diff --git a/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00002/debug.png b/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00002/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..1cd76039408bef6e9082181835f70b146aff0dee
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00002/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1f37b42710bcf26c4449e9902c843d289438c608f58324e3fc8e56c3057b28fd
+size 1616053
diff --git a/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00002/depth.npy b/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00002/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..4a4810c16e1ace959af2c127305ca504718e4a5e
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00002/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:229ee6c6ba174089837db5980fd5e75ffb4caef734f6df9017d2b9000c070d3f
+size 3686528
diff --git a/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00002/instance.png b/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00002/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..7ac480da65adbac9bb969d7696c35e9f22494516
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00002/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2845af311553219b041729f8f8218e44aa66a1e6a8d0fbf14469e47f1e1d9ee3
+size 38847
diff --git a/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00002/rgb.png b/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00002/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..37d137f8623fcd397174d6da92cc32741de6d9b5
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00002/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:70cd299642901dfd5cb8c7c755865853897da1471350e5b9cd4e240a38b39974
+size 1513475
diff --git a/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00003/debug.png b/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00003/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..2190a9dd046d4b1a449e3cea29ee74e9ed7e0961
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00003/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0e28ed5e8236c2d76b4dfa557df7475b6e449492d9bd120a8ef9c50e3d285050
+size 1592461
diff --git a/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00003/depth.npy b/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00003/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..1bbeca42893936269a6cbf55577a7979853100fe
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00003/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aef828b20515570d83aa1913d1073c8eee3889a746a2016ff7afad14add62ecc
+size 3686528
diff --git a/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00003/instance.png b/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00003/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..f081907a6ca4393c5b3d37476ee09ec55d4b3097
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00003/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6acdd1da92a526babf1e7abe5971f53cf09223ff2613b1f9dabae9774313abae
+size 29284
diff --git a/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00003/rgb.png b/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00003/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..28525e7bd2d861cfa4b692d35911794c6dacf81a
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00003/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0da21751d46628c3f5bf9fce012f2d0aee76ab23ff7768901d20a4622b16a0dd
+size 1495118
diff --git a/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00014/debug.png b/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00014/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..680173db2e7c75421161bbb0369d5fa65bd2dbaa
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00014/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e9fee048f700acca830eea446ad7cd0a979ff8a70ef0cbd2bc8a58601f8405b2
+size 1630252
diff --git a/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00014/depth.npy b/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00014/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..83b644fa1a364aa8c3b28c12ddbb9fdd84de2422
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00014/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8a495668d49d797fdfaea6861a6015a8a6f79e3780c83c4951dc5720cbb78702
+size 3686528
diff --git a/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00014/instance.png b/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00014/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..1cb4c086d47fd52225b76c41037f30320483d006
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00014/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6e54d0e16fce5ca5cc2cac9a0ae3798622a864e97d21fb7ad0338950a9a8a240
+size 43989
diff --git a/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00014/rgb.png b/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00014/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..4b1aab691425d3b9d44cd06f05755770a742700d
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00014/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7049843faca87a6f52afd6ea726cafeac90f122549313cafb8fd455fd86b57b3
+size 1541161
diff --git a/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00018/debug.png b/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00018/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..5aeafbcc3393779b430e7b060e8a0223d186f454
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00018/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2ddd513d3c0036383184b1bd709778c3045245ccd7eedad4a302878a147f75f5
+size 1643783
diff --git a/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00018/depth.npy b/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00018/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..c123e546ee8930b00712a8256de01a262774986c
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00018/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:91f2fed391b724a395810b6ac071f6a34848229b6913c0addb93a26efba9b895
+size 3686528
diff --git a/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00018/instance.png b/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00018/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..fc2826a5d3850612795d1d4dcdf62afbf3c081b5
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00018/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:431a20fe645c59edf3cbd36d973508ae7a45cb36cf22abe677b8ff3ff195a924
+size 48195
diff --git a/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00018/rgb.png b/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00018/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..f515d7748d320210849a141db428e501320fb30b
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00018/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ec9ef1d1c033f9699f0c5ed7a0455f07d154c3df634e09ccec841d5350efd989
+size 1559267
diff --git a/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00031/debug.png b/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00031/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..503eaf5bf42f71f89ee977386a2a5961c37d8f95
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00031/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:54a1683b22f8181865f523467d4329fcaba825163db7f0c000171744edff4800
+size 1629487
diff --git a/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00031/depth.npy b/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00031/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..53814d91a1759ebe2b9b593922e374c4524ee857
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00031/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6eefcb632516d3af82e79eb52ad74be8b3d5416b8daf814890809a792b82c85e
+size 3686528
diff --git a/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00031/instance.png b/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00031/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..0d9e40a71bbdc979456bf57b98e0e285ab358a31
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00031/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:77f171e14596c435cc359107d48733cbaf2abb57be96516897fb93e02021304e
+size 52647
diff --git a/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00031/rgb.png b/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00031/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..34976918cd674cdf2f21c477a274e3a69c69ab82
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00031/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:388df9a5a8500a505e118e0a2347ee6fda066e5c08eb2350eeb9f9530ad4108f
+size 1563417
diff --git a/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00036/debug.png b/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00036/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..e95524f978efd4802fa04053d6c6a3084a8fd8a0
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00036/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:414ba1d1c2453fc1c4fbb239fea5c3d435011bd8eb8910eee3cf78810d6638d7
+size 1625415
diff --git a/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00036/depth.npy b/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00036/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..638936503b56363e5d3d4794894c375fa84e1b01
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00036/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:83cc51b794bf9883f5ac05f748702e7ddc0f679a4dce4a5d5f19cb9813f08e5e
+size 3686528
diff --git a/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00036/instance.png b/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00036/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..982914fe1e3157fe083b504cd33b2a41cadf0afd
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00036/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7fd3ceabc1cfccfe0782e60e72fa634b85ff577cde729a745e0a177efc175e05
+size 46702
diff --git a/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00036/rgb.png b/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00036/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..91c9f35170cf80136c5b0ac428752f572869ef74
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00036/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:59bcead2b8c0496f68782f130db7e6cb8a2cfc8b0fcaa8b60d5a53b19b017910
+size 1534507
diff --git a/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00066/debug.png b/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00066/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..31b21ff2a30314964acb57804f4ef3339e9170d9
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00066/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b843702a0662931ea41fd9d70a5a7b8c932b83f3bec0ef92b9e5a2fca6d5a0f4
+size 1614167
diff --git a/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00066/depth.npy b/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00066/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..4e15f3b4f37567ad3ff1e518db366a17a2139231
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00066/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6282f14e173213f1e83fc20c11544df1dc1d15c7bb744c3cafd45642359a9f9e
+size 3686528
diff --git a/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00066/instance.png b/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00066/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..4fe690de2066f42b4768e572a9ef31de14a918f2
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00066/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d50f38d846013b11dfa1a4c74a4db1246ef43a8548c73fc1f309810bb71d468e
+size 63342
diff --git a/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00066/rgb.png b/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00066/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..5c1bc3d04dedd72651392e346315f571aa0430a8
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00066/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7b095b4d6bb2d26be8bb53478f64f01154c762ecf82bcf6430157ff2dfedb1b3
+size 1556620
diff --git a/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00070/debug.png b/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00070/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..44f96d20ccab42988ca8caa5ec19f47188ec2b8f
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00070/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eb1bc39cefb667935918bb628f75256100d29d392feb4d9aed4d0d9c5a39ec96
+size 1619516
diff --git a/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00070/depth.npy b/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00070/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..f681d2a833d544cbf93189c488ad6a9f2783e3a0
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00070/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6ea95ee311a90d768aef7d0e3e9a9b699793ce86ad85cfdd5a9b593d190bc66b
+size 3686528
diff --git a/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00070/instance.png b/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00070/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..0810526f6c75076eb0ba16481a45946f2844c5ed
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00070/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d7a54dd4397639aa313917b6013e0239f6cf17c915492f4999ce4f20e5a46b28
+size 53807
diff --git a/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00070/rgb.png b/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00070/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..f1d7c931816b11f50994c42dc90533f30d682179
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00070/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:59292a63bfc6680b7711e2e28973f11470ea367958c7379837cec1b11ca57f5f
+size 1553270
diff --git a/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00071/debug.png b/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00071/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..a2b33fbf553e53fa03dfb5dbc5ddd8b26d8b1bd2
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00071/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bfabb3c3f179d9ffdc3af42b260e382eb6867243944b054927ce4d7533427877
+size 1639658
diff --git a/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00071/rgb.png b/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00071/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..3e41f111a94c7b2492d9c42d168132bb420301f9
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00071/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aaf8aedf6abdfe33bf1e094c9fe0a08a692f5bb30e1045240070fdb952617e5a
+size 1562295
diff --git a/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00079/instance.png b/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00079/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..0df84ea9be3e4e10fd172d2a8a0a9c34df36ea8a
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00079/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7385aadf988b70a75918875a152b575ab75d81e88c84f5181d756e3823499e59
+size 56728
diff --git a/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00084/debug.png b/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00084/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..dcd6a8954c70dfd3904e3e75a7cbf0b8bd3a931c
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00084/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cce5f4e67ab05bd86955e3c9214fd7e919132e94860057e70a036285f89bdd76
+size 1719554
diff --git a/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00084/depth.npy b/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00084/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..21a638a6201173cb776af487aa50b4af96d58190
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00084/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a8c74892e1e79bfd9fde71fab6c9ffb3bfd625f061eb13e9778f7cd444f7231b
+size 3686528
diff --git a/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00084/instance.png b/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00084/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..565f8f11f67cd77f283dfd37d68ea00175066aec
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00084/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:89862ce0c7c6ccf5d6bc8a863ef69474f14fa2755fe45ef38292bd50bfff09c9
+size 64050
diff --git a/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00084/rgb.png b/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00084/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..8cbf622d6e7676a04df90dd268b2b91451855f35
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00084/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ff48626b7a17e863d172922d2f49e388c42df2b92c9a3a8184c9b86bc9be3340
+size 1628764
diff --git a/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00102/debug.png b/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00102/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..a145c41305b28b6a531dfffe78bb7e203a7af9b6
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00102/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ed7aae956cf567cac9f738b258e03594f26b7bc8c858e3292af2cf18c87d1e24
+size 1856083
diff --git a/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00102/depth.npy b/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00102/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..3b40a40dca4244724e5fa9a3fb67a7311c202799
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00102/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aa6c442374f8c949612ffc70e237b95c8571cbc1673b874ec6f2bd63adf44b92
+size 3686528
diff --git a/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00102/instance.png b/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00102/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..56bf9d503cc13ae0d57a99185f65ff6e46b4a7ea
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00102/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:619c358fb9ec8cceecd9a05b768b2160fb722602bb12f09b53168735f7e0ecc5
+size 83381
diff --git a/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00102/rgb.png b/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00102/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..22936bec473dfb050ae745ef05c04dd092bcd58c
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00102/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1ff091e35c54d5adeb3a28c99b5422df6614ff41e3531ef386e82a164891bbb6
+size 1757403
diff --git a/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00106/debug.png b/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00106/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..d4ff1826fc499bacaf14b7553416ef9b32e170ed
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00106/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8966a0a434068724c07595a27e01d2e4318ec4d10fab96f603edd1a8f7245dc8
+size 1825601
diff --git a/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00106/depth.npy b/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00106/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..758d303040ce77d0ab6a7470d89358f6d79b705f
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00106/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c7fee2553947778c2ab46aae14c6b7f7dc331ccd60f46364830331f413e6bb1d
+size 3686528
diff --git a/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00106/instance.png b/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00106/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..399c45b72b329aeaf20e4fb35bc2b118b7dcfca6
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00106/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9032622cde15e826cdea72ccd5ddc5ac718d14c8ac390d47230d2cc1726360b4
+size 81266
diff --git a/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00106/rgb.png b/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00106/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..83466d594db401e97d7c29926fcd096a9028dc5f
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00106/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ac20940ef5c415693b9af95f663007ffe3f298905a7fd057405f0320d9015cc4
+size 1739510
diff --git a/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00109/debug.png b/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00109/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..31be32286e32a38ad5b25e51311e18cbc404fb59
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00109/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c8da2bb29c56bbc52eda58217a485a00ed7baf2c5adcda071cdeadbe62277abf
+size 1842753
diff --git a/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00109/depth.npy b/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00109/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..dec5199357a527ce02901308f057531d5e936d53
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00109/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e454091e2a6269290955e65ccc91deb531d9aad05463baf8823282151759d1a4
+size 3686528
diff --git a/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00109/instance.png b/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00109/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..721ae06119df4c6f633066a1aa152823e023eb60
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00109/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:803647bf40065c932b09461cad5e756e86146c6db1a4b666f157cfbae5d4f504
+size 68642
diff --git a/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00109/rgb.png b/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00109/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..0dd3b07ad4c9d6e8b08773dcfbf264eaaec00c8e
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00109/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0d7e6171822648f9b704e3e4f7e64f8546a14a3409b412be96f4301b6e853aa7
+size 1746396
diff --git a/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00114/debug.png b/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00114/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..902c20f7ddcc4dcca1652db292b6cdfe4dfb7396
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00114/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:02d31a68606aae7de8f30340431c00ea16e28d22443f143a6567f2509b65ff67
+size 1765489
diff --git a/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00114/depth.npy b/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00114/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..c587fbf8ebd62d4377e495277e0556d214c44d2a
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00114/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bf8b78b34805958834c730ee60897efbb9e82940f5b13154a7926f53fdf1c255
+size 3686528
diff --git a/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00114/instance.png b/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00114/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..86f0c698957d569ddcbfc0e0534b526f01dbb597
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00114/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0c10dea0343d4d0cb4e11e6ec96951b062ee2dcb3a1fd87d4c5cd1b94a5426f2
+size 67076
diff --git a/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00114/rgb.png b/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00114/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..842efb09138078c5ed5679a76ce32b605a0ea53a
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00114/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:48a1eb593994108b962bea52c96c75a638f836a5af087d9cc61f3b9ccde86685
+size 1654062
diff --git a/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00118/debug.png b/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00118/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..4dfed45a40c599ae42606930b3e7ce6a46c41f4a
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00118/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d5fcecb060887b69a394f5b3b2aea880024c7c914d583d0c9aac5d4f18475a46
+size 1756626
diff --git a/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00118/depth.npy b/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00118/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..865c426dcf5abecb9ef2c6f8b92120cecd9d16e1
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00118/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:53db490a65f1dbd27149f27258ca0598192d92e331cbd5cd810bb73f1b54ed0e
+size 3686528
diff --git a/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00118/instance.png b/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00118/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..6b2ad5a06b7bebe573c65406360aa19a50493c29
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00118/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bb1bec2dd63d325c0a1c3be3b7412b96e1c98477ca78fd0348821e0bd30fa142
+size 52175
diff --git a/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00118/rgb.png b/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00118/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..4d3a306cfc708b49b57cd05b85cf006b19a0f790
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00118/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f8a30cdee60b28a7eec588aff2d7145a6bd5c6262ea2bc88db764c27f900ab06
+size 1616850
diff --git a/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00145/debug.png b/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00145/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..2636b2c9ec413c718c7832fbd4c68c739d5aded3
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00145/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9ab223d4b0997fc0c0b7f0354540035e753bc3cfb99b9c38cd55316874247cd9
+size 1635495
diff --git a/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00145/depth.npy b/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00145/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..9e9b7abcd389e5445edd026e7924c8d7b9a8b150
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00145/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4aa2c6dc2d4393d97f9d8d8ba99dd2f85a1cbbd03eb673293ec9596eefed932b
+size 3686528
diff --git a/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00145/instance.png b/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00145/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..f607152420a2f7a90279ea7d9990601b6db8d15f
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00145/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:63a316b0339a292b0524e907794ef07027134edff1cd1d98ecdb65ed0a649077
+size 59760
diff --git a/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00145/rgb.png b/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00145/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..e075f19645d51b2e1d3e8a26ca55ff80ff1e6d23
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00145/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ea8783b19b7fdb9bc3058ca43bfc28e498ec6caf623e23de70be3ae0af9f9178
+size 1565148
diff --git a/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00146/debug.png b/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00146/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..b13776be8b739d6ec50ab1731fca6fd1efc0393d
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00146/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:13170019f6bddf1f0b4ff91d8395114223b05493fb9fa20be73ddf43db21bfcb
+size 1649826
diff --git a/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00146/depth.npy b/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00146/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..36f1f9a6ce5d494a1ab9fc0e439335b135876c1b
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00146/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a93a70c98fb5d493d234b340a64209900537c7ece0c98140d9dc3d6739798128
+size 3686528
diff --git a/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00146/instance.png b/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00146/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..55c93e844430d1776e742a99d431f5c1fd6c962d
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00146/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:71b4b75cac828fa65cdbb1c44e72d310b9f38baf0a930c382240e800735bef13
+size 51461
diff --git a/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00146/rgb.png b/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00146/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..774ddf4c9faf362d0b79fcefb791526c225b5e65
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00146/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0d14ff1e1faebde5a30de968ceace039e2412607205bd0037ddccc179b9a12d8
+size 1590195
diff --git a/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00151/debug.png b/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00151/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..25277fb9a9e2f9727619ec01f80dc3ef1298a6d7
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00151/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c249299c4f81105a41880cb93c3afa6ef7c5af4f81a7d15d71d10d240d21590c
+size 1631452
diff --git a/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00151/depth.npy b/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00151/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..fcd2c7526a062ba9af7aa19f9e9219a1518af321
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00151/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:87c842401e675386f3d5be94cd8a735cdcb5664e25610d41beec6a2678c33b25
+size 3686528
diff --git a/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00151/instance.png b/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00151/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..25407cf03395d6db7b581fb8bc61504a71a80967
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00151/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a979cdd16a285662feee955bdf2dc8e10cfe50c4a3ab56142287f5d99c9f6ad9
+size 56282
diff --git a/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00151/rgb.png b/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00151/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..6429113e054db559c985fc19657c14076399c718
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00151/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b9ed4c6ccb4348a70d096ecdc9ae5706b103408b767f2f5fbb952b1d8ec3c537
+size 1572789
diff --git a/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00154/debug.png b/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00154/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..f1bd40379297985283d2f8ad4fca16a9dee48215
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00154/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2a61a41145a09c20f3c7f4a5831576d07e6dd78dc3f515b83c3a65d3263f7cec
+size 1649632
diff --git a/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00154/depth.npy b/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00154/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..ed84148250aca718bbb096c04a180e60be8bc26a
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00154/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8717809106f916219ecd3b9eb56f1c81d36ff4e0cc065059725c93850aff0a57
+size 3686528
diff --git a/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00154/instance.png b/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00154/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..775ab6f09af5d8a9e6c31888538e309918df3e74
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00154/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:626961cb50042f93ac2ce8387c83bbd6f92d511d4e1f6a96c590e5086fa80b38
+size 55031
diff --git a/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00154/rgb.png b/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00154/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..11c8ac1435486c444367f2d6704dc8a36bfc553a
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777075872/aug_001/frames_playback/frame_00154/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:283871a0a9b6a6e91f9f862ac6a508377a2c4168f094f5f6601742b14ad704f2
+size 1572874