diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00000/debug.png b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00000/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..086b7d03d91f5bcf0ac89a6584a9f6c91b33088b
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00000/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1682ab83caea9d44ff879b12c88fc2a52515dc96cf52423529f19ec8d7835466
+size 1612361
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00000/depth.npy b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00000/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..6db5514af42961c93aed07e0b6e8408538d07801
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00000/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:821cb53d678e3730be7f85dd16330b20406165aab9a3da36781a6d7a32663fdb
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00000/instance.png b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00000/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..7e99fcb959d3a727e577999129856e9bc83ead12
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00000/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d2c25824ff118a9416af53b3d39fb8078937ac5ac052d7490f57f423c4df68aa
+size 68453
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00000/rgb.png b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00000/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..81ccacfc0b918e5401a303c40684cb1213898302
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00000/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cc6bfb5f04ed5683425a2a6d5e85c71d471c282ab01c1b3a29acbb4cd1d64f4f
+size 1593318
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00002/debug.png b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00002/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..bf00984523796a3c9086aed0369cbf41bf388f66
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00002/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b138b2971a0120c37ce4a82c7687892eff77cca39a64bc149b9f18b732957b45
+size 1611477
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00002/depth.npy b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00002/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..4d4c39f683ed63dc72a9e22d04605f86d9cffbd7
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00002/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a3b6fb80920c21b75ff24ee4ebe518d2793d46bf87822a9b79ab2eb807491473
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00002/instance.png b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00002/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..222d6ed78337fa45363793fb4b947785401df044
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00002/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3cce074dded410370c743f0d602634f8f070c6b6468e88fe81ee951d04543e6b
+size 61069
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00002/rgb.png b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00002/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..b1d07c34f8502716cc9d612d2412d9b9ca21f6e2
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00002/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:64c630b6940661a1ba283a52075a95586b891a6b53eba156e71164fe934d4dfd
+size 1598788
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00003/debug.png b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00003/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..646b33d25a411ccc3d2c6723d5a521095e4be4a5
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00003/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b2e0eb8e37cdc4ffcc0672a6f9687c965d70be10c36f11fc361249e12243927f
+size 1598127
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00003/depth.npy b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00003/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..020f81facfa1cb597a1777453565517346a61612
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00003/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6473628bffc0c4cc3bc5f9036af9f420d04781222730952cbd00f3621a1a78a5
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00003/instance.png b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00003/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..d4f1badbfe2436b42577f785e590519a6b159c2e
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00003/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c54b6addc063b6386852a1f62605a81e1bf7bc36c1d567e384ba707ae4adea19
+size 67151
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00003/rgb.png b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00003/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..e23028bfdbd01a5d58330ad773bf152d9709b998
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00003/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1c24927dabca24e4dcb5dd7b37e0c57014218a2d77be53ea1093a4e85a21fc05
+size 1583610
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00007/debug.png b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00007/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..a55e3b958e1f9b2712f1928ef5e4713ad5eae777
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00007/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b41d0f69dbdb684e8b77d71ffd98032e6938be6bd2aeee762efa1fab85d73a20
+size 1585912
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00007/depth.npy b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00007/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..282dfd1a7b80c5d11dfae4ad26624470147cb79e
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00007/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b8b3bca0ee8c23470a013b35236582cc42e9a974c7b166ead58246dfe6c8a1aa
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00007/instance.png b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00007/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..d51d400011be33080dfea0d86a5912192afed474
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00007/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a0f484ac813af2b11efaf457f13641ad04cc0ffd32f6a82ae003ed81110709b5
+size 52580
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00007/rgb.png b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00007/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..5757c28feafce58414fd676d987cda32c18a2f51
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00007/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3e0d530fadfe448ea5b1f2cdee9b88565414533413c0cfdca38aab948dc4036d
+size 1562722
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00010/debug.png b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00010/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..edaba531c3726c4b1c691e3030ae23d9900b2b56
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00010/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a1725fbf711980ac2d6324ae2ac5762bd06cd3e4bdb63c0018aae1ff04ddc5b8
+size 1573565
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00010/depth.npy b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00010/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..9ad5ea5804f0d24d1a2c865dd33aee63af6b3d6d
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00010/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0777d1e5676b175697abf6a144fbab6b9f53757a7fd8c9738bd479d7df32bd6f
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00010/instance.png b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00010/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..2a4fc20554769bb00936ff54adc5e96b5df3d8b7
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00010/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7f7e8e7db7dd767007135d9111805a07d18939b5121852855aab19b6f00bbe03
+size 56994
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00010/rgb.png b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00010/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..98983cd0e40415533afbeb628439cf97c6369a53
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00010/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1827465da3844cca5fdebf03c62a089e397b7a41ac1519bfb2b8ee217877c9c0
+size 1569567
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00012/debug.png b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00012/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..38f39d1b44dd9d586561df0e5f36ae4f7b885973
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00012/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:30e9d3b196f3aa2fd70ca84e904969b6ee668667f06c0f296b8ae055d39b1b15
+size 1596986
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00012/depth.npy b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00012/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..f05c6c0f31ea98381464df28e181fa280c8cba11
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00012/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0b86ae084ae975ec836ff49ba196a7f91cb35f47b08429064fe4393a55c67c35
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00012/instance.png b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00012/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..dc078954dc0df8914bd38022749353584913ecf2
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00012/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3ab67737f2199ab3f31bbd7b94bd8837647194ec16431b8834559b19957fb093
+size 56639
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00012/rgb.png b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00012/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..2353ea8d262ec81a4ab3b161a2d1925109a18da8
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00012/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6a3718e2feef6a9eba588535280aba742b6ffd3dcdc1ad826428e4d95ae5349c
+size 1583950
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00014/debug.png b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00014/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..cd3b447a3132ffb0a98958c9451e11b9d94efaca
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00014/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f61ba710ca9482bf5583452640f68c0c2cd6493aeba7d289fd1dc76952d26f88
+size 1584980
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00014/depth.npy b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00014/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..4673058c6b6bbe66a91d093d266df940d45cd1f9
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00014/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f18e07a58215b0b855e4948e37a4835e2c5becdc4e1113b2d4dc67bc887a0b9f
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00014/instance.png b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00014/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..4de0fe3158e05aa5ab89eedafffc5363f25f82eb
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00014/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c83d4d9bbd091b00c27559ab6d1b7f44b1baa3478830ab5efe678641105b3fe3
+size 56954
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00014/rgb.png b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00014/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..2b72ab02e59f5117a7f197ff96f63b8403e56787
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00014/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ca3e26b6fd844732c0259b5a8697645307e9602ef8d3aa1796e73f84270d2b33
+size 1567510
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00015/debug.png b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00015/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..72d0275e9e2ba539235087787234d6ddbf16aeb6
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00015/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1c02c259ffcbea73482c84fee19bcec3f6df4850c0385b1b6d12d931cc2b5498
+size 1595152
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00015/depth.npy b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00015/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..4e2d441606f630e024a17f6b7796783a4985a12a
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00015/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6787926f5e8ee3fe3464329e862967809da07f14359bd6361a9a1da78a7e180c
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00015/instance.png b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00015/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..ffbe04a79a97eccc45ab14f49b100f3ed0e3aa20
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00015/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f0b785dc2aaeee8c9599fe11aa56bd768b359b6ec775ef9c3f6b823908020d5d
+size 56876
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00015/rgb.png b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00015/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..423fa4be65e1486b9366ad4e9d3a26fecb8caa54
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00015/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a4982413435e75382fe8012acdfcb89e08d60b4e3a2dbda703f4974b5ec85557
+size 1578598
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00016/debug.png b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00016/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..08d6830002f1c9056dee1eef667913fe4965b70e
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00016/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0a6e3e57c67aae12e15d25251c387ee016b52819e63cace0a4f4b368aecac77c
+size 1592809
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00016/depth.npy b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00016/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..9afdc3dc1199561271edee067c98b71a5d79cbda
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00016/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:56b357ec82cc24f6fce41b7074adae9a7958516f2d74d8beffbde4a7efbdcbb5
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00016/instance.png b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00016/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..8f7de338e2a4c87d8c30e0bdd65200e658ef6940
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00016/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2432a5c16d0b8e7498775b36c66b6209bd817ad444f125fd18e9a43394a56990
+size 57387
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00016/rgb.png b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00016/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..30a03cd27a6e6c3daea7a228a3524dfe116c420f
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00016/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6c409ff85218cc385f876b6b0e6c4b46834867d06bf3308f1ba4ce97a511c673
+size 1579211
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00018/debug.png b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00018/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..2797356b791b5feb704d346e0ba66ac8e6404c4f
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00018/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:381eea3d9d430ab2e4922b71a4a62995dcdcfa8b96d2462c6b051bf7f42fee81
+size 1579926
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00018/depth.npy b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00018/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..bc4a614db95579b37bf6b10bc58f109e7833f5d8
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00018/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f34b6dc7ed80c5f4035cc9aa2a7dd2014738efa176626993dd5a25710d6a8939
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00018/instance.png b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00018/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..a7f361006f63552cda2aa655d763aba89fe0c645
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00018/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c693d8586163ae7d5bd8d23fb3a4c4321b57199fc89b6d4160aa7b374c4c68e3
+size 64785
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00018/rgb.png b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00018/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..7b33e03aedbba4a4db4f6ee3db72c12e9dc7c4c2
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00018/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d0705b29884b5febe597443ff9991a9977615419068ff1dc8aee47895eaa774c
+size 1564757
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00024/debug.png b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00024/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..fb8fd34bf310320ba08a50753b7c4b80fd2084fb
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00024/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8b1e53c8af25f66dde5ab95def7f57b579cf15212a4b1a09af5c2fa62c42a9f7
+size 1601256
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00024/depth.npy b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00024/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..f3d4a463d55583d93b0ffd37fdf2764f8ba607e0
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00024/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3253821f1d807547a8234a86fe50cc66fe83e7ac8a7ba04d45fc3bfef4bcc2e3
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00024/instance.png b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00024/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..ca91df80ca0d3ccc21220b962818538a32905eb8
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00024/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:85b26caeb675d87b73769185cc571961c86d103eb0b84b1cd2a346100f653e73
+size 62307
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00024/rgb.png b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00024/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..341e39f9b50b42bdd53d8345fd75db393c2fdb2b
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00024/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d0922be444536d35e7a76a7d31e65edb6dac321b74566f1664a42ef281f9f88a
+size 1567850
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00028/debug.png b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00028/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..fa9b0269c44a3b31a964e83f7156e8c04b1cf141
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00028/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2e6db1fe9be5e9d9fdd5a52e8b0b30368dd4b11d97da32388daddd537680ab0a
+size 1615224
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00028/depth.npy b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00028/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..9c1ad0799094ecc2c9ed62b28b758d15051dab6f
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00028/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c245032fe31c62173d0edcbe952820d857f1f32c76dce0748f10c3d07e2393c1
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00028/instance.png b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00028/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..5574e6915dd5795c7c2ba790ecb549535732ea0a
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00028/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4b1e4261d8351ee8108f3edfef88fc41258db2aeb3e60f3d40085a2e983557f8
+size 62833
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00028/rgb.png b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00028/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..65f4293b2c36bb8dd8be4ea299a68aed7da6a76b
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00028/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:68f26a7d8e55cf5d3b150e5991723969120d1caddefb4bbf76ba458841a23bed
+size 1576463
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00035/debug.png b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00035/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..f7246d3c736aaf04a8449527d72da9fb37c5bd3d
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00035/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a67c2ca8dedbbede76edceadf8b86d458864aba8c165c48ebf88daf570c54934
+size 1610396
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00035/depth.npy b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00035/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..e038c79d60ec35cf0a154a8d24b82ff13bcbaf1a
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00035/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:33784882e04923470d3aade6040fffaff14c4fb89b9629d0942b04e6118263d2
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00035/instance.png b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00035/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..412d045bedd1f0e466e4bb784e86af0636fb96f7
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00035/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e4ccfddf3ad473a1331ff52cf286fa3f0eb2ead16c6bef206c43b7593fc5e73c
+size 65336
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00035/rgb.png b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00035/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..67128936d523c2f4416f91a0e468d9595159916d
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00035/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1c73441ea850e3003c24d85a975faaf6c93953e59d27b0a3f92f22e3c46d600c
+size 1547089
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00040/debug.png b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00040/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..a4cb55f28d0b087eaca6530bccf06493734a89a7
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00040/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fc75cb7a380c2006da3eee1c0cc0e3ece2d98a6b3f941666ccd9cc87abd48f69
+size 1593225
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00040/depth.npy b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00040/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..71e6d6b2e0f77e7cced409db8b00e8b05a7ef81a
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00040/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e8ee032dd343c4e72d4a500fdc50950b7a5c14cc07e45ce61480a11bd588196d
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00040/instance.png b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00040/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..74d6f030cb0d854fb3983b07eb93ecf35ecaf143
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00040/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d6ab7b67f606a1a4f4ac2f25c3a21be47462fc8180c138ea149fa794f8b2483e
+size 64968
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00040/rgb.png b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00040/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..7d35f17475b1f4afa62119d2f104a528b70810c2
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00040/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:81c838ef62ccd60fea3ba9d8112f0f1fcfdb58047ffc057ad29324dd4e507d27
+size 1539504
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00042/debug.png b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00042/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..836a0018fb92a3e7d51a93352df0119cb25ed337
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00042/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ccc50caea86c01f5853f824fb8b38e102582ba99fc9aab27fb9e5352a57b0a06
+size 1582126
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00042/depth.npy b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00042/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..2258d4b33046cd512d4f0c9cd1ceaa2812aa8662
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00042/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0c6734d337c1bcb2d198124201178732611dc548b17e5d04f58ef98acc3ae2ba
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00042/instance.png b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00042/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..b7a78fe8a71a2cae79e5b417dcd55e1927a7414f
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00042/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f2927f25cb966250d7932beb5cceef4a57f8c3741e32726f2f4be511c9e64419
+size 64855
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00042/rgb.png b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00042/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..acce77fb5dea1db54cd5342fd0af9183984b2dad
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00042/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1ebd66bb96a94e6a9dc336e778b16a1a67d8daad6be873b08a0f325833aa3a86
+size 1530899
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00044/debug.png b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00044/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..d717775ed5fc2cfb4833a053c7ab90f2b82814b7
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00044/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1dea49628bc32ef5ddec03b286e5615550b204b67662fdd0fe5a03b7dfa73eca
+size 1586947
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00044/depth.npy b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00044/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..19e401c06f4495aa1fa146374c36acb0d685aed1
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00044/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dbfa36385aa5ee7525ac9c69523b11b79fdbfe6b4495863cbd092f58f7c9ba6a
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00044/instance.png b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00044/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..4b56f20d565245ccab47c5a6668304bf73321021
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00044/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9d358724b8f025d813389f1f758b0858ac37df202d0272ebfc5d83bf1851edde
+size 66012
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00044/rgb.png b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00044/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..3804327bc9e07198224980ed0b1368a9f6508edd
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00044/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:77d4767b8b404a83e5d59ce316c3b3f474a5bf5472c642816bd9b324a865f07f
+size 1529884
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00054/debug.png b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00054/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..42593794b754eeb1e543580b0dc927f8b9c93ce8
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00054/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fb0b2b1e616eed6687adf3fee7d446b4fdcd7c88205b16f0930d72dd530dc19f
+size 1577854
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00054/depth.npy b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00054/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..bb6393cacf5de01877bb96e5c88ff1eb0db19228
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00054/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a9b996988570df85d0a243ddb9958eebc485102a3429454f902d84832c989ac1
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00054/instance.png b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00054/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..916be060216091627bb7ddf68badfc8c40a0728f
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00054/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bebd839fc02885f95a797f10d67faf0a173bb6539fb80a12ca2fa2e61a8fd6b1
+size 59197
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00054/rgb.png b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00054/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..d242318c55fdfa08a470d0c3aaf87abcd2523b7f
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00054/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:05df4271d033088e10a2e446f913fde70368d416675ef428229d082cca8892a9
+size 1551295
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00055/debug.png b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00055/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..611062757b011d9008c39d07d83fc0e55554d68c
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00055/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5ec1942d180e43e5fbcff459f595c7aeed1b170f71afed7bf8dfcd4d76f15b5e
+size 1572638
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00055/depth.npy b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00055/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..f2d4b7a324f54ee32a6afedc5d037338f82d7ae8
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00055/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ad41da92562f40433a8936bdf7f7d15e60149d320bd44e800ecdd4426e6c07f1
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00055/instance.png b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00055/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..7220f96d2b4b2c3aa4d5229df218e37df18108ec
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00055/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:686f564c0bf8e45b99b8f8a37173ecf218764080246cb9d262bfc8493aad1801
+size 58242
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00055/rgb.png b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00055/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..1b440b51ad664df7a5b00d16c65e3eb0b6537946
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00055/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eea398eed0c1ece16c073bcccc710b1344a653287fd40d9a5c1f56f7acf8c672
+size 1550635
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00060/debug.png b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00060/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..c193483b17a22866403ef0f0b5e6e996acb2544f
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00060/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0e6f9b9bc040d24a127a289d803d2bb58cd18d981a8ff99b9ec5fee5db725c7b
+size 1581004
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00060/depth.npy b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00060/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..b53405459306a5ce85a6bb112a8598e910f7d020
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00060/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7c4c17874108889a6e971c81f0bc47ddca89fa0516e312b19242db8e3092b078
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00060/instance.png b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00060/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..ae634c686a67357469acb7a3c97064b416b6a67c
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00060/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:925eeb5ca7759732fa182282df00bac0b0be4b911cee6fa76ce21dff9ee7488e
+size 60238
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00060/rgb.png b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00060/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..12762f929f7121921d995c77188b56d2fb931fb2
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00060/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6316e3e4af2cdeca2e7e74ed5a09defe41cf432afb219b6be8dd9b861df70581
+size 1555273
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00061/debug.png b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00061/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..89653d6a8880092ff8b2263791719d2ba5fc4a3a
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00061/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:91f074319116b185b50fd9b851f1f407b5274f4500f37592a90154579ad277d3
+size 1581031
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00061/depth.npy b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00061/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..e1f42fa5431fa1933dedff0ea2d3b60057fcfa43
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00061/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5c13f811d0036d5a8db6ec10de9c25afafc8fc287219a655f9634ea7445b8436
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00061/instance.png b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00061/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..e6638a15760bc346b49e432f032bd1061043f58a
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00061/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:861ab47a73154708c293ca5c2b6ba71b55f9b88acdf88c2c116dad8fc380e8d1
+size 54691
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00061/rgb.png b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00061/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..cabd3d42ea2813f9574534ed1d4eb59b81a43831
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00061/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3ad02c7f312d64bf942670c133c7842a1408f5e32659e86e48b4985156dc81e9
+size 1561401
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00065/debug.png b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00065/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..814e15017486f2b4c03a1af948351f24d242701f
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00065/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e7817c59dbe0baa6b51fa88b09568e85e99a2c4dfc63d01f06e943b43624e982
+size 1568959
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00065/depth.npy b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00065/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..cd31a8af664ac33a4d501f2986016f32413fbcd6
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00065/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9632505d003d7b939837bedc3005be08618df0c532ff6ba4c3a35afe5345f774
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00065/instance.png b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00065/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..6905ee2d646f9a66387c7228265d24b341acfa3f
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00065/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0e5e24006712ee52ae84b5876a0535e028f60f0298c1b24ab01e942b0e241242
+size 51160
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00065/rgb.png b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00065/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..0d0d3012ad44b94a3116b94ef835c90e37379236
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00065/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2e4217f3911d1f64dc3417d634ea43d3f954abc92d38eaa1b06bf52c9b154ca2
+size 1553088
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00066/debug.png b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00066/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..d0229add35e5576408768e59aae9dc9bcf6ca376
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00066/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:735bc3f4914321b8f44b50479f85dc72f8b5a26614c301cdde9d9eaeaf6ed29c
+size 1583527
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00066/depth.npy b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00066/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..76c6aee6255b19251f229997418f85149f1c5e88
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00066/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c109af545b7e58c2124e4016ebeb2be1d9301b2d36ca5d27a573ca964b492076
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00066/instance.png b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00066/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..d65122a784d7a99eddae29b143fadf15dc7cf0d8
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00066/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d37fd0407954624145ac8e7da1df405b2d4d681e4497a491421d65a1be5b8220
+size 52263
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00066/rgb.png b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00066/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..649109d8235627e8bafac640e3128a61307404eb
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00066/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5809374c83ddbec088e57051f239c32d4b3d01c1b054576af588d78ce55b3876
+size 1572872
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00068/debug.png b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00068/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..659eee05ce289bf69155201bcea89c4214d0c1ee
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00068/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8713c08b3b0eadc83e82fcb99993fe4e33749189a9a8826f41025aced56e9a6d
+size 1574583
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00068/depth.npy b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00068/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..3d6d134e02cd335b31e1ae1acfc925aeebb12f3a
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00068/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0354155c5667f9c7d01ce38e1dfc5fde49f1d55d56136518318afa2e8b65ece7
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00068/instance.png b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00068/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..c859b7c0e62daa9201dbe954082eab06b040992d
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00068/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8c8d13e39de11d4f0dc1dad1fab4c9613ce501c712e3272a052007dbbb4715d7
+size 53046
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00068/rgb.png b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00068/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..0a04ab3b86c4759efeee3a3f9c5069811fc4293e
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00068/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1131d7d7bb541455810b9536a9c145cdf4dc630029e29153237ff860d3127a93
+size 1543301
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00070/debug.png b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00070/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..e34a091a6c9f5f8e7b0d0505dfbc95da55d0c0ce
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00070/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:241673c2549fc6d94aae8011d67710f136e02ea154b7550c2241591b4e008c70
+size 1576363
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00070/depth.npy b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00070/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..0956eaea0d3ffaa1567398add3cdbc3844fa3e20
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00070/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e7ec195f61ad5a70fbec25949388a73542c51c38b0aaf5b3b09d9fa6ea3b9d8f
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00070/instance.png b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00070/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..ce5c71a2380065fc5f870fcb6880bc6fd68a69ce
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00070/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:37e14d1ced47579f96e4886b197089f87e782f5369982b15eb4cbb86ed8c397f
+size 52069
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00070/rgb.png b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00070/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..9a73cec33bea6e18848163f66b97a5429d33005b
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00070/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c3aa8d0c3f30f1ff8a94d0720c0825cdde0bec43d0ebf940f0e46e33991ee1a1
+size 1563179
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00071/debug.png b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00071/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..ba70dd4a962837b2b958656ec4774b940d83252b
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00071/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cd9d65368c95b45c20e8c833db34fcd32bb239a6cc8438ce40410df82d752202
+size 1559151
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00071/depth.npy b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00071/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..ecf0a64e905bb15b24d30ebc238349f5a36b8c3e
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00071/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1eff9e166254f3d4b372b50bc77dc7a5d37f2f4b0ffcac0f470242c7aae816fb
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00071/instance.png b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00071/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..73041b5895e66c63d426f0cafc81d2713c0e8f46
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00071/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a26206a152676f6bd2fcc49ee848d123dfd0573ba77c115583a9fe250993c1fd
+size 53574
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00071/rgb.png b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00071/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..3d28612c620ccb04f4ab5a89fd8c95e546ebf684
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00071/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f125c9f866c5548d356ef3648157baaa3caf3f543ee7d64cba13dd8494c6450e
+size 1564592
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00074/debug.png b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00074/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..5ee80dc8e7e10a2e3917e96d66dbb1893c823f88
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00074/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9f45e490cafba8da04ff2c52b4b6b1a1f37a5452df911339ce2de2a4614f4e08
+size 1573473
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00074/depth.npy b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00074/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..349f7b65b0ab5180101bd823e262b4efa9f277f1
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00074/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a8cd492fed449c2347d2729b8eb4d8fe5457400a87d16f2443309dbe2ef767cc
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00074/instance.png b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00074/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..8ea38b9b7917958dd32e9dec6e88cbf67906c105
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00074/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9ed1a2e97a3c0c58627ced36d37d65106e5e66fd2c3d01d3839059fabeb138bf
+size 50884
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00074/rgb.png b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00074/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..206cc6e357c532eb249f309c8625f310dd99fbc8
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00074/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7714058d1feb31e5862b983c08c348905fc5125e700fb7f6c8ad53b251298eba
+size 1545069
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00075/debug.png b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00075/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..7073be6eb614c09d4c948b87a71c101d50be3625
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00075/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5f81371aa2b7ba39ef14860bd246665d6c3fb4a1643ce030ab51afdf958c511e
+size 1571303
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00075/depth.npy b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00075/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..38f9f30948cbaf754411df0071810c8f512ea4c0
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00075/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d3d86fbdfc26fde18b9cd60385e3468b187799f14ef27c7820350866635e94d1
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00075/instance.png b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00075/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..a13365d6b4eb71fc09831b382fab70dddf809aee
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00075/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:67786487bd42353d347d0d64a22a369fcc87f4933f6b274335389746f62aaccb
+size 54446
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00075/rgb.png b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00075/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..5cf78cfd1a2beb443528fe093e6b68f8984cb15f
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00075/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7026ebaf369b0280fcc377584acc587b45373d7a896516b7c119142b38b22549
+size 1557647
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00076/debug.png b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00076/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..85e11e88e7142627dce936123421c2415df651eb
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00076/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b2c6695fa1514a0ac767a08f53f94bb9f0bdc438d0c9e917ddd313d356ed48c7
+size 1555907
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00076/depth.npy b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00076/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..cb5b19ab1a46eb60b80a18f84db033c0e035a26d
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00076/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1baa5e0e4026739fd909bb9fddfc465add65c35ca42db50c3aa9b0a057872bc8
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00076/instance.png b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00076/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..26a86906a4c8a23783a5dc82c7f03e6e551bd69c
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00076/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3f586e904b5877960ee9746854735281fe551187a454bb03c96053fe2c848b06
+size 55049
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00076/rgb.png b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00076/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..2c3a4b384fc64f566029427ccd93c5f6d45f5f8d
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00076/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a745ce3f412cc52c02f00a90350d8a6bd4d10a73dd47f5bc3f78aaff29467265
+size 1550880
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00078/debug.png b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00078/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..47f2933209a6b0bf1f2114e6325aed64e7f31dc3
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00078/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b5c3b767d90b856df4e1dd8cea7df14b47bae6728ae564b6e47e68aae0f4ea37
+size 1571186
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00080/debug.png b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00080/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..b908c250a4a08955337eace27dd1f2ec5b75de45
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00080/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:85c8fec5c433f9c94ed34fd4f0b48cf0b503252fddb22d173c169d8967f52379
+size 1562519
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00080/depth.npy b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00080/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..f703cb1101039493d0372dcb342db26411008923
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00080/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c2e9c67d9f021d80b668d674684eae2a390a821880761f57b9ea832895de2fb7
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00080/instance.png b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00080/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..7e076feb80d89769236bd33ad6a5e0f3026530d6
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00080/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1b73ab827e491adbcaea256a93b7996c32806281a9e59b25f441837f58744735
+size 56134
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00080/rgb.png b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00080/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..f9d50d973108f06b5a2941b1651d7d62dbbea72f
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00080/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9ece9c7d76db2dd5a6d935c8f864d4aa7cbcf09621a7160b1b5f5444c356c360
+size 1558618
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00081/debug.png b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00081/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..2907c8ddbf9821dd2ea922b0667b465f587694c9
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00081/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:86141bcecf764d59b8cff51ab35f518877781c9f9449484bc5cc0a54d2ab4a58
+size 1576475
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00081/depth.npy b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00081/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..57fd1bb7a13f523aea9b16af8b321fdb1d816ede
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00081/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:149d1ff51a8617730936e4d6dda3535091b24943153c483d0ed66f9b07c05d5e
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00081/instance.png b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00081/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..d75e6bcb2e77d6c029ac375b47c635183855b6df
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00081/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:99f0bba81c6248f2493ccd0bd5bc7b94a090ae8730e8c5a0c895297ccbb2a36f
+size 58434
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00081/rgb.png b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00081/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..06f1c07e82dca7dafd5d90fd6c02f7bcf9ac11fc
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00081/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d4334a8f50d50e9686d93699f25afb7b001d593c54a20772bc5bc2776828d04d
+size 1552736
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00084/debug.png b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00084/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..ff7ec393c40a3952a57528951575d14d1b212600
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00084/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3eb7e949e1ada1532135d056f08d0a3b0d2fb0a77026ddb0be7661a457e96faa
+size 1537727
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00084/depth.npy b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00084/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..0c6d4f9924f27bf9e8729004cc91b167251a1b96
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00084/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:67a3d616b080990270158ba195e24b83bd360e9ac0342f370e210d25ca78278f
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00084/instance.png b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00084/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..5a752b6f2c816af032005976fb301b0c4777a927
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00084/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1c261448039bff4fbd0c7720be78bfd2587361ad4963ed2d5f163a2fa8ca039e
+size 60725
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00084/rgb.png b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00084/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..10063b5e34753b5f115ae493cab77997e406b9d6
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00084/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9d2109fe417dddbc77266c7c9e783fe2a84a72ea2a6d0399569906c73d88e361
+size 1548846
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00086/debug.png b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00086/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..fc468cbf56da48a04c2822fc3a2fb054642de4b4
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00086/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ae1129a94fae285792048a3d42feaafb02482a809f4bfa3eb4156e5f18abef50
+size 1554232
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00086/depth.npy b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00086/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..bbce9c4304977403e22a045b04156abcf5d1252a
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00086/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4a0990d4ccf022b6bd6a160e2955592ea9d44421b526467456d3dd13475574fc
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00086/instance.png b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00086/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..a8ac2a0d567ac83f887cd999ad057e38d763536f
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00086/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2956a41bbbc41b1527c6d8073c566ae35328498611236671edadb2f87985f59c
+size 60454
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00086/rgb.png b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00086/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..487789178fba71510015baab139d2d9da55b7c1c
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00086/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dd6cb30a3d757ffc80bd68e2e7906f08ab198847414636d11d25a69de5fc4f02
+size 1552941
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00088/debug.png b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00088/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..b43b42c82981ff87e089770dbc31d956fc97a62b
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00088/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4c7487a8c4da511b9d55e5e9c2737b0b7aae9df2a666c11ca4317a3e3932c77d
+size 1541754
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00088/depth.npy b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00088/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..3ce99ad0fab8c90c84664065f9c6725f38e23ae4
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00088/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:385018891a26a255c6fa0b415c6c9a54a89d55ddf15896b73f91fad880e90cf3
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00088/instance.png b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00088/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..bbfc7f9814a7580f507b97bd3813ba128b8110e8
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00088/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:82a9133a8068dcf22a2e703bcea36f552dd0ee8c8da0b043cf9f475d4f0060c3
+size 55486
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00088/rgb.png b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00088/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..2876e79a58d556b1b41c4c8088cd55fcc7eecbb9
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00088/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5b9488706c7b649ce4e1cf1f4442a783c2d278e936454ca5892e01790a3420cb
+size 1537582
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00092/debug.png b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00092/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..7564c834743fe0cd4f763af1203828af712c7a9f
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00092/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:79950d09963c868037e8f831f32e483fd1e1753d864eade22b2216c61fb69a0c
+size 1539172
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00092/depth.npy b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00092/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..bc8d846ad12d0a919ce01a6eacb9f169ecbf7acc
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00092/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:edc8cd0ea731b623c0623a4675443ca750be866d499e964ba30e92beb317ef7c
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00092/instance.png b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00092/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..a96cf18646a3bb4fa20c49eaf7612fc4ee7dfc8c
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00092/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cd37af2ee53243d1f358ce7584fd1d0ea7d2c135f3c42d83aab949a3f535b2eb
+size 61105
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00092/rgb.png b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00092/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..e7769333a9252575b99494d0cfc522c4154532a1
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00092/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7e9f4705c37cdd51de447f834f693220c4237c7c40fbea37d66d16cec01b9387
+size 1543835
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00095/debug.png b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00095/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..10c725606fc6543e7a18bb8e4609f4d169c3ddcb
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00095/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:24950d49722c55cb8c087fdb8a73eb68d23e00f46f313a475022bdb98667ed5c
+size 1560075
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00095/depth.npy b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00095/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..7120fac20332311c82a29a6e749e5a983167f743
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00095/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d810925d0d821dbff415058b19728039ce8d7c02f85df264152457eedba51a4e
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00095/instance.png b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00095/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..94f3c96ce53d0523dfce235ba858cc040627acdb
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00095/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9ff7911c79b2fa2a7b865080185b9643b4dd0a561a1a48f1a56780b1aa948498
+size 53824
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00095/rgb.png b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00095/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..e2d05cfb5ddd2e733fd47b568f1690b0c2f1557f
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00095/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5ad73f2d14411f6bdb2ea1c7a33718c7ea1b0d6a24c2a55d4646d1746381f3f5
+size 1553649
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00096/debug.png b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00096/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..5296a443934598625b546490f92585f165420eb7
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00096/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8b5be8fed1dc624633060603bea8d0f762aeeb8a7d2cd68937764a762274c290
+size 1538622
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00096/depth.npy b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00096/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..3f14fa118aeb5b104ad04a029446452ce4f69985
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00096/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:99a3e46ab017fec644b379481e6e23bd7cda34b09e7112301584afd44c3440c6
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00096/instance.png b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00096/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..5a08f4e875ea1deeab7b679e74818dc875aeb795
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00096/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:382ed9292bb365490e33cd14e2cd5defd637c06f32d580e37c061441f9aaa30b
+size 59922
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00096/rgb.png b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00096/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..b58c7eedc0f34682760014602ba33ed89a83830f
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00096/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:53d5929443baab57edecf78f031abe23cc9d01618fd7f40bc535eee87ecb8a29
+size 1552040
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00099/debug.png b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00099/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..842847c5d1cde48e8e95731ca707854edb477431
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00099/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1468c65b8abc0ebe3fd35d043899d14aeba4ec3a7792e4649c3539254616e7fe
+size 1561535
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00099/depth.npy b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00099/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..907a34a80c81dc2cf42840a93b54fa7cb87b8e04
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00099/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:23699d1286574b7f13cee1f34fdfa6cb49ebdeb54add2dd6028e5811ee14b3f9
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00099/instance.png b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00099/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..cb16225aa2083f801323ee7a5669312aed23deb6
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00099/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:30fe02e3fe672812f6552b80f9d06f0990f49b9926ec759a37286f24c6545176
+size 70144
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00099/rgb.png b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00099/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..9c5a765a47e00564d4a673ec21a2c88a698dd9a0
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00099/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ff5a0517e6844bd37c46749164011570d18d7a0a990fccac4d5a3416f83514be
+size 1532335
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00100/debug.png b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00100/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..01983ca34837e48349cee5cef5805f705a295aea
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00100/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7f7465b11d18d3e4e590129a2d2018d347c7494077195a7c028907cd776c2881
+size 1549655
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00100/depth.npy b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00100/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..50fd71db07bb0432ed112b201fbb434a80574119
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00100/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:48cfde0662caebc82d090eb019194e7c34b4f293e519b6a253f6ec111c9656e4
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00100/instance.png b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00100/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..0a523522689c9c4191c44e1d94aa8be29b18de9f
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00100/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6a95cb9b46221e61f9493398f40d0b3dcf9d9ebe0d544629fe89190eca1b57ed
+size 65240
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00100/rgb.png b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00100/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..6ecd235ada6a80b0c06f708de5cbf7e1bd2d1710
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00100/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:603fb9f81edcee4526156ddbd1c67bdd1c7e56751a35a834a6ff442795f2c8dc
+size 1535098
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00102/debug.png b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00102/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..03b76729142ed782a08d93da0fb03788bef4c22a
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00102/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:24ca7158c91140c75d0b5e7857d23c516818334d27bc73289ce9ddf804c74833
+size 1547265
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00102/depth.npy b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00102/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..95f11916b6bd1c70c4202b4ff62a0370ee563bda
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00102/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ce9160dbac7c7437dc00157b41a00d78f3eb2111d42794d682fa2687ae78daf9
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00102/instance.png b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00102/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..8e18abdce0e855f445cadf4da298783565f95252
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00102/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:458fc1620658d219b2593380f5155673be67f94d735b9af5eda67e1d74e60cf9
+size 64144
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00102/rgb.png b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00102/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..481e7ae27a9968836a795166eaeb886f7408e674
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00102/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:96b086c9f593a916232e6c548b52adb8255914f800414d8675336c73f3456f52
+size 1524313
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00105/debug.png b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00105/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..d21183ba7c477943026b48e86ccd2ed7a0013fb6
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00105/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8fad1ffbee321328c14da0cd79e19edc6a68d2381e8296f899ccc4108a6606b1
+size 1572205
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00105/depth.npy b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00105/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..eec58cb8ce12b96982d268bb2feedf3ba56350d8
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00105/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:02ee416c7bf611b202abce2637f4b293bcdbb2ca8aba61815f843cd7dd4b74e5
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00105/instance.png b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00105/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..8cc8f50e071ddad09ee651129896a922ceb8f9e7
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00105/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7a3b6f25d2aaab94ddcff51c5bfce3e313ea4a93cb595bc46ce161b4416ca867
+size 66686
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00105/rgb.png b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00105/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..ef5cf5d8cbb4a227f8d4ac44a761a697cac5406a
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00105/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:763cf5108832b81d50ed189accd08709a1f11b473a6409fcb5138ccb4c6a3af3
+size 1541009
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00106/debug.png b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00106/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..6c205924b97f0e6a8ae2f3560a6ff7bc42a57c0e
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00106/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6a4b638f6c9a9cf8bab98094a7ba9b3556134236357df8b0d5461d3a95d78753
+size 1574545
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00106/depth.npy b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00106/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..d20e274405d88ed8e672e33da4fc86666541c2ec
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00106/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:45ab73275e462f450487462f9b07f518a01277270f6bc6d6757aa9b72650d9e6
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00106/instance.png b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00106/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..ab237d986138449d77c28a97c1c4bcf0d571f936
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00106/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d9e6744c8c7b24121d4111faedbc2863b1a0e04fc7a838e0e06ea5dfc3b7543e
+size 67219
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00106/rgb.png b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00106/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..3d5fa482f3eb6f94cd28a12fbe721aa1d322900a
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00106/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0331c7d13a067a55a78b2a02b79d66b68e4081709b07a1c499f5ef809858ebc0
+size 1539965
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00109/depth.npy b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00109/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..b2e11be20838016d4189cb8a22a143c6d784b0f2
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00109/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2937b92c12396106d3b081863d64356c0c3584759121c1076f54e77778c541e9
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00109/instance.png b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00109/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..a2b3595fb124900634d871596d714d1e00564a9b
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00109/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4a13c9fbdb3d2de35fea5e3a2f9ec787fe3a8b87f779daf3f3f31ab7e31a1ae7
+size 71703
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00109/rgb.png b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00109/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..142a9ae5bd5f7b757fd07371415c6ad3b0c223ac
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00109/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:24b04f487b838c6f5b5f4abdd6be938e4929733487d0e8ec64774ae5d86ffa36
+size 1536783
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00113/debug.png b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00113/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..5395eb6074e28270cbeefb612610d9a17f341fc6
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00113/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:79e6612e84e14328f702e7ec62b4dd6da937e50482a8168135cdaa4ec57c33a0
+size 1595178
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00113/depth.npy b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00113/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..bfdb326053a5f02cb625b64949d27d4babad8beb
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00113/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a8faed274aa9acd0d80f872fb0670f6d72899424e5c2fd5505aee4fd87fd5ec2
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00113/instance.png b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00113/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..ddca07bb49f4ff7bd316bf6e90ddaa04af2c589e
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00113/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fbef3c2e5858fd3bd91dc6f4c3b67624fa70a09f3673455536c090164ef0c6f5
+size 70744
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00113/rgb.png b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00113/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..d21101c9c765428259eaaed6a78c3b5205c437eb
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00113/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fa9ed5b3b9771fac62d86d49b86d9515fb2d6afcb368ee2e1e0da2d29731a96b
+size 1533583
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00118/debug.png b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00118/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..b55702c88be58092ffda8adc4884d958e9586480
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00118/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1d5ec3fe76d141b61a76f77ed56f34011d12cc6994076ace0185cd1bfcc6619f
+size 1575059
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00118/depth.npy b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00118/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..901fa4b507fc35972589bc8fed9d808c55cdeb8b
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00118/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:db3d7814dc1847e54dcfc93d431a4c36b47e68686c164cd56b2244c1fe7e7e14
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00118/instance.png b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00118/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..513a22b4af6a9698f47770e9f31776ab0ee8d953
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00118/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:04f5290936fdb4863494ed58576a7fa20721b33412b895141d4ed6c9d14aab83
+size 61383
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00118/rgb.png b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00118/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..e548f1911945378a9058195d9acf81a626f1f542
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00118/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:345883a3b52a9e3d8ff0493af7aee563dad174d0247a0e969749f8b4a1685904
+size 1529252
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00119/debug.png b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00119/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..60e8867876161a836bbb8916305f6ba265ddb3d2
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00119/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:65bba968744a9c61760c6cf1b75743424bf0ad085da906b2c3879b7c18515bdb
+size 1574339
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00119/depth.npy b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00119/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..838514f543c45f9da9ba0847f1c693899b9b87a9
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00119/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:850e5d14e3eeb0f9959d494d0e50fa9d7d7e89634f9b8238eab45e24f1238a07
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00119/instance.png b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00119/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..7e378d26ffebcaec4547e7931bba1ff18eefeda0
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00119/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ccb9c9cd7e69ca541c36bb4a86ed50f7eded3d25bc4c2c74c7e5463558d42ca9
+size 59828
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00119/rgb.png b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00119/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..0f4a30b469a4a11cd070dc34f1016691133788fb
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00119/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:233388c8c2087cee6ee55b86dab267379d8933e2fddd4754e61cdf92b70e2419
+size 1538510
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00126/debug.png b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00126/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..ad528e0309bd384a35a147d04dcbc8c05c4a6866
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00126/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9795714a36135ca503efb5370d447307da9c7c0f5edbfaa1347852864020bd56
+size 1589666
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00126/depth.npy b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00126/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..c80b004da65cd919f759f7c7974f6fa2be93c592
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00126/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:91f4f5b02b7f248b94b0db233344afd446272925a9734e0e94ddc1d3af45167a
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00126/instance.png b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00126/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..61f4e87c7d9007fad0a8255f4c04c9625fa73cfb
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00126/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:31c25e6e1f25a0bad5cab551c05df1cf504fb5c943320e34685ff82928ecb286
+size 54665
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00126/rgb.png b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00126/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..ab387e74851e6f2bdf1122d3657b507d5d4a0950
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00126/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:90a88a4e75900acc2da65036283437b47777ab667f280a5525874b6102c7b3c8
+size 1523048
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00127/debug.png b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00127/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..ada08fa4d3a7978f6f446d815e9902c79258c4b6
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00127/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6eebbe74dbc301214185812635afbfb3ae31e4741a49c6cf256df4f4bfcb9bfb
+size 1564548
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00127/depth.npy b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00127/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..5f53104e810bb82013082be56103688ac119e5d6
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00127/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0df8f287e43cb02fa26ecb2e219524c83c93d2da757624d95c69bb22fad9d985
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00127/instance.png b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00127/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..94d51f08e6398b3ecdeaddca355838ac929d8ec6
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00127/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0300fd84160e3fb7b5e19152fe74c3e7356b2bed292493dc29bd67c3f41073ea
+size 57974
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00127/rgb.png b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00127/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..d90c2e6cf132fcb8994ab9c52281fcf30a2f7756
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00127/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e77fc9ee0f748fd9790762e413d91c5814c6ae55407ffad6a3fa64ed214c255b
+size 1505736
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00128/debug.png b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00128/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..59f4006500e9e9ac6b9599ebc2b427699f8233eb
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00128/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6bbea17e63bea3405065879918feaf2160b6378b4613c053ce6aec1525f6bff7
+size 1551978
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00128/depth.npy b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00128/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..eb95eb41aa5b50e254d1218a3a599007628c7b22
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00128/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3e6f4dbdd8b18706f65d252172d5478583154e3b86ce4c52d98377b20312f2c7
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00128/instance.png b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00128/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..c46e03aaa5824d2e8ad5275cf6ea2b84b46ccf42
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00128/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:31dfce5d73663407329a2a28088ea906c3a683ac28b1c6d76f76a8eb0c88e34a
+size 54833
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00128/rgb.png b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00128/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..92101ab101d1549264dd8a1b808039d14967fda0
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00128/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:220bfab1253216b94a662f672d4d73c59d980cd5c577c4d9a601eed140afcbea
+size 1515384
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00132/debug.png b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00132/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..2fca039a9dd942c6d53d715fd814581166641c00
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00132/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e33a0ce961bfaf72bb5bebc7b5f21bb6e56d9941438599f3b0059665e853adfb
+size 1599261
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00132/depth.npy b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00132/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..4e202d240c5f284676426204c91464b8dc341384
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00132/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6e289083e448b4bc4a0946df1da151127138b9a9e6a823e839554f0775cb3303
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00132/instance.png b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00132/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..73396ce372e97826a55009ef195b17140cbc3a12
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00132/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a6c7d599d7cbe258c3b0200e6d31f520091aaade3e42887135586982afdb34ba
+size 48744
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00132/rgb.png b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00132/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..b340e5d0eb8e405fc3c9678e6aa0919a2d15b517
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00132/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:17ecc6f87071d9fee7ad4e41ed1473bd7bd6ab19a0f3e1955a7fb55f925a5cdd
+size 1535706
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00134/debug.png b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00134/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..a0bf98dc080f54de7d8a3988c5ac870a27b8c379
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00134/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4b974c791ac9f3d81b9e1af85e4af9335a6e8bb68f4017168112c8b061bd185e
+size 1620965
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00134/depth.npy b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00134/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..6b07880e520bbbfe52e53f937e1e63fac9dc8a9a
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00134/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:22346fbac462ff7577085d0bcf97507ee32154a790d1e4410cf22b1c94ae0a9a
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00134/instance.png b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00134/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..e372c9a6a1295e46b8080e13e3bb1080a410f8bc
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00134/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e9eb93ef1404201e36a561a0d655e143b971e725d8b79fd5b3adab4d41d92051
+size 49849
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00134/rgb.png b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00134/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..23260802fbcc2aa270a66c099154d24289eb0c5b
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00134/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9e548c034ddc4e88b7f05ca96636280f6fe88531e73a50a3dc7ef8c3717d2712
+size 1550986
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00136/debug.png b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00136/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..4baf7cb596aa915c11013aa817401b00470d16cd
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00136/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:76ee321a9eb1c470553d4cefff448924032c8c844d4f7b25639a205b01f56b21
+size 1620377
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00136/depth.npy b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00136/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..8a694eb61ff92864ca4d85947450c6c9e155b162
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00136/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c344a955e6ae2087f9f017c292f5971f3447d112f9e6112e439d0adf892df538
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00136/instance.png b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00136/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..08ca8a6c0abb5b0fbda465ad7cd26b64887b5577
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00136/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:90d902385bc2fcbdfdf975939910026e72f55e07b2470dcca8ae28f374c940e3
+size 47963
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00136/rgb.png b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00136/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..df4517d5f5198f160fc2589f8c9ce94f121805db
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00136/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8c2b9580c3ab6d4139e01e6e01f0b08326c6203aa637d0c37a81338c5dc2d848
+size 1551764
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00138/debug.png b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00138/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..e15bea097083a0eab1a2f5194919110958ed99f8
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00138/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:700285e0e98029c1221fb601783af209a7d1c303561af134c33059be22b88634
+size 1634236
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00138/depth.npy b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00138/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..007ae1302376693fd0a100db75cae1f5d886752d
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00138/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1c5169764940ea2eeda924aea02c0e3794aeaae08065c27de8a9d6fcfb397713
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00138/instance.png b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00138/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..836fa5434599615121f55a1170bca5a7400e8748
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00138/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b6165297bfb257f194b77a7cb877d42aeefa01ca94df795320aac6c7ab5d1ba0
+size 46031
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00138/rgb.png b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00138/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..0b36fac7fbdcd2841bf8fa99b7622fc171d4b86c
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00138/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8fbf4bfb48f43212d4f1a263a478686a261f282123b1dffa8df47440052a3f51
+size 1568089
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00145/debug.png b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00145/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..cbeca9177278e97e0d5d0c9ec2e95e8f1ca9f910
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00145/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:86aeed70d0ee13514fa94234dbcaaff78bf4428a4fafbaface02de13c294e5bd
+size 1613162
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00145/depth.npy b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00145/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..90780732ba3910d3f415fdf3d753ad78a2b3aea0
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00145/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:63e68e275277a41acb3d4d95f120480905ff0748dce08c292df5c942feebfa60
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00145/instance.png b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00145/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..04cbcb3070b0aff287d25d4ad347d9b1f4b5b7ce
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00145/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6cb7bf85a27fccf6b94234f4938739b9183a64dd18dcfd32ce707b5700df8d9b
+size 51105
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00145/rgb.png b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00145/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..f82a589a5c524891e6f424466fca441ea251cdcc
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00145/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:988dcd1d8d51ede4b4a5fe79669f510b64609d2b540011f8c719acad5c7d9dfe
+size 1550529
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00149/debug.png b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00149/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..07b690a416c90b09a7c0ad5fadc7b517b39db197
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00149/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f472cc745183a1f7742ad13df680ea3e1925a2b1389c207814efb7e6e793581f
+size 1598254
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00149/depth.npy b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00149/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..f121d0764abe6d29dd0392f061bb2aa9778e04a6
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00149/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ab5bddaa96b58ef6ced74d3f00833305f244161eac7ccb495ddae6393912030a
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00149/instance.png b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00149/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..1c38be6c535699867099167f8f6247b28284f5e7
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00149/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d8b097f987118afb04267b6cfcec6d1184ffea8643815589393a8c45801d7b81
+size 32095
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00149/rgb.png b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00149/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..94989d5a8cd83229366ab3bcdc49aa1e931e29ad
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00149/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2192dbe1f95ace74a8ef4eeecd4e2ae663a3479fba6ab762c23fdc25655ef1f5
+size 1552692
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00150/debug.png b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00150/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..adfa0b873af9fcf4d81a4eef34e9c2be776bd6aa
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00150/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fbd4d076cb81afd8734b5ca3cb14c4e1e760a5d528360c6c76284210cdc8ea16
+size 1627668
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00150/depth.npy b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00150/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..7b70addf9087722e4538f76676f1e3658918baee
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00150/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a7e5e8b3b32e3d50676480cc3effa346290e9c6e24c7a08d5062607431854781
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00150/instance.png b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00150/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..7b0f9edbc183f9183cf20a334cbad2ccd06bae7d
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00150/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3f05ebd5d5adcbbeba27ce0ce95c7a9c836375116302aef69b57ad70fda5a90d
+size 30869
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00150/rgb.png b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00150/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..0097d2c284ccff49696158a9b846168733ef1684
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00150/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8b203d4980ce7d974231a76cb2af4f3df968947b70dfffa465c73b801683d777
+size 1577466
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00151/debug.png b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00151/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..1b70cdc2901adc8b7598735c457d214bf05cdc43
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00151/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:25e07313e3bdfe8fe05e58c7e5f26bb4a526405293dab66009e6d96ec0da200c
+size 1625617
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00151/depth.npy b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00151/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..d416831ca280a63cd4b21e7c03b0d49b7084a63d
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00151/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aa4e4c0cc70442d547e9f1f8ff052c342a74018e46580f75c794769b06285916
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00151/instance.png b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00151/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..7f3e7b22beada0d1304c43881bf518b206a3bac2
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00151/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:64f0b683ead1ce39cb39572a18446de4d1cddf1c68c5fa1cbc23d7b08fd1ad07
+size 36230
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00151/rgb.png b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00151/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..eea51d6091b76aad7f72ccb9ff21b974bbbf822b
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00151/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8c3a71a861d6a5ee2ff6bab3de22d306f398e918f5f696eecaedfcea56b36ef5
+size 1564624
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00154/debug.png b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00154/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..607c3389dafc64b8501a01126a249bb56d727fd8
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00154/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e6ae4dfb4fad91c018131368ed09a3e9d275ebac76d9df757eaef567165b6d41
+size 1613473
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00154/depth.npy b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00154/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..f68888122d0dc61b269440306d08f4bcbe6c1ae7
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00154/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:79c23a39555ed439fb273257c687b3aac7b507c1072e7c80fc8b75e9274cf402
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00154/instance.png b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00154/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..7f0822f8548a26436b4269874c66603b544f56ef
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00154/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:76a23d0df98cdeb4e8ec58a5dba8aee0b8e63e3adab10b19b2c862e162179751
+size 30680
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00154/rgb.png b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00154/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..4e930b0f9d98b7831f4d3d1f60b1df3df350a131
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00154/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3e104bcdbe04b91d962b0ba920b82e33ce63f327e9a1b60270e7e00d30c6bc66
+size 1578684
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00155/debug.png b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00155/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..4f5cd9b5d792215be1472a6bf741648d8f75df89
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00155/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bf3ce7d06021b5b4e175ac913ae13a801782b3532656fb2be1a9e9ec8a8fa3cb
+size 1638671
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00155/depth.npy b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00155/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..afa6be735e006ce78fdb50339cadca230029eded
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00155/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c33b2d94e8f5d635e1d9a11cd0edd554f59945481e62621a99a436937ef9a056
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00155/instance.png b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00155/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..a9240035fee77f04614fcb66f2a62b4c4619ed73
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00155/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ecbeb416ce4ec0f81f832a1b2abd6b0b7d0acdee3401985716d0958081ee7af3
+size 36855
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00155/rgb.png b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00155/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..c0018c5e01ddcbe7ec67d748d2cd8a5f8d2ae547
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00155/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4047fc4921fde053534a3c60b0da7528b619761d8a49f0130097634e385b9eea
+size 1570215
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00157/debug.png b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00157/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..da312c44a659cf95b29fe5a85bd12d14177be13d
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00157/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f34f12527099961c82e6a0b9a99916d384488c922a4c4348600730d1aaf0906e
+size 1643240
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00157/depth.npy b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00157/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..543b68af417fbea874593e50b12b83b2243f636d
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00157/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a94c1d4988344ac8dbd0382d409061944dfd24c11f8048ef8bb60d8dc71820c5
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00157/instance.png b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00157/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..5bdc7f2b1c3270a4aa3fb16b6a77d85a5d362d90
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00157/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a4a0fdcd4a315e0e74ef39a6a53869f91d74d78ca2e56e09506363f8a9ec27a3
+size 49460
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00157/rgb.png b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00157/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..83659d70e79bb667c9bb367353bf01dd80bbd350
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00157/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:31f590436662f717ac6356d9de12acc254122ce3e515583e04d8f2ab147ec572
+size 1566742
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00160/debug.png b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00160/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..796f37025ca045c2e4a5ec722a16793c2cbe8d78
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00160/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:face9152f85afe271f88adf6520a681ab5f016adcfda63c410b038b546f63878
+size 1619301
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00160/depth.npy b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00160/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..6c94afdd79e59bb7a3e99c449a38b0a092bb5b47
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00160/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b8fe263dc17ec8fb9fff233f54cabcb5d59d3677f06b93479282fe275b2ce7d1
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00160/instance.png b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00160/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..462b08db24ac9a29dd6427ce80ae33b70cc93e41
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00160/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b380d3bf084732c80c9659f0a863240e781db8a68773ae0536947d577295bdb9
+size 33992
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00160/rgb.png b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00160/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..5b710c4e8a940e9ac9c33b048338279c094ce0a9
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00160/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2b5aed40d29c72ad044a56f601516ef0cc788ae529874366f67587dafd4bb116
+size 1572230
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00165/debug.png b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00165/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..b123951d7df49d81d2b4ff7d9dc9e81f2b3a94a7
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00165/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:226c05b5fb6b1a03674af42a8450d1a4fda1568a531d1da8e3025101d7d35ebd
+size 1653205
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00165/depth.npy b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00165/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..72bb9e217406ac93fdc724e3de88cf1b52a0b2e7
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00165/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:15582be5e1d069dae14f5e5ab5765f82e3b6ad8a6f07ea5b8245561cadada434
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00165/instance.png b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00165/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..c1e36ed266b3472fd3c1a53f34ead48ec58b7bb7
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00165/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:70fe1b9e55158bd9a0422656163f6a41dce5efc5892aa5cf22f5c38bf2195f8c
+size 42475
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00165/rgb.png b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00165/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..3b19ee4eeb94cf94195e9433f97ab5731ab3b713
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00165/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c50ac6f00bf8e22fd3b030b148182d84a782ca1e4a842d6386d903c337b15647
+size 1575171
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00167/debug.png b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00167/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..60e2781c2736a68173eabce4bcfa20c603a507c7
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00167/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:05e2464ae67416c9b6d3bf170fcfac03ca87abb0c4f931892abb0f57cc4ac5a6
+size 1674055
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00167/depth.npy b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00167/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..6e804482d875c70a469d482d5e97731a71be2a4a
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00167/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d411ca0fef4dcb7c406f4422fadc7ea4d2c742a5d21982fef61dc7dfb2794e88
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00167/instance.png b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00167/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..62bf7ace11d8a1de7861ee124448bb586084b364
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00167/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f70f94ce31fd05bef5aafc830d9365259c34492086b0885892ffeef88886593f
+size 42287
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00167/rgb.png b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00167/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..f37c4ca04be86097895558ea483218c10cbd3508
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00167/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ec74796e14597e25cc8e8831728649db5080c1f67fd0a7750d26b15ab736f778
+size 1580611
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00171/debug.png b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00171/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..9d83ac4a6dc9a6eb40e56b69f9f5e1ef0a16c3e0
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00171/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:053d660fe05b6411034d533cf7c36b64e5a7a2ac6887af2741f97fa64261c7e2
+size 1650752
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00171/depth.npy b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00171/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..828299e3f164c8337d02e80710ada8e34c3ee067
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00171/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:319784d8a4de1ef94ae22f30282384af4d3e76bbfab5e54e45035851c247fe68
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00171/instance.png b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00171/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..11d3bb69464bc3ee9c65663d082fed48ef0bfe87
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00171/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b71364d599ece1c8c02a26d93115c94521bc502ffdbbe5e8661cb72ef90681d5
+size 46346
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00171/rgb.png b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00171/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..ad0b5098956ffa6f03c9f3745396cb90ac5f7604
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00171/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f3e7aecd831528d1127c3ee0aa93867b52d029d5d99d2050d9c3f74ba2c6045c
+size 1579734
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00174/debug.png b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00174/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..59fc315c0a99bc3ea089e8de4728d0d099e29629
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00174/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:06ad4046cb1d6e969513d3522db851b5221e110607269e10433c0171ad40feda
+size 1683339
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00174/depth.npy b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00174/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..b082c318b9a9a7862afdb66b168575d749246f58
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00174/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:37e81b906b5d98eee6698139e6b7005c27b51a45d900190f72be1c087b555cca
+size 3686528
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00174/instance.png b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00174/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..f7788851d1e7ee695488b8f93d2022dd13c5de79
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00174/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b905388c33e66271a712a11e6e2cdc65f4008f39a0f13161212eefb0b622ca4e
+size 46417
diff --git a/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00174/rgb.png b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00174/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..ec3edc0672e4342588ebda036d97e0b3eda9d1af
--- /dev/null
+++ b/data_v7/Town06_Opt/trajectory_1777145847/aug_001/frames_playback/frame_00174/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dc3c639137a72703f54c990241536b99b28b809e1261d006d46458b7a646130e
+size 1618115