diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00000/debug.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00000/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..34367a85d84e3b0416ad340411334cdc64584b5d
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00000/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e5515a0023d8280ae2046ccbe143e32f0e9ee04438484095b2ac9d4ba1014dbe
+size 2042387
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00000/depth.npy b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00000/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..69f6e2cacbf75d21bf73a6b9cbdb4d9ebfb5314b
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00000/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ec3a7624dce01fb2599cf3fab6b15e13644cd150085ba7c801587380f65ed8a9
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00000/instance.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00000/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..c03c14f7c410c3d635e38d91856d61429dcd2960
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00000/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a5f53dd7557ae89d07266c7cd2d669db3d1cfb7f8c28c2973b32416b3bcf3f80
+size 168795
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00000/rgb.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00000/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..818a4edbbb41ac2722df9ba5b1ea284931dc9a82
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00000/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:26a7cf430f42250365b6aaff874b7455c3823457d635748f971f82252f1f96bb
+size 2062586
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00001/debug.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00001/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..bbc35df02cb805454f9e095638810a3c9683e2dd
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00001/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c36679ed2acb8107907405d0865d4a5f2f62b5f7b4061f59efabc8a3dbefde63
+size 2045455
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00001/depth.npy b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00001/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..0f22c842c79d85282dd035e446bd8e002496cbd5
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00001/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3d61604d4ad02b2d8c0568faeeb3aac3ee28db4ec70167a616bb2e57df986ccb
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00001/instance.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00001/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..776df4173ddc14c61c4d0a12e57a7b1c8c116a20
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00001/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9bc990360773a2f4476964217901c9883a51a4401c554726a55c4637a5424455
+size 158704
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00001/rgb.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00001/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..ddb7b8911f53d662135c467a0ed38df30465813a
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00001/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7eeaa96bd82c1de2a9d31b62c44aba068d86589f9b61a94e1a53fdb6f7fe20b9
+size 2069221
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00002/debug.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00002/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..a8b757ad1c8d380a467d2306c0466c64e8c00dff
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00002/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1f58ebfe7d74e69dab071bc8b3aacc7ae23071651b7fd6d81a438958390c08cd
+size 2052495
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00002/depth.npy b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00002/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..c2803afaab25f9f31d49e9c2553f31844febba4e
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00002/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a5462c7f85aaa4ac2c0c5cbdd51d3ce6c93f0164a2c950408a1b392e8a03095e
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00002/instance.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00002/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..7bda2053e60ff6528b082b711c46706e40c1e670
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00002/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c2d057b49f50d6d909b1b887cdf7de52cadba5d3fda4634ecb429a3dbcfa6e36
+size 154300
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00002/rgb.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00002/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..4e3ebbd68b1f59787c70d52f310b008010ed90de
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00002/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d016ba4e78f77ff66f48d28a3a831fefc4f57e2f932adae732d25fe47fb7a372
+size 2064839
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00003/debug.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00003/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..376c7a371c493defd02d67ebef4bac271ab82898
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00003/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cb5abfaad27a956ad7f34da22843c17e22207a9ff8757fc8b652f7ff3833860b
+size 2057413
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00003/depth.npy b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00003/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..3c4a83b3a2f944569eea514ea39f637e6334d892
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00003/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:09b91fd7efe12fba8183b3613d455cb04eeefaf2430409b845d2009c51532223
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00003/instance.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00003/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..2f9f172f6f2810946f7c212d7a0f04699ae5cb41
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00003/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1ac6a4a6219aabaefd55d6c6f547ed763e8ff90f6562fb064e3625261812b949
+size 153252
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00003/rgb.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00003/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..d148e498863d0b51a48293edb6cb8e24711e053c
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00003/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d62999de80a5f7b6bac77800b299b6327dd1b04ac00e507bed1fb407558c396f
+size 2062309
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00005/debug.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00005/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..935fff8f91a22505c38c4368ea8c680190aa82a3
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00005/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:046b71a6c6d90c92a8babaea57e68df84b324bb38495471f8cd4f079131c453a
+size 2051391
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00005/depth.npy b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00005/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..dd93516d9af2a5df98d82af0b53ce5bab298c2e2
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00005/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c24d3527bff91f08e67111f02936a5a45fc645b0aa9a9d8bb4d52d88a2c5046e
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00005/instance.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00005/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..c0841494035d0f3f148689586be776265dcc1aef
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00005/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6c78305314e1e5197ae8b5293ed783d88040c93bab631ec6c49b4a23963d16d2
+size 158249
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00005/rgb.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00005/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..4cfc783a7e61dc5dcf4563e2b8440eb9548f1743
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00005/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ac2ea7a306269066188993a6b7485da7eb020c1d7d6e083ab543fea6297fe239
+size 2048357
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00006/debug.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00006/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..e386c4e0f23ea58eeded15046b5ae287b1e285b1
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00006/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fac45c01731cf472dc2f13bfc37d39f10eea2e933f3364c04c8f89bed588c6c9
+size 2073886
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00006/depth.npy b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00006/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..1d587efb53def8476040cf79b8e67fbafdc40a3c
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00006/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8403cd9151ec696a8a1967402d6bac92838ba269a059fc33d9dc161b40e3729c
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00006/instance.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00006/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..4e96f61cdaf37a98215bcb276bbcb3dd142ae9b7
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00006/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6bbd268463d635dd6b4f35005f1c82396cfd9a8a6bc491dceacff27e86f671e8
+size 142668
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00006/rgb.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00006/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..da0a7277c06e5b01261f1bc01edba2506b10451b
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00006/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:55160e5b789fcfe21661767f45b2bc9699bed16048581ac0e7295a0c567233de
+size 2083420
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00008/debug.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00008/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..991890347aefcd8d411669bbc2d6a602e3a06aad
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00008/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:73303ef5f69c8ab05e9d508ff40038cfd5cd9da785f8df0c92d062b3b057402f
+size 2091408
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00008/depth.npy b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00008/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..b64f9560c7f67e5c55ccac5c5c25aa15a4bf152f
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00008/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c0e906911a85e15c8d9bda34d897d36bf5a715510f495a96b600b77b00fcdd35
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00008/instance.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00008/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..60f5864bf51cec2c792a097f985e696281cf5f5c
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00008/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:961c8a595d47c79e7ee05e29e1ae766bac8caa21e5b3b80ca0aaf8f979b12adb
+size 137332
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00008/rgb.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00008/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..357d60f431204dff0ab16c3409f887005722a26e
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00008/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9debdf20f60c25a6bba2c1710b750cecc37871091f2263282725d2572937772f
+size 2096822
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00011/debug.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00011/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..7aee8f99272d1c8c425b5673ddf2e4efacfd7477
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00011/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:64af280e8784601084e73611df1de4d0ac16d7d504edd8bc0389fa76a4dd0398
+size 2052754
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00011/depth.npy b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00011/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..986e8f1ef78bcc5b6dbecc78355e8c7b5caebf6e
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00011/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ceaed35a3f5f966511c3aa47b79251b287e4491e36720dc3f4abcba6ea1d0847
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00011/instance.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00011/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..d060b4dc2d36c9ac4795ad9d968a030fa5794454
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00011/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:441efe600ea28dd9b5ba13e1603edfc1e1941b0b22be6710cdaece5f5d780eee
+size 145516
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00011/rgb.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00011/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..3b49ae2dd17088329c1b1cb0b8ab20b00b39e894
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00011/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a798766f65a71b1a271a2e793249d36dfa866f7bdaf61948b00568067ccc8e73
+size 2055939
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00013/debug.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00013/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..c344950d01aa0248386d6e6c62f57900e065e8f9
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00013/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:80e155715078e009914a90687b63a0aeb4ed808897bd0ec53a2883054f5d2fdc
+size 2039691
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00013/depth.npy b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00013/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..63dac585cbc8f7b04e43101663758c2be964d360
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00013/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ed9a6ce32709bfddde097d32a9b7d4b3a6e62216b28fb6b54bfe22a596191fe5
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00013/instance.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00013/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..7d932792b82a3ef65fe9e37df93a63927bd4e63c
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00013/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b8c1f87012788af7814a6c3c3a39c996f22ff3f14028fb8a2ee119d8f718956b
+size 146350
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00013/rgb.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00013/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..9860dd256e64d761730c78d95249edc06aede308
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00013/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c0f25f1f5dbd069921b7fcad2b698c96c256cdbe94b2362482c60150e3ea495b
+size 2047273
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00014/debug.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00014/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..b5bfff0d0689f8e23a4a9e7e0a8ba6b6291853e9
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00014/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0e95f62f05e71db6f24501c4980a195b6f5ec43550ae42c5dccbed49dc00e188
+size 2045119
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00014/depth.npy b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00014/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..ab4bc1fbdf2f884882bb8238864d270c1f294f88
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00014/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:72bc72a8d2fb7560003320ffbc35cbc3284dfe5c37f2125c1dfb7780d33bf537
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00014/instance.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00014/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..bd288e446fbb4fccf409d5821ff52074fa370b38
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00014/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:05210655392dc60106b94825d770bbab1286176e625f512202bac7c7defb0381
+size 144115
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00014/rgb.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00014/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..03eb22f813703c2882d0c4883266002fd5771ba6
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00014/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:44200b65244a5b09db94b994d3e6cb112bf30a17e5819e86c7d925cfe0d77d0e
+size 2047126
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00018/debug.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00018/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..9234a41026003f43a7ada8bf79e28728d9e9df20
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00018/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c8649000c9ca3e38850b8127764085d14710ab034cb974aaf190e13399f5748c
+size 2068429
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00018/depth.npy b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00018/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..03c3adc9db2a1d0c3946c14e085dbc351b347803
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00018/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f9740182b8f7bbe4e952e7ec17b01c3b92b694280b2dd771b71f2d5fcdaac7eb
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00018/instance.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00018/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..93909faa81dffddcca7d769c13548cce96586106
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00018/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b49c92a7d3f9a00f45cfdb5ffbda8a9e7faf98b36139a0575f4157f3fcb99a54
+size 144323
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00018/rgb.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00018/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..89176a1dc4e5a0c3ddd4fb7cb88b1993fc3088e2
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00018/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a221482d46587377c45755966e6500f3aff2630ae1a97ba33c1b4be173db8850
+size 2048366
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00019/debug.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00019/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..d5184aa9af1cdc8ce3aa8067ad63348fb06b0846
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00019/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d88c131646c96cbcc52f66f9ef819c865a0ef97b4b5f6287d84b412c8c528a34
+size 2044228
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00019/depth.npy b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00019/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..4c44d541e3a2967962bbecb2588f20ed567fd81d
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00019/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:86706eea45849f471b3973ec446e79771d724344dd5e729f65f25f2e5e41bd92
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00019/instance.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00019/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..8c87c70a3944ded51c9a3313c55c65dc436c2d50
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00019/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f2fa556e16740715816db28d2caa2c5231582e5e69f8422994adb66a6d000867
+size 142493
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00019/rgb.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00019/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..e5c193d9116b2cb44e4aa14d6e7098668614330f
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00019/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eef7e5d3b61f6f00087e7649f5acca074a2e887222f3e2bbfe157f7781c3aa23
+size 2046040
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00021/depth.npy b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00021/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..9cb235129f4c1fd8ee8a5e2377f00f4cac2a9baa
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00021/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fd674593f818ceb99e5da82283844a6cabdb6d589f818ca12d5b34f20fcc9d14
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00021/instance.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00021/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..89b04e3442831bb949e2099e562b9645d431a6ab
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00021/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fb86a4868317fcde99880ed8cec71766eec0ba240b03410f7dc9254156f6d37a
+size 148794
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00021/rgb.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00021/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..ca3832f9261cb7794cda8d0e3e91b819319152b4
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00021/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:34d5a22b49fa08f3b89902ffe84e7eae17e0708202550e61ebcb9338ff59d36d
+size 2013586
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00024/debug.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00024/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..3f3ecf60706e0f0e2c1884fa406b0adda82a88ec
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00024/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aab9eec10e7867febeb10c041fdbba583d332b8763008ad3903cf73fa5ef16cd
+size 2047983
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00024/depth.npy b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00024/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..d30d9f9c546aa09479a12e1debff73b58726efbc
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00024/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e3783a2ef8bacb1ee43fee10e81b55e8802d06eb9e35675737133e5ef3cc3c1f
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00024/instance.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00024/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..3ed5f9d5fba5a0d505f8848b0abb2ed0668a2c7b
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00024/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:73e762870c4bea827458f07d69ca2b4828dbed6c73ca4a523df08f7653038047
+size 139143
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00024/rgb.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00024/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..a3d703cdb36792ccb800a3642474e7c95ef2f50e
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00024/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:81dc6c91456bf7de47000ebb97804da51cae449297e71434af56dc42d0330ba6
+size 2056176
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00025/debug.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00025/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..f5ece04476b0e056ed560fff3f2042044ec39f38
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00025/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e4ff4223dcdc704ca2bdbbfa34c827d6ecf6420427710866c7c0f306a9dd86e7
+size 2043834
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00025/depth.npy b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00025/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..7589a2b7c50adeecb7321bf1f06f76067969cb84
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00025/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8f8392cdb42d7421e016d4d7f700fcca43f3d64339eec0a127af69e4e77bd954
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00025/instance.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00025/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..b1695c83b50b2f82dc914cdef5eba06fdf7d9600
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00025/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5584e960b3f76399ed44022a7e27ffd3dd298376ee79abab5ee91933be8f9bc6
+size 142745
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00025/rgb.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00025/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..8a69f5e102622090da0965b5bc918462b7c16738
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00025/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8484e4d1586537c0ebc67909fd5090a0e78d33eb161b5ccde8c9d2e696d5cf29
+size 2049091
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00028/debug.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00028/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..90803e415c5816dce5b670ce212978241daa4939
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00028/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d68ffa4a263cf0b56b3501404dd496f54171dea4c215b15c8b5d24b6a4f13451
+size 2016420
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00029/debug.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00029/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..a3d0155de2c98e2e9238b8afc1c6de2b059d037e
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00029/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:488818c37b153074a1e382b6f28954825a98270d3fbf1d8aee072f05b3e8558d
+size 2034096
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00029/depth.npy b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00029/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..1edbc54a72a63fa05d61e091c2e15f0b25bbc8bc
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00029/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e3b15383e95a934925b44361442fdaaa1efeec7a872e9aaed9c1d8ed82dc981b
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00029/instance.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00029/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..ac24f2198745d71d92de24078008ca009de8bfb0
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00029/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e6f2739c17fef3d7bdd1be38ed50f39035e97dc360fbcb6bce8b1598db2aad72
+size 144680
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00029/rgb.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00029/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..c7ff6ace879b16cd01df9ba4e4be8930b0031108
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00029/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a27faba5ba718658b43a5fc8c69fa76c1059331d492c1cafe22c3eea9769300b
+size 2037580
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00030/debug.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00030/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..b15cf295a712925cf2e0780476c84620d8a0754e
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00030/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:952ba48cae5b8e2c53ed2d111e8872962472e157e69986e1420bc21a8b9ce5fa
+size 2054734
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00030/depth.npy b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00030/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..a3cd61e328c74045fd3032ccf77932233f70cb4a
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00030/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:56b20959b1465390b1f63230b609ebb373f3ed2e09816c13d2c9219ca0d5b7dc
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00030/instance.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00030/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..580aa2fe758e7d52de8a8c20ad74b6e76740e61d
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00030/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:454523a1315382004797ed19b6f234e2dbe54ff2dd84560565f8aed2d1d37674
+size 136811
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00030/rgb.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00030/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..f07dec4f01851dc275ec3902b1d8699e9ba33bfc
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00030/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:083b0f51e4227c3138783591e0c9229fa4d2fa963fa0e6bd9f768b667e78b40c
+size 2058729
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00031/debug.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00031/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..5f0d89cafda1b9188e4bdcd7c98a5648a7500835
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00031/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0d65266bdef5ce204b08f896eff7d70e3c6c8cad3b837e254b26a1ec88b77dbe
+size 2037244
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00031/depth.npy b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00031/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..ec9d12a8c04b95984628136e886ad4cd57ad22cf
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00031/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3444070de12f91c484e363f70bcc800fbca01e2601bf63de4df3b65b43dfcd79
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00031/instance.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00031/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..ebde0f1ca690b33e7409e401d61095ae94fafe6d
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00031/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:836df0c0d89788cff6f1541703bf33c88ead5dfbf0d281f7b484fd143d19b446
+size 143172
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00031/rgb.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00031/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..aa3db81034d736ce14e2a86f2cb23de4300c3e56
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00031/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2e918c4d2e00db4d30660b94f4fb04ae2c23d7f1dff5c0582c6081dcacc6fb3e
+size 2034803
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00032/debug.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00032/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..1ab050d89d250d20c3c4fec5e6390123207de059
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00032/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:47ad06bbff6bacd4f2a948e3a4d4058dbfebf214ed37b9536dcfe5468d3ca1de
+size 2047303
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00032/depth.npy b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00032/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..5f4ce35cff0f0d3c6e6763f8ffbf2fcaec4b2d9f
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00032/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:578b03b824bfc0eba101177133a5560f8252e5a892fb94d93d15cb336802e9a7
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00032/instance.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00032/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..e8d801fe5a4cc95a20b7be895a909a345bf29465
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00032/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e08790049a931034849f7b3a15fadd5775c8e487994c78580957f8753a5c211d
+size 140464
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00032/rgb.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00032/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..c1c6038b571a10176526234ec8c2e54a4e9bdebf
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00032/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a780cc649514c0c4f5f7b84c4435272857b849daa23935f3b0c69742ba60189a
+size 2044806
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00033/debug.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00033/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..9388d7b01a8c7664801a6b35488f7594a2e8640e
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00033/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8a014b4c359f9c11f7a10a8f7f09c228b7bb310999b7e68578c83f5ead178f9b
+size 2048915
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00033/depth.npy b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00033/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..3eb0685864c6a49d37a3c9773cf711ef22ed4402
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00033/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c1f218c25717a7bc45ed7e1807be48322e877eabced5fc93c28da49a7923b5d0
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00033/instance.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00033/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..007d4ab906bbf54ece3601a5ddac2ee851ae64b5
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00033/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2d92cac8d735edb98d72c5f7ca70baa99d33fda661eebf81967afbeac425e88a
+size 138183
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00033/rgb.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00033/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..54982c0ee01ff124f558dce3afec5d2212e640fe
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00033/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:387dd177b685d4b132a1826394af42568a51a2a03f389ff8e1dd284eb74a80c2
+size 2054844
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00035/debug.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00035/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..0d05706a6613ef6f19f5e63634d39f33279b3782
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00035/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:57f29f0386b52336d693adb81d5447037fd31feac6a05d632025f52f5f526837
+size 2075404
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00035/depth.npy b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00035/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..8df0e7c20a3125bda2a73c9831c753b30c68123a
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00035/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9605ebd12659db8ccd8bf6af8895b4e2df62eab48816d6a9cda12f9c828697f0
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00035/instance.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00035/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..cfd912b1e86d583140b9c1238ac8050da49caa18
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00035/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8e93fc85d2cd95815ff8e91f9f3f955edd3f88f9be8a4f9847895eb441121abc
+size 131249
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00035/rgb.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00035/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..692b29587a6978699281952e99381aec95d449b2
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00035/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d9179c0b0575f8b500bc792531b788973f523a540ebe8b9d7c6cf3ee470e1438
+size 2086744
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00036/debug.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00036/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..79d6b47f38346b75b77bc7cc74362570d229b846
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00036/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:97d5c1fbe7f4ec4b254dec3144b42c14625d4f61a15a46cbb1b521ecb9cf5e41
+size 2107640
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00036/depth.npy b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00036/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..2ac2eebc8b22c4831f3bd9ecf9573ca4c2574cbc
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00036/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d3fd7b4ee5fa7fe3b07a415681b2805a5b7c4d5bd511ed0839833449fd4fff90
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00036/instance.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00036/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..cb28f9dd66d53ee4a7e482bdbf520b01e07aad34
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00036/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:134dff56cf9b258354ee3ee2ae67b55e7d3d092eabb13e4f17d56444baf9efd1
+size 127433
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00036/rgb.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00036/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..c15c8dc047ae63e08c784508a25bf8bfd0047c73
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00036/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:698fea1c34c7627099e524e1ce6d0697d74d35a6b4b679ff075b8dc7facbe730
+size 2100166
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00038/debug.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00038/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..b93d59fd9b22fce24d3e8a4fe7809f3d847fa08c
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00038/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c4b8c21f00f10417dcd84da42e2ffad60b2bd1fa7f0d755e1962680ca3bf9baa
+size 2044337
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00038/depth.npy b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00038/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..db235f5bba41ce0ff6176b409fe2b62342a270ab
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00038/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:be3c51502ee82015cea8cff135d1db11142bbd5b3f17498a201b4c6488d10540
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00038/instance.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00038/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..7ba72ac42db89745a1bec6f9027a1a2e7e411003
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00038/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:980e7e17de24e96314a01c74e3fa533f4dc5bc493df91676dc46dc29ab5fcddd
+size 135431
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00038/rgb.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00038/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..a6ed69555257d56e7583907b52e03c3768c970db
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00038/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1650e4b779864d9267f2c2f95f611e0cffff87c3cc707b6d34858bcdcea777dc
+size 2047624
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00040/debug.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00040/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..d9ba020a802ce805aa9207ad51dddc3a8b5013c6
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00040/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9ab619cc71f70c2f5031c3fb4f5c3514454edfc0043dffe0db2df559ae334dae
+size 2075002
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00040/depth.npy b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00040/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..905fae303a92bcd97f38b32c0e3ddb28787e799d
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00040/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c4a9972a4172b12b0984bf442d62ce74b35e75856ca9054745cceae33f8abb71
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00040/instance.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00040/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..3294512fd526914f742313047e44e04552d4ba7c
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00040/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e8ded0cb735d66379c620bd11ef30f9bebdf2dd27a5d99b082aca129e29915e9
+size 133540
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00040/rgb.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00040/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..2a353f0cc901b5d7721d53c93c96d799663675fa
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00040/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:65cf8d52971ef8ac52c1007d123043356a344025a5920d63fc55ed9c9540d15b
+size 2088633
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00043/debug.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00043/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..dd8d5db55c6ee2825c0df9543f174c127fda89b3
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00043/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ef381a9a6dcf5a27381339f3b221ca2dd1c78d6777ad92416634663cc53f43a1
+size 2028222
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00043/depth.npy b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00043/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..c71e30cf497caa4f43ef774515618948ff568f80
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00043/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f6745d76bab326fd55102d4da7da51abd3e8bbf65fba0910d1f7895da7571359
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00043/instance.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00043/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..92205a21785ffe62846d30bbdee4e5f86413eaa3
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00043/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:924115fde1bd99d7856c6f22c4671a8d2312b407f669ec84393402f6af446f69
+size 137084
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00043/rgb.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00043/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..01332e061966f69c2bdec9f585f1a10b9ae86e94
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00043/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:23b8c265a5573df9285d5fbb275140e46728f82e226f57b02d4c0ace9acae980
+size 2024405
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00050/debug.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00050/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..527318eddd936222843ddfb49a842d9f233d4cf7
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00050/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:99ab5bb9b64fde8f6c514e7bb3a00caaa6cc5916c2764506ca808e0abfa71702
+size 2033382
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00050/depth.npy b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00050/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..67b4e946b5215a9d7459b7e7f48453611faa5aaa
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00050/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f88d4be7d199b85779f4438fb60c06069461cc726660507da073773adb632ec1
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00050/instance.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00050/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..33374b20f3efef89973b762285b4c2f625f210f4
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00050/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ec8201fac6ca6916c0d772ea306fc5aa38eac0a867224e37336cfbe8f6670603
+size 133883
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00050/rgb.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00050/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..2c3e617ba053492fd3e676532ad57c2fe69a3ed0
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00050/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0e2aba6a6643a5197758d81e5d1e066612e7aa2dc3aae4c2a337e0d35d3a96ea
+size 2037669
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00051/debug.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00051/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..ca3be16a0bfc9d01e60644c739983534647a5f53
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00051/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3e079366be9e9499c0617d7182136f7c08c05e86dbaedfaab248f54624eb8848
+size 2000723
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00051/depth.npy b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00051/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..634e4a5213a37b656143caf10fef3aa2c8a603c4
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00051/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f73aab9b0dc48de63ec4fae02120b8781c1c81e85dd1bf6cf2bd1ac40aed267b
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00051/instance.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00051/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..4d0fba360e355c358715b956e5ee0c20ac6697e6
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00051/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ee4a0f7975e3646de134f38856df0ca4472ee28bbcd6fc5d0f8ed924fe5aca95
+size 140975
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00051/rgb.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00051/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..0592f2dd4d47f071f8cb5576f8a1231f138c483e
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00051/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6e058d1f1b8d891513b38246acb7a5308c8df52377e12cd16a47e4686fa3bb54
+size 2003760
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00054/debug.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00054/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..a2dbcda7321aff07098b0803a2cf384568e7f659
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00054/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d42aa8c508dee0eb624483a090fa4acdf90728f0761ab5e91b571b8199c23976
+size 2044501
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00054/depth.npy b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00054/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..5126ad051cd14d8d48c80071d4e6cdf4845c09b4
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00054/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9a856ce092ed416d2bb0756afdee968f735f083352daee509c93df2f23cb9616
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00054/instance.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00054/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..5962429f6a9a5c7b58f962d55c3ed9edeb579374
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00054/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f2ed1ea991c3f088dda64fa305f43f308adf0d96fecbe115e74768e95dc15a7d
+size 122707
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00054/rgb.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00054/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..7856db6739cbf2521e10af9c63e375a4c033e416
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00054/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b1e3b214ab04779c3882f594d57c0f574a7403f1f892929688c72894c891662b
+size 2043942
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00056/debug.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00056/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..0d750155952130a8bb4a8293a68f98f99777a35f
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00056/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9e4860d7c650ccd17cc8fe8286524cc8aa2cc2bb044391f27e2534566bb5510e
+size 2036009
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00056/depth.npy b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00056/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..54d3fe59952365012e9ea28745a8fb6468eb6be5
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00056/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5197b5e9b5fea2680d39eb1d84334b538858c3a4658edf83f030f38c1511d3e1
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00056/instance.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00056/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..6bc05ac917c3a59ca70e66a937b448905cee642a
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00056/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:14f389a4d7a36633d9ff360ed68441598e9aa5ce6e6fcc193324914561e8bd53
+size 125570
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00056/rgb.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00056/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..6c9997ea73c2343df7c7a8bfda06ae70fdc8c0dc
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00056/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:195a478816358640f8303111e36c974fadcf3f248a0222fe6323825e165414a1
+size 2037847
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00057/debug.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00057/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..1ed3171b9748ea8cba7da13befa77642b4b780f4
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00057/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:913ee2735860dab4a834bb4091eef0acc4e4880f30ca59c33cf727048ac0f43d
+size 2054191
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00057/depth.npy b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00057/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..ddf69fbd0d71a830d99f5c59250533a34d3147c6
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00057/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:62b67541f650fb116594468c4021604f203123ab429a48530c170899a11f1347
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00057/instance.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00057/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..43a2e08bfa8c14ee3bb5eb6ffc8f37f1b3a4bda6
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00057/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:245a346412ad39ae389cad07f1f7bc9380c5e7682327fc7c8a6118c3914c535c
+size 123102
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00057/rgb.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00057/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..4d941ade3e538784f1baa6b3792d7bc40b445f06
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00057/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:94bfa5ec1e88fab60c39369c19c8b4b9d0982913efee9f8f16e0fa563c243a18
+size 2052563
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00060/debug.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00060/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..56834b6d859a9dc6dd448d1212e71308dbb38902
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00060/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:75aba5896447a5cc7a5b8722c4ecfa8687001acd58114d901b8f0106d9f0e5c4
+size 2035254
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00060/depth.npy b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00060/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..4c2a729f254b323844f0248403d2ede6bf33e332
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00060/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:41823287c3db0cd45de1a79765b0bb8b957d9e0a1e4a999d945f94127889ab07
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00060/instance.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00060/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..af701e46216807a50b13d9eb771ca59ca9716af5
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00060/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f0ba8f7b14610895efa68289b1e608bae2fd6191762b079aa236870b96d6427f
+size 127254
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00060/rgb.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00060/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..f9cb4c5fee75ee8cec5226d00e2535536d49f09c
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00060/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c23586514c5b28841daaa195f268f6e097c23f338134998f794d692cea2404dc
+size 2029245
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00061/debug.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00061/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..e8dcfa8159ba02a45ef1a17353888c1586138ec7
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00061/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fb6701eb00646efe550f40def5108fedbd3906628a17d0e813f67beb97f6ca68
+size 2045812
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00061/depth.npy b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00061/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..b60b1392e254d95970d21aa9d212a24465a0a7fc
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00061/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2d7856810e0ad758b0726952e587920ece7e03c6acd3eb4e69efb4d9fe0a69f5
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00061/instance.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00061/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..e5c8437192f9bf98223551c50e8f95677e4466fa
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00061/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b3a0ca6c042698113dfe2175e66aee36bf2b7d325ce2b1f9dc4ba1b7cd60734e
+size 126645
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00061/rgb.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00061/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..4c0959500fd8a34d2b7a6bced015176ac93ea0e0
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00061/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0c70d9ee1d875660e142f21684b25bbb458b891419100d35cbabeccc13efa683
+size 2036023
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00063/debug.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00063/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..dcda37aaa6ac7803c7f8d1968024c669e721d1c2
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00063/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:824326d0259306c50720fdaeca33353a4e005706c961e9c586bb3fec44b8b62b
+size 2047654
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00063/depth.npy b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00063/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..f15903c4b2de4e4e33cf4008bc3095f427954010
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00063/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4a424c726451f8afb8be533581de935f28099ec68e23f0558f1eded509147643
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00063/instance.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00063/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..10401154b966b2b8aaf67fbc84d79a5a5f557a25
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00063/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2068a4b186c3c95f28cff6785d67fa2cdc42e8fc9fc13e3ad14d576aeb09b92b
+size 125517
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00063/rgb.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00063/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..88ff2bf2a78c69a2f2ed967eec30ba65bbf3f9df
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00063/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:53e08ac9082f99efa25820aa88d9b250001d8e7eae18d7b468b46a3586eba791
+size 2036531
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00064/debug.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00064/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..e889f3f4bc158c993de4ab80647317b1efbaa519
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00064/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bf916176f090e17d6f93faf075bc4a5dd662c45358ff7daabcdecd9a1ff23ae7
+size 2018460
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00064/depth.npy b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00064/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..b52924354717037050028e386c9c55dc685a6826
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00064/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4a9a3c7cf05cb4a760cd034b52c0be84796975fab1a66cc7a0dfc22b72a7ec79
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00064/instance.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00064/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..e8ee66546a47086a65d8ae42c9cddbab9dea6a41
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00064/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0640aea36cab7ceb311ddc578ce31842d84aa23fea5cee898eaf631e5a8f6558
+size 132691
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00064/rgb.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00064/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..f02ba4e88c39dd4de23991e678af5027191e6916
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00064/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f52b809509660531a8a29291bdd1c385d0dc34e09f0d2936c0e95a295767d8be
+size 2010686
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00065/debug.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00065/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..13c3fd18e00a758493a53eabc4278c61c675ede1
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00065/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9ac148d00c2401538f419f5b17aaf1557df676dd0684b2c34468915b9a842dba
+size 2034624
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00065/depth.npy b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00065/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..b7247972afafd5e1d2d8543031700d65be42af45
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00065/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a087e222c51ef069f33eae91f8aca952ecad4a44c3f2da8054716c96d4cd1ae4
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00065/instance.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00065/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..7896ac1d695de12b1bdfb283aa0cacb9b101b552
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00065/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b331d14e6083174fda8a3f0ed791b6c96a10cb5a8332a07c095c149470ad4f53
+size 130150
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00065/rgb.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00065/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..343eb70eedda386bf04d3e1fb97aa67fee8004c2
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00065/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:700a8702ef313c5cfb86eb70d6ebe8c34085bb4cd4f34f836a0045b2b9c960a5
+size 2031276
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00066/debug.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00066/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..44fd0c693a35fc8d06f63218f31ee5740f986feb
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00066/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d0348069237601a7a683776d1dfb3b9fb9ecf6f4d13c2420fd75e15f9499b9fb
+size 2053528
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00066/depth.npy b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00066/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..95811fb3e516b465afaa0c0b99008187d0913852
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00066/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:31e493c0b3bcb3d511c9376a6e9cec7666718fb30428e7ce6a589ed93af625dc
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00066/instance.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00066/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..e0b785552a54110b649d48003b3093b72f0cf504
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00066/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:120b14c65e31b362a9533022b2c6d3577d62ed633c92a889f01d3b529cb70927
+size 133609
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00066/rgb.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00066/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..327c11529de3a06dbf678f7d2625e118e2292212
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00066/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2b28d9f82131c0b055c70382ddcee94ab8d7026792d7a3934e15af3d14ae5c1d
+size 2052883
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00068/debug.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00068/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..3237ea9e808a33b161ef9a202258f59ce3289692
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00068/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7cc79ad37dbfeb67dfbd2fe70229730ab9395dbc71bde976f628416fbbb64a83
+size 2026116
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00068/depth.npy b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00068/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..dbfa7ad0a90f283e6459027bd781e510f25609a2
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00068/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9633bc9ae82214157dcf79235cfad5652583b26ca9080f36a5651ef9b7e52c70
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00068/instance.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00068/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..2cf26db6375cc85d682a981aa52b4605004e01b1
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00068/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:740f1d4b0d43686a2acf3cfee488a90d956fa920a416e21229b9eb6e0351b0f7
+size 127195
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00068/rgb.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00068/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..001a67218b6a9f51022830bab3ce7920edb48a42
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00068/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0ca90b42a4328f7020050cf582849dc2dfdb3728dc5ced7ee127d3b2a9212478
+size 2018974
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00070/debug.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00070/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..9c495ec8969889be0f3920da6e2b3a2b0ce7f09b
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00070/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f2a666d8a3181cd08d10821dc4710f756b59a7134bf635a1b437194e24a492aa
+size 2038371
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00070/depth.npy b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00070/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..5be32462104913982c42baef17fde21f8169679a
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00070/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:50d7c80a3e4f205d5c34ee45f1a951f313b49ca39cebb2ed0ee6dd4e62df0778
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00070/instance.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00070/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..8214e8459c341296f11ad95ffb26b221dbb33ce7
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00070/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:781fb8efc4f0f071863dbf0e8303bbe8229fababbe4a2bd3c96d6c19e6036efe
+size 122142
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00070/rgb.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00070/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..c3dbbe3df4db74e22aa974119e019bd312deef79
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00070/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dd4cea3343a8ec2ee7f9c978595337a8eef7d6f3786995fa3021bd22f2248307
+size 2037616
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00071/debug.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00071/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..9d66554bae128626689506795b839f818a7faa30
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00071/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0e672b42eb64e49c5b82bc7c2071abab1973f6208aa6bfd937cd03eddf8373c4
+size 2009858
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00071/depth.npy b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00071/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..d65ea24ddc648c46028b6a92fa3324fabd2c7ebf
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00071/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8fe9b2e98415b26c65ffca8b5a63ca9a41b616bc8c41cfb806e7b10f4cbe8873
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00071/instance.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00071/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..13ffe8b7e3e90b7908112908fc96688aa9d3fc9d
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00071/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9926d7fd4b0fa9fb097bfff4b43059c3c465e106986c4bd4a74b6f2b828ea77d
+size 126766
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00071/rgb.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00071/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..c40d7798075692ba4630a6cf30fbaa13786e70ef
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00071/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a2a8c6e900e302a02c9c6e4560313d2be8b5425087c52b3c6909ba75e94153b7
+size 2004565
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00072/debug.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00072/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..15d5c1fa24aed8758d1cb0f3f65463b626ea3854
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00072/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d3bf2d8de2a0c025b82db2414abc58396249bafcd3316c338fc459f557a6b371
+size 2037144
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00072/depth.npy b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00072/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..919eef8cd05a8e6cacc5a92e7c424d8cf0514069
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00072/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cf52446d40d66642c7cb5ed3d059fa62cfcf8e289e5da0575e2cf88201d3ecec
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00072/instance.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00072/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..be1a33baca784170520966d347585206bed528bc
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00072/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:27cc56b89621d2fbe73430ad0cde104a2db0226f97426be206feed3614d0a45c
+size 123514
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00072/rgb.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00072/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..324b69e1618d31092de4b966244680a16d7a0c96
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00072/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:839d2f6403cc2e59ec286903c4811c4cf02c5b4e44f8572febf0fefdef9ade48
+size 2029516
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00075/debug.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00075/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..9906f8b1a535f0fc9118f50b07d4c3f1d1310ec6
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00075/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:927db3b02e59f5fc97996d98069896f4b1c569ab3254cb1b672c1fb8bd9feb4d
+size 1989424
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00075/depth.npy b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00075/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..4895c3c76b60607c82cee858b1db13e991b7fe7a
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00075/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a6ddc3306fdd0990f896953e303a5e56026e6632d0a64c11475af562aaad54cd
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00075/instance.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00075/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..73e72498c4464d113b6a7b3972b165ecdb49d100
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00075/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c87dda9c2685ab1b5cd07e7226a1ee974ddbb882105850262ea928846778a422
+size 124886
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00075/rgb.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00075/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..08a440dc70d3af0acd669e4aee440d8661b264de
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00075/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:532edff36290c0ce194d644dba195c657c22ffa98d10f2c6aece258bae1f84a0
+size 1989175
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00077/debug.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00077/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..8de6138c682fcff01553eef96f44d6510fb0a065
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00077/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d54584caaccebb53c78e01270183740098331830d1c84eac054ea56199eeaa5c
+size 2007274
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00077/depth.npy b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00077/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..51366ecde13ea18ce501626d381b6de88f6a5746
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00077/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:46bcb3cc3131fa4e24c12f3962248a73f08c893a4d787708b02b72a8713aa116
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00077/instance.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00077/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..eed41ba51d5d8bb421c05354837d97346f6688e8
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00077/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2eeb7699e6b2568c80dcbf450a2d70d2f95e85ca40949788cd10cce156f8f4da
+size 127826
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00077/rgb.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00077/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..962647d21791d2cf40307a9c6cadd45744b8e99c
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00077/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e69bcf5d0fff764ab0da12a814f7a2f400daff44a7c06f02f6caafe466e2e4e0
+size 2002405
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00079/debug.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00079/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..c3b25630c3ce8c73ab82d8c8625a10ba25030ba5
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00079/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2d8d09fc1de552c329462d1095892a1f6c70ecc8aa8edb8d3f5aeb49a1245b46
+size 2028662
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00079/depth.npy b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00079/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..b7e881eca5854ae0eee66c6052fcc77a10832fc9
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00079/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0f6a156ece92888cd2ffabebd83ae171b0a41a41fda6d54a5481dddea54b1cc4
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00079/instance.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00079/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..1d20b78899e13b82e4c6a89980f81d2b9f8aa8c1
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00079/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:85daee22b26a38589a8c733cdc76c44776faecf6da5382324845217b44983957
+size 132371
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00079/rgb.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00079/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..9b5af8495c39697b87db62708295fe82daf5ef9a
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00079/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6e3f97e5355b330515355c847a38b3bc8f42b1e9eeb6873cbfb77a5f19e93fb3
+size 2014784
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00080/debug.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00080/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..9e2ded1370b538f70d79cf677a835b2e763e84d4
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00080/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3c3270d09d8f3270a810843fa678700496eb24a779e940f8f276b07e0b27224b
+size 2011730
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00080/depth.npy b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00080/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..e95194304354baabc8eea3765c43c88d27d9192b
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00080/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:25d2f1b74e17e33226e011b7e325354b21d9e9f4ebc7f5854ac4bd6847cb2535
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00080/instance.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00080/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..7f1f05b49373e37b21f1ad0455300c76aa5161e2
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00080/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c3a3f7145b01326276dc0e58825c9f6afc8d1a631bbc235ae729b4ff5e1665c2
+size 133328
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00080/rgb.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00080/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..c7bb71e070490579ec9d01afa9c34d06e7c23959
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00080/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3c5793a0a5388d0ecdc15757ee314f8ad7b43314e39524b85af780186b1e5f9e
+size 1989663
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00081/debug.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00081/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..e4bae7dff32f3a74411180a0c6121acf0c119584
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00081/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:47b406aa71e186c3517b0539159259244cb956f00fbb12765421323464e71646
+size 1996748
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00081/depth.npy b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00081/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..6bb53478d078b303eefa850da18b93e1e6484fe4
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00081/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2077da105e34967c40b80e2e43955b528d65fe8f4271d05dd978137ef7073e71
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00081/instance.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00081/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..13db4d0d11e121e60e19df172bb8bf3fb0007467
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00081/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5e51d6f0041ee04039d39852f3ca3a192ab61870349f11717437b5f115d7143b
+size 134855
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00081/rgb.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00081/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..c95c7fd78b72b9af30453a67a8835e14a45e7655
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00081/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5fdb641fe539a589a4db103932dc1e25727c7493cf6180a2d239184e683b5f63
+size 1984984
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00083/debug.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00083/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..e0484e4a172aa0b259cfdb8b8b9c14ed4f56fe46
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00083/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:42d87dbb967ac5777940099db51d6728dfbaabc7190272ae2dede3bd10b11d9a
+size 1969866
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00083/depth.npy b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00083/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..98310cb79bfbbf35d5003c1c32a49d22cf22c3a5
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00083/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e3dc4fdd3652fa519f5a264fdb9215b4089b47b326b6d8420cccb083bdad6d02
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00083/instance.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00083/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..aa36a0d34c9036a13054b31dab1d87e872b33c75
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00083/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:af2ce8d8004cad936b8471d2ce1fbcad1427631a5cab856349921837a7fa9707
+size 132500
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00083/rgb.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00083/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..22829eb2b1c69ee97a7ed3b5deda945368250e8f
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00083/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9315d5d295abd6e4a4847c25b9c0d3176e5a1efe0a709efd361149180d8c7b0e
+size 1962150
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00084/debug.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00084/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..0a88dd0cbc03c599b7ea4ebd8a17ed0f64bd4f16
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00084/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b1fb6c0833114c93acde5d352a81fb2759bfbf534852da3ae05ddaf7fbb0aa07
+size 1992252
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00084/depth.npy b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00084/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..80ae3ac777ba6963c625aacb769cbc26a7c627ca
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00084/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fa6ad615ad448fae2dc438d8c92a8d8af40eebce534165d0911fc3cdeb716d6a
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00084/instance.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00084/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..f9d16d069e595a43b156053a1a70784bef2f3606
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00084/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bed6403f07eb1716c2749b912df15bc8318266aa658bc3a87f0f34ec6382de4a
+size 131441
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00084/rgb.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00084/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..96e5eda87efe924aa1205f57cf18d782e7a58661
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00084/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ce441c12135790f378ea2667d113304a589fd0bbae9696d39844c7b08c9562ff
+size 1983648
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00091/debug.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00091/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..6fe214d7af07b17673aff3e6e15e5a1c1c8d9d2e
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00091/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3c2603e421b03b20de8311c08934eb85f30249bbf2d28c75a9538ed6d1270dcb
+size 2019475
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00091/depth.npy b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00091/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..8f58fecebc83469f3d466a5773bc4c746a830af8
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00091/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bcb337f5d3c6648f93e01a57db52e908a93f41a19c2fa362b4b488531dde91c6
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00091/instance.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00091/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..c3a9d5e09619bc77826218fd0d651220b62cfedc
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00091/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f23b54db297acba5fa5673622800d1f1933cf17dd0dbdff473eca99e90fdbd05
+size 148618
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00091/rgb.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00091/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..40e476a4f0f5e61ed6971838ce0cbf35b3a066c5
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00091/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1ae378ae3f7e87fb29eece685647f31ab042de32045270b0796841e95d6defc0
+size 1997061
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00093/debug.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00093/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..b681d24db8a3da9455d855d0a985d40068bb393a
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00093/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4e0a6c6218036e5ebe1014dbeec2d63aac980561dc7413094a313a80ed40e8eb
+size 1992546
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00093/depth.npy b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00093/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..377aee2c49415b53326df1d4d8efcf10f4f573a5
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00093/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8127684bbb5e8f5581bdf481bca981ea96e98582ea1296814076f7b6bf00259d
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00093/instance.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00093/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..11f2b21422e0752b2cf6ad395a05066266512a3b
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00093/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b466782295ba3f7747d6dfe91b505e1decf4207a4266c434449d3440939b639c
+size 151177
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00093/rgb.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00093/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..ff6989fd4fede11712b71703b3f9c3eea9aeae42
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00093/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:79f4d7f60dd5e75f48860e7e126d75737be79b8e997c32960b32d74f46706379
+size 1977715
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00095/debug.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00095/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..a986a2efbccbe75412c79dcb15ad7177dfc3b59d
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00095/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:af71ee71eb496b966534a8c50ffc4ef7caa6ff7e5faa3545985f3ade5cb0c544
+size 1990745
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00095/depth.npy b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00095/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..4fe502862adc8e00f122e555a9374f59f5276a55
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00095/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e2baaa63550bd180bfb8fc26014b8747e830783865a37bb9c2cc7256602e7f77
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00095/instance.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00095/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..999fa964ec05f90a4e3e780a855282506ae28494
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00095/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b2c411e430678b5ab403639f5d80825a328af1fa684184d9422ed2eb9712cc36
+size 155842
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00095/rgb.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00095/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..1d8c465d7c1669663f2a0c3576b3a3fea42a2ec2
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00095/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:355361711ad963f7613f99e1e60df514e9d6af5e67fc54ed3c8aeb4bdb3de986
+size 1973681
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00097/debug.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00097/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..c5f2ee78fd5833aff3aa9b142fb98bfc2d74d8ad
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00097/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:19e0fe450179447ea203aea7366e89f6a1d12feb9630b6a51969c49707e3624a
+size 1982459
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00097/depth.npy b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00097/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..26a32612df4144cc74cc648d610c2a664099e1d7
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00097/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b2893bbe3c224879b7469dc6db02ac50c85e50d100f554ce2133e12be16b57d3
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00097/instance.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00097/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..5197cf7ebc081b5c1cbd08cd26f3a8c03e94c79c
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00097/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f8cbf6aaee6866d210864210e25480f81a533cb362399f34deb6e8e1bf349da4
+size 143908
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00097/rgb.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00097/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..8f18e60d0f63ae6fab4d6458b84a7e7f6f61be08
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00097/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:244ed28f9c00b7de917f1ff3805b2c7e6605ab626cc4137cd6cbf65372b2d174
+size 1965732
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00098/debug.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00098/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..707d123b3455b2dc32d0b14e1d33ae8ed1875a3e
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00098/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5a3f5e4234d9d48bbb947083dddf16fb1e64a1ff2f9918900d3f3a0ee850d7b5
+size 1969355
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00098/depth.npy b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00098/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..ff48a4b90402fa13cd18eb0677ad2e5d36f224c5
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00098/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d678a44fa42cd54f53463f9ddfcbdd6caa380fc4b556746584c374804b92d6ae
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00098/instance.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00098/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..d89d0684b68ee5fd8c488899d5210e1dd43cda26
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00098/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a67d45a4f54afb86867d77763ad8967b16c82321984c13f33a54dbb542e83681
+size 147955
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00098/rgb.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00098/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..60701deb6027c6fa9698ab5f974ad9c5a26d069d
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00098/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e977c6db9a41d6237f455c1f5bfeff41a2827e5a418678743d73ae8cbbd43e6a
+size 1957442
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00100/debug.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00100/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..569015e9f83b7c06465369f0b7cebae15602c0b9
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00100/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1641ead033964f56f7668bb91e59bc79b2828181af95fc8493e3601b28c836f9
+size 1972930
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00100/depth.npy b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00100/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..60d4039f6c5a75414a17f78e73f8e80c9571c395
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00100/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:62a2965f935faf980fcad3fd6b79a8a8dbe78b825a4dfb65bf6221f72c77b173
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00100/instance.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00100/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..7585252710c3d1384ebc5fbd41b6b06c13020a20
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00100/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ab652e7feb679b28341b1a656e10afb318ab46cedc970ab8630021abf725af2f
+size 148248
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00100/rgb.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00100/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..82e1a0d8fbb928bfc047eaf7d158b282826ea6dc
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00100/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:34bcab8e7947637025f5a5e8a1e891ddf3ef25236630995c68ed1a731907f13c
+size 1965564
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00102/debug.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00102/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..2b77a2508494bc1df4ee15da30ff492924e5cf23
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00102/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:53ee8b1d4650d1d40b900e363035bfcd54e9618d412b252d8648d3bcd9f732ce
+size 1945816
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00102/depth.npy b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00102/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..fb9f5acb7601ddf381079cd80938a3080f6c5647
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00102/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9eebe5d7bee7b0428f3bebdff71f976fb27a03c208378a56e7970b0eba0bf269
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00102/instance.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00102/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..47e7f410013c3df6e20cd702b56de5edc1dbcaeb
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00102/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fde81df2686d5ca58285eff919b6bdb500f232f82ff7b1c1059b9eed342880bc
+size 141042
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00102/rgb.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00102/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..86935fa0364f92e440ac11b2d80dbb2f42839146
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00102/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9777c4159af09955dce61675f911a491510cf293c1c8f97a552552b66b5508ff
+size 1939941
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00103/debug.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00103/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..5f9f710eca420212fa6c196ca979363cf4afaa8d
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00103/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:69a982667a2b4fb29617958b0216e11b02714009f5a93e31d8e27b953c6638e2
+size 1946224
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00103/depth.npy b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00103/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..4073494b846d1cf44d9abe729083c86057a119d1
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00103/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dde99db6f853d92caf71e09be17d2506ada4054daa6f229f15317711076e90cc
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00103/instance.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00103/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..ea368c3cc1dd3b5d6698131a9789ea5d64ee4d19
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00103/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9b85aa675ac4659041f21ddb83c0fedf749a7f3c2bf92b65e93e5a326b1641a4
+size 142989
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00103/rgb.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00103/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..b24d67f3f1c20a1852c0a60d07938ba7478c580e
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00103/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9beb772bdc89d87221e3140e6f864687e3a50188602b19c7395dee57ddc5f0c2
+size 1934831
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00104/debug.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00104/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..77762cba52d0c008ea61f868cef1c3345c1f7496
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00104/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7b22683b70e5a31089114a998dc90e6c8fe5b58c5c31cb7ab2c6e19c259f497e
+size 1943384
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00104/depth.npy b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00104/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..f7dfc61feebf6eb1f1333db09758285737cbab65
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00104/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7ccb71e8e395c3f4cf798e795c7ff544c78bc4eafbbf2ec353e4c2923e04d81f
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00104/instance.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00104/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..beccae0a020ad0ea0e61a7df0fca7a2d25840103
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00104/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:53f5464c9041fd68ad9a6de75cac8673076298cb8725f3eba61786538ae56d48
+size 142855
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00104/rgb.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00104/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..1fe2bfe338eb925aa912453d2c6ede8ad059d946
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00104/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:13c602dfdd8bd9709d116095fd73371eab58fb16904035851f80d36fe94fc51a
+size 1928030
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00106/debug.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00106/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..0cd10321943a453454820821dce9fd2f22cb3a7d
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00106/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ad4da5c1a0880fdf8f2b257192588baa539ed32f5829b79e7bb713e8d6a3685f
+size 1936491
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00106/depth.npy b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00106/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..91863ae11e28014967c78bc74745796f9fc554e0
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00106/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:64cc3ac526bbf73b72b02ea5213d1d4e4733edbd4a77c1315b854d0ee841df22
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00106/instance.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00106/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..d6bbfa68098e2335329ddadf96a48e7412ae1455
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00106/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a55a1f6731632c96c6df3a68a97694bb70d7a131923407b22bfde7cd09466382
+size 149658
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00106/rgb.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00106/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..0a11f000f27a832c49e4b5a48046a1df2a395ff4
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00106/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d4dc3b502b5e2f2ab36138692906b12926042860841c59d4a64b7e17956c7a96
+size 1931711
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00108/debug.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00108/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..a04db9e1a8101a9da901b846f31a15800ad22b61
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00108/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:48026cf4d2d6f9dd675abe69d0d4bfe30b8379ff71feab001fe8ebf0540979b5
+size 1926165
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00108/depth.npy b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00108/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..d7517e65a0c0097f6f85e171f9f4117d3377b400
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00108/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:401d9e97ab9dc66936c11c445adb3057b453beb7115c1982e4b380d26fddcd75
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00108/instance.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00108/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..320da4afca4770c7be452cbd884597b12df189ae
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00108/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8a55971386027323d8a12ed36a05f9ac4485f212957ff6ee439c8db2cc14461c
+size 148045
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00108/rgb.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00108/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..1ab3ebe9f5fa378d8b330f0dca81dd283d91599b
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00108/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e3249a789b21db98d37158d77d213e0fc0dd68f55e895275a2600362e58f512b
+size 1905918
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00109/debug.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00109/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..d6305e0a12207dd598051355a40bda88d53abe6e
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00109/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6b0eb0179ced8c069a39000d9f94f7de4ecc843b0968672b3e4f0c4c0b8c69fb
+size 1923978
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00109/depth.npy b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00109/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..97029c9c8ccb5d4dad250f4021e5dddfaa6ed879
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00109/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4d1a54104a30a5796d99dc35c1c29adb1a8f551ace1238b89b96ab28127e94ce
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00109/instance.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00109/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..3625b89f7099b616f06c34f4adc0f046559cb7b1
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00109/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:59269774f4271faba7c41caad982175a60a1cc1b864b647eed05ac68e49a59de
+size 149453
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00109/rgb.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00109/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..48cde067c30defa60132e41953d1f9bd2b0baf5c
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00109/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:af5a1670298a4a7a80ac88cb83ad36055f099f763d3aad04629a06397794cba2
+size 1904488
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00110/debug.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00110/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..8bd91fd1fde16a32c7c28b6839242ee8b205b128
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00110/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dc826984be6c389495b09f6dc48fe476e73c0ba118158288e893783ca0a673f9
+size 1913244
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00110/depth.npy b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00110/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..76357769f778aa7cc1555c78dddd8d396b4c4b47
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00110/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b0cdecd78c0264ef6f5f0dc59443c0a14cb6300bc572b1370bd8b7485053548f
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00110/instance.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00110/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..21446c321540a9a2b6700599a5b04c492af9c7ad
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00110/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:647688a643cfca28a96d79d7213fe82b1962d59e34dc5f266be8e5b8323e2878
+size 148711
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00110/rgb.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00110/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..140d544905722d221daf5491a0bf55cef7bfb874
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00110/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9302125a09e34304d3700849fee56bfc7be43d3176a8d3e85a3a3368a6b789b2
+size 1897073
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00114/debug.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00114/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..c4d0837c3a286fc8dd7295ff036f8c602f37be46
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00114/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e8063588d213000f679c9414e2f02b69913e9adb448ec81fafdbc35fd0ca5bf5
+size 1894701
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00114/depth.npy b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00114/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..6519a0be35b01a0588d3254a056ef26aa7c07b9d
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00114/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ca85e98f94a7b15ffeb509dd6e54db606ddb8710f090a4aa987d687dff68d2e5
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00114/instance.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00114/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..00b721419850decb4879af5b449041cee4a77c03
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00114/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:acc36d159d7af3757e157263553dace23052cf420947687c2a2a606bcc442cbe
+size 155834
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00114/rgb.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00114/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..f2356b2f7b1f9e9b5933f547b72bc14ef72d5511
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00114/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6f7e21ae5d1a271a84a8941c648a3c0df1715e267626e869b25ed3224d132dad
+size 1873643
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00115/debug.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00115/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..11b275effda3b6c3c68eeaa4f96d5cdece18c7b7
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00115/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:88cff11da67ae6becd30719015dc5d6560d6b0207d20c443543b1308c32ed67c
+size 1896057
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00115/depth.npy b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00115/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..63ea6df19eba6b1ddc7c3bc3ae340b24be20a928
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00115/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9c31205a32a2ca805aa9fb64831aa47cb56d9265f8dd4c19ce9bdbf644f15f11
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00115/instance.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00115/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..601bc65fa6ac19302f72ef1d1040071dbf3bcbc8
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00115/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bc9d20b7ec7532cd213490f76b4329f3db9deb45f535004fc07dbf8f499a9d63
+size 144125
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00115/rgb.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00115/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..6d32b4d66eae433422f013e2b17a093c411cdbc0
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00115/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f41d6601e5e565f69e4ac687113355935761265a966199865787758e2dd2d81a
+size 1870805
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00118/debug.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00118/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..4e4a00ba3307216b1437e2e85866721a595f4a3d
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00118/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a5240fd30357066e7590debfdefbab64f1a6cad0b1e782f079c61dfbf89d45ce
+size 1856441
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00118/depth.npy b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00118/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..101b21098d779dee102fd5fdcbdb551b27498ba0
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00118/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:31762f81ba7ab688f3b18cba21f88cbe302e6a21af7e88107d7804969de8c3ff
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00118/instance.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00118/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..81865cce22012c70e71947653d1dbee9fc77bdf9
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00118/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b22e3da61bf75f7b0ea315f04decce213ee70372e5dcc434afdba761792d0bfe
+size 142267
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00118/rgb.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00118/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..25b81ce748918672eba3e34474ae984d02dc982e
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00118/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4fb2ef38a7429dc1974a6d43c3e8c3cba1e04a79b8c9bcce19afe789d35f17fc
+size 1829517
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00119/debug.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00119/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..3f4f91f85e1fff8f961a8292a4ee08ada2c09cc7
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00119/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3fa4df3898dcbfcf112706c63caa67ed75a9170174caffa778be7465d5ce77b6
+size 1852711
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00119/depth.npy b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00119/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..b5537fcedb56dddd2e70c9835a1059f40186c945
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00119/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:75c5bb2b3094b9a41067e9d7e34f1b7432e4f480ff1ce078ca6ffeafd76c2840
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00119/instance.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00119/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..4ed996f60b97b8b1303f807de439e85450897ef9
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00119/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3f08dfa611af489b96a646d52ecc8248e4f2a5c6c0aab9dc07004132e3398e6e
+size 145466
diff --git a/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00119/rgb.png b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00119/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..7ea4dd7e04f63c729ca5ae0983a46c9d3a674d0f
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777084590/aug_001/frames_playback/frame_00119/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b27393a50d03c6d72bb6a6b72494eee509b04246d786c0fda9ff4f3ee41523f1
+size 1824817