235f5d8c41ca
+size 1664138
diff --git a/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00180/debug.png b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00180/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..4f84ec46a122b9a0e49ccfde0afa01f933ec2495
--- /dev/null
+++ b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00180/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4c9cbbfaadbd42a8d28513878c8cfbf83b9088e907c22fdc9e23b548b7182b00
+size 1754881
diff --git a/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00180/depth.npy b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00180/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..d56642f484b4e6bcc3f4bf6ccf9537533f96a37a
--- /dev/null
+++ b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00180/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:062663f69879ac1f15719636632c7b147039e4dda21c666de15c438dadb14353
+size 3686528
diff --git a/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00180/instance.png b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00180/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..2f6e2f6892b2e6f67c76741e5a7db361e1bc2a0b
--- /dev/null
+++ b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00180/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5861b9056a13142d419a0fc1830bfbdd60e3d32148096285b99ae2fafe82c886
+size 58427
diff --git a/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00180/rgb.png b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00180/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..7047b2d6495d49f8c308ccca4bad94b1f3eb5887
--- /dev/null
+++ b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00180/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9ac45e33e6bc393775db20eeca401d44b6abc994ca648cc3e14f1095ef58a437
+size 1645309
diff --git a/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00188/debug.png b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00188/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..2f761a66f7e796333e53b06aecefe391c9a08dde
--- /dev/null
+++ b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00188/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:62acf54be5398d930aa28e2ac0d58c5fdfefb8c6f36788bb696984713d108e62
+size 1751463
diff --git a/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00188/depth.npy b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00188/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..61c2f61d254bd005d8e885c1809c98323c0f1da1
--- /dev/null
+++ b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00188/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c45f59e84024c7535e7a5d468e17395722bd8aba7494d4fc3cb10e183c6f396f
+size 3686528
diff --git a/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00188/instance.png b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00188/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..04fb3dc05b0434f4b7c179e3cb25c8ae7a73c82b
--- /dev/null
+++ b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00188/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c0a8eca60abd94672c0b3377378a57e12017f82b77a87b74bb1c617ebc285289
+size 70127
diff --git a/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00188/rgb.png b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00188/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..ecba9b3cb65547dc9de1657c286b58d0c9af50fc
--- /dev/null
+++ b/data_v7/Town03/trajectory_1777218847/aug_001/frames_playback/frame_00188/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:855df26ee58652f4671e1d22e61811686f9bb04d0ff344098e83a8fa8598573f
+size 1661564