diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00006/debug.png b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00006/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..f6414e8855220ba50cec4011122adad358b5f5f6
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00006/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6caebd569b27c281902e988893fafbd526f345a05f7ce7f1f5f6c6b61e17e199
+size 1513950
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00006/depth.npy b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00006/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..ea522029e63ba0641b343b704284fd3898cd8920
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00006/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:401141d0287adef9ed1fd7b1dbb202cc44f259aee553a2a8d5dd2cb583be788a
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00006/instance.png b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00006/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..244f34f22186ed1f29616a084cecc0fc932d90f9
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00006/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:50c5892e7d800e6ccf5010c1d0bde131c858e97615bc897db2472562aa74b34d
+size 58626
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00006/rgb.png b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00006/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..a52666567a501c5a61849d466fd8afac4357583a
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00006/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:779a67a4ef9380a0f86d55632e9afbacb695f5f6cc1fc54e43ad72bde279035d
+size 1473702
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00011/debug.png b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00011/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..99b8853c320ee93b9be946280d7332e7b3273ef0
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00011/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3401b5cb1292c11a4102985619176cd22b8fc0bf1839d4dc1349713f6984cf1f
+size 1495465
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00011/depth.npy b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00011/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..05bc73fade6e600d28e584551d536b97dff1c760
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00011/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8e479a700fa36f15c088c30860d94ae3d1c254999a08299d80fc95d0b7ffed15
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00011/instance.png b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00011/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..cd3c649b82e400f165c192162f54f1fb83b57449
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00011/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5ac5711e2e693ee245dde3376170069e6725db8bdf096c5b1323f92dcbf44128
+size 57367
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00011/rgb.png b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00011/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..1f0b63d89469f4ed11915df3dd4b1586efe936b9
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00011/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e93ad85e39eee5386127dcff92d289f7f86ce34bdb4113d00d85017171c334aa
+size 1455401
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00013/debug.png b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00013/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..c515651fe9cbcfd544a053d5559bb058caad2a82
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00013/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8b777b92c1a54d7a33bf6f0d302b7e216b8f510b8e2c1fc2873f666ec72b3368
+size 1506207
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00013/depth.npy b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00013/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..bda8036074a97f625dfa4deaac127a711df84f02
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00013/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0e573ca2c8a0c9c59138312c5f11972d2b8d43f1148f4c72dd44823a622502ce
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00013/instance.png b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00013/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..21f3339e36cfcef7354ee44b0a716710598e6485
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00013/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4e36515277891ad2c6474ff64d3669388c89ec02c63d80217400bb51e482d910
+size 59174
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00013/rgb.png b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00013/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..1e24bbbad63c18615cd23927eb33ca493478cc4d
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00013/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a7cfa991d8b8e07c5604f3ce7382f0ef2b40d23d381b41d43c59e2e78deb96ae
+size 1466291
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00024/debug.png b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00024/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..3f826b74d5ea265dfe68f835ad32d80068432194
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00024/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:13955ac77e99eef967627f2d6fedec41e6e6c2b01222c3671c9f8d3e703a4e16
+size 1509829
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00024/depth.npy b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00024/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..d3bef27f4fda362fdbbf11650cec082f004acb2c
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00024/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bbe7566b9c306935a4ed12078aedf4eba820e9153c39e9b92eb2c2410ac1a606
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00024/instance.png b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00024/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..d88fb05132a9f4f7e07897fb431241ceabe0fa02
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00024/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:90b98c27d6d399de21defdcdc32a31da217382d579c1fa1bf051a098887479ec
+size 63419
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00024/rgb.png b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00024/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..ac7f6b47b85ac1050855285de1d7d8bd3a00fefa
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00024/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:faed7cd5a58b9a2d083fd34844701addd86fc29dfcd27a4e00ad9bf337397e6b
+size 1469562
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00030/debug.png b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00030/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..f017f34ba7d1455c3f17cda5f2a8939786c36219
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00030/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:619c3b7612200e56de9bb51b30782ba479743469ea89eace32e18328e8983f4d
+size 1492207
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00030/depth.npy b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00030/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..a27305d27b20b0d9cc3da0f318ac5d7c7c74d09f
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00030/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:73403741083b3b4811e7a43da018e6514ca46cf89842697f6b2c96e8e4178581
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00030/instance.png b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00030/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..d8153130d4aa0e9f453b7cbab94df8b2f1cfb410
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00030/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8aa1d9dbfaa76d3a9dfd2d06fa74f8ab71c55cd075d27dac2f1eb693965ca788
+size 61088
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00030/rgb.png b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00030/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..04861b016ee8822927ebee2b913271b65d281b9e
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00030/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:812fe3c047fba5ee9e0ebb47b6df59acf3e52b7fb33a2f613e80e64fabf3729d
+size 1453944
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00031/debug.png b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00031/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..c89a032639170fabd2150a1e5cad9e6cd2a0e632
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00031/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:58c26fa68337828a93973d0eefba7bd8d8002f73cdbd419d3b584b61aee6e516
+size 1539298
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00031/depth.npy b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00031/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..7de26266384d2dc1b6d0c8c0d2eb139addbed278
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00031/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:109ea258fb5f26353bbce85fa89a8627f28b81e95082bf0404a9f7d531cdcb30
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00031/instance.png b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00031/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..086ab64e91592bb605a8328f6a9bc95f87b1ef78
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00031/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:90c21c77967238a11479e6dd7f3e5238be3372e5ba43e01476054f21e06b0680
+size 63670
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00031/rgb.png b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00031/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..e8afbf7cfd17c3f400d558237cff187eef758aa8
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00031/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:759e30182011bef56b1fe3e9dc5d782c416107cfd84fa347c0f7287913375f65
+size 1491212
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00033/debug.png b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00033/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..ea66eb6583596779a611d9f5576cb53badf42e00
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00033/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3fa8d97ac538d22256ec48c5af8e2a151310face2ce90879fa326a6a8bb2d338
+size 1489637
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00033/depth.npy b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00033/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..e8d68ba0844ee846ab1129708e64aff98b5dce2c
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00033/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d97d9807ef61a3f4b0526c72ac86ae3ad0f9366be674547f57cb6904d6a23e26
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00033/instance.png b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00033/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..caf4e4b0d4adbf94352cd39b24087c9a1c7a90bb
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00033/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8e072a566cef750c526ca45473fce6393bcbf98b2aff2783861b8a66d4675bbf
+size 61887
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00033/rgb.png b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00033/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..cd18d6e1a1e68ddddb390e79bade3e1aceb578d5
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00033/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5e45fa216b721ecbe55044d6290dc38ed8d781e6e085664a73a68b6c4f43a3c5
+size 1446588
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00035/depth.npy b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00035/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..a69057bbde148a25036035c6448f584425b5e534
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00035/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:12f1b0615039fad9f44466bf89c21dd501f5518200645ed422f6c4968c42430c
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00035/instance.png b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00035/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..d3bb199289b7b4b12dba6fc05dd2a3bc7a926ed4
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00035/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9c4852b641950e6ae768ae022470d286f9a3994af82c572f607c5cc939917c1e
+size 58256
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00035/rgb.png b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00035/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..dc93ac817583bb6079afce73fb72eb304c1a7e7c
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00035/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f22ea8fd2f8cbbd8e937f190a3116cee9f7b0d618d1e9bbe318a61face1fcac1
+size 1458707
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00036/debug.png b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00036/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..710996ad4d0da46cdb77919687faee586aa3a53e
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00036/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:211b572f081439c151aa4775034b9c5888c3d7c7f1e9fb0de6893f1ad527c477
+size 1504062
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00036/depth.npy b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00036/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..98904bcf7e74e8f3dfb423c6488eaa4dfa17ea57
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00036/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a29d5cb19a71bfddabe0c045d503aab3eb57035efa99e738084bbd5e93a318d9
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00036/instance.png b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00036/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..71362ab82d7d4f3e5f79859c027b7792ebedd1b1
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00036/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:42312de32b47f4e6a34c40aed5ea10f53419bf9664665969642ae6072c4aee38
+size 62859
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00036/rgb.png b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00036/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..94c273695e9ba0797851d132ab1bd439d0a6763a
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00036/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c1478fa5408576e26aac13a51ffb6317e1a61a9694b3177c48a8956355e9142c
+size 1458010
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00040/debug.png b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00040/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..0676f70d8cf78f2e8e7c618b80164675b4c227ce
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00040/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0a14c80285fd0fc33c4110e761c7ed07d91c1adc336efd4269c91e8bc252edb0
+size 1541101
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00040/depth.npy b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00040/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..72032071600b5628467497b901689d62e15d49ad
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00040/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c26e81e85d580a28b8887a4adccc99d2b6eb1d062f59709a771bf2a1c66f4e71
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00040/instance.png b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00040/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..c16f032157fd0a818a108fd60bea8eb05ff173e4
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00040/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:23d73b2741d4b9e8ebbcbfe8df1c4936ad8231149db230fe7cf83b8bbfbc0603
+size 64807
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00040/rgb.png b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00040/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..96d620a71792f33e08ae189dd540e5c2731c768b
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00040/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cf35ffb1113142e7ac036a8b6b51c7fc3c8bbdfc23f0dcd4239433f0038ea527
+size 1498684
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00050/debug.png b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00050/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..e833568a9699be39b04dddbe40c140160d4e6429
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00050/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f2adec7ddcd458691bb3adc626fb49fd627faf12f16271c1c9d4513cd7daf3bf
+size 1496874
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00050/depth.npy b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00050/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..8ed25d0980be5306dda2e3c8e01976af9f8b98e5
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00050/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5b135f05b6e87e87006304798b4914853777d2ba5751fbb586e147f3fa8d354c
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00050/instance.png b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00050/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..d95167e5e0763ecc03a9d12883e85bf2ff83683d
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00050/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f900291ec5f726a0ffcca263b3c82b1028361a55bd57b11ddf5350082dea61e1
+size 69469
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00050/rgb.png b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00050/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..c6aa54370152896c9153ae29632e2c6465284403
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00050/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bbb2ae47ca29d1458cd60c5da6335e5e9b487851a9b8ed3643423ff6385d4772
+size 1447180
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00054/debug.png b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00054/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..35577587c447e4f919504368fffc3244e8723d07
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00054/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a4d00453e32c497d33133e49472cedbd0074c6016c6f36c56885f96ae72a115a
+size 1525741
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00054/depth.npy b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00054/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..9908743adb7c161ee8fee678cee9f81620a3c9b1
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00054/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:458d63028c5136277195f4376b737fe03dc087b5582a345caffb436c5c03d9eb
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00054/instance.png b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00054/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..17dc387f3987022c018f20ef95de46c4542897ec
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00054/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:23ee06bc098a30ee8ace14ef0bcfd35866aa89998eaadc3feb42b930da443783
+size 62282
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00054/rgb.png b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00054/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..9693bde794507f6cec1e949677428dd199e1a517
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00054/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:39162c24164145537769107953bfb10207924c6ff3b11bf5f04b4a9b5848cbb0
+size 1470138
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00057/debug.png b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00057/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..3e344a0f2e5cbed2e13240026afbc9eee7af0d3b
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00057/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6794e6dad06736886238b26d82cd94344686975a79f381888168dd75f75dc929
+size 1513485
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00057/depth.npy b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00057/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..c6309dc4abcbc5f7fe5e1d97d76c5cd471714aaa
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00057/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:445547af75d2173d1a6cc159988c334d5aee3a8e6e5c5fdafbbd796b8684d154
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00057/instance.png b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00057/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..2e5e53406d679360f6fb2b0efb52414db20713d1
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00057/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b456a50d985aeec56be70372a7c40aa2588dc8fc9243611a89a0d3fdc9e1c8e9
+size 57641
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00057/rgb.png b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00057/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..356284aee383c2a3a90797c4aa75d182d8b166dd
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00057/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ed9d9413551e761e0d51de64c4ec3bf7d4b68825566105a868dff682501e435c
+size 1439778
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00061/debug.png b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00061/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..dbaf4f08c96dfb20183e26c99120fc6d3941d752
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00061/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:395addf349feb1ba68e09f986454e126f99979170b44a1f975c1a7215d85ddea
+size 1529951
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00061/depth.npy b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00061/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..e42a9d1efcd21b4f6bc6b60e14a5be8bca567182
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00061/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:272a0dbe79a2e0e5508a67db9fabe51b6e5a327a361c6f49ad162a5e74ce334b
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00061/instance.png b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00061/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..45558a26194512f905f9f6d0ebde0c6299c0ef3d
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00061/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9b29f4265fb17ca92dbcc95fea93d599aae52b20a2751dc60aea5670beef14a3
+size 61682
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00061/rgb.png b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00061/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..71269bf70aa178c1447d6001bfc393efbe0019fc
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00061/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:775b4afb79498325d0ef54cbe32a4bc320cbd5cfed951ed9cf348528b992f542
+size 1458299
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00064/debug.png b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00064/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..409810a7b85882523680a522c945a7ce79d5ddb2
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00064/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8c6a5744194777779374ec657fb5897db062417700c5e78b22e2d830cab108de
+size 1546591
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00064/depth.npy b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00064/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..f1c605eca24088fa93626e0151a9804ff06ad0db
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00064/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0b91083698200a191fba3e57720a2426441874f37d65a7c9f9a38ee13ba65141
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00064/instance.png b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00064/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..417237d63ce33ffaed916da36265091bd92e84de
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00064/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:871287cc0382920b9830baadad7a53a747ef89d805879d27a2e4df89fdc7bc68
+size 63801
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00064/rgb.png b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00064/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..7a6cf1f03844d95436ca7b67a4344163fa9550f9
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00064/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1538575a4891e5fb353c8b63a1e7e6b5a849c7b31d7fb140c90b5a8fedde8377
+size 1469087
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00065/debug.png b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00065/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..61140dcc6e0046bba8a546c7722dad712aa5405f
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00065/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:37c47320fc612ffee62616f9bc0bdc7df492ff24ba7e3cfd88a968a3d99255db
+size 1552726
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00065/depth.npy b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00065/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..0633db40c4897a3e42e8e597edf5e51ab96b397d
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00065/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0914ef0926b225e2d74498085fa6b85265ab9ccae7fc635c96fc2b6e127b2a9a
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00065/instance.png b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00065/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..2d498992ea3bff1d85cd96e099c96da8936bd4ae
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00065/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:21ab2f52d7cd3b5fdb5a3da0dbf4aa30ae5103ba21bba02a047102d7c1679cb6
+size 58750
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00065/rgb.png b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00065/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..629a2a9c8dc259203e79bfbd23126460c67fc2fe
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00065/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ba88d7af890b3eea3535455cb18d783a1f2e1bd10343d38891af5ae9c58ccd41
+size 1467438
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00072/debug.png b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00072/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..891fd9cfa4a50b6c1f8da270eaac77b714ade06c
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00072/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:745a475068bc743cd4415a097732f30f3a39f6477008ad92f461405c4df420e0
+size 1579118
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00072/rgb.png b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00072/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..517cd759b7f64d882a1e68d3584a9bb4831a2038
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00072/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:867dc1d43ecd4227e3bd92da27b1bb6b69519bb1fb0df041f99aea7985d2878f
+size 1478790
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00077/debug.png b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00077/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..7e4bd6704eb23ad07fee3bdc08645753d2e77d9f
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00077/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a231c55d2244db78476e37e9fbdd715fbfd2bf15f14bee8ebdda64a4484ca11c
+size 1605250
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00077/depth.npy b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00077/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..d4fa1bc24a7be4b600eff5988af8f92aa9e31f14
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00077/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:588afee47ea102236979eeec6618a135d7ab103a001f4f51c03fcc1b1a989758
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00077/instance.png b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00077/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..c8c6b45577e515d5f73d4a53e40c745c61602e1a
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00077/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9bab3ec5dc6989be04cad9e2cd9ce73f6b61ac89e44ed1ea4588f219683d68bd
+size 60624
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00077/rgb.png b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00077/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..b0fbaa61a048f6f1a06e4e3aaee87ca329608a17
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00077/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cad6c68b9c701a363bb21374e4d1ffd55b798d83d968863098dd7b1abacd14d3
+size 1507026
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00079/debug.png b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00079/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..93fe84101ecf9c3cb5d78cd1f438d0e8d1883841
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00079/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:47e63c0d62dd053902e2c366cd610eff258c1ae792200249e9348bcb3396720d
+size 1587220
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00079/depth.npy b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00079/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..dcdc1cc17ead48028128a9e534154abaff6e7ffd
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00079/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0ca5c59694cec72621eb51f1be6a0d94ec35adbdc3e2bc728855151e4aa3eb07
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00079/instance.png b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00079/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..2e6b202bf0805c7f1a749d1c1ec4c1a7dd0430d1
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00079/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7ae8adde2caafa37c2a1fe57ed11f3dd1bd41a176fc5f0841b4bac03878a08d6
+size 61371
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00079/rgb.png b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00079/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..ea971ac71087f0eebcc578a780463e2668ed36d2
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00079/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:54d1d935211b3b1edca4311734a3e7019f1fc8854de1c98f7ce211c62afa901b
+size 1495914
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00080/debug.png b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00080/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..7289f8f1890df26e6e1be13c0b3071aee60a0c89
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00080/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:790440ad106205733dbb6afb59b382ba6ced03036669b0c065c124acf54b2c95
+size 1586385
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00080/depth.npy b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00080/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..bdb48e6fb9c60f7cb58361d7dbb85b721d267124
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00080/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c1f9889a4c8f974268edb870411a50d8ddbba5e98e23bfe4a087334d9d7345f8
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00080/instance.png b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00080/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..2b90b76c12d5325d24d573fc519742a38028d568
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00080/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0e43ab2589c9f1617aba028b743a7380a6dc7ee853e30499b70e83baa79d81a6
+size 61259
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00080/rgb.png b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00080/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..f4eb6dcb0e28cfa918267eea88400f14348dd519
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00080/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:64516118744b16426cdb1d3e15075df5dbba28bbb1813ea2eee2dcd921168641
+size 1490187
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00081/debug.png b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00081/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..391e2b51009dcf6b67c79f3bb070e03726b3cce8
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00081/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a67370c2ec46fda84846f68e2879deded379e9664e7bf350b14c6df731586c3d
+size 1585136
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00081/depth.npy b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00081/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..62e672ef00b9b9a2a46cf3c7701db72689d2110d
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00081/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:948ea55341f48709763a41c7628c41a4c1bdaf1f3a71fc90e331d99e4fa61376
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00081/instance.png b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00081/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..89a2c072100d4dd57bfa8a5d0c415c0f35d8487d
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00081/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:614c6a4ae5a8e050c2f31714d381376e7d46ee839884ccfabb973f23bee24476
+size 60111
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00081/rgb.png b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00081/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..def5d842fff6b3238b5e1de3af3ee3605a3850c1
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00081/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b2160a06ab31a5f64421a8ed448f9cc03634a4835b371d7895c0e6b49dfb7464
+size 1488573
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00083/debug.png b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00083/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..4037078845dc1ed40ce8216ba52340720110f7c3
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00083/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d8100bf19845857eb4e94f914e228cc89140b72945436421117a83868bf65b20
+size 1542029
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00083/depth.npy b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00083/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..ed24ad50aac12be1ed6f48e14d5b2c7d50cdb6f4
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00083/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:acdbb966c233671caba2b429209cdf84aa2abb52081eee9c866747d24dc0ce58
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00083/instance.png b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00083/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..2260eb43957394fcd5e77f345ad54543c75f3117
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00083/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:32f909cc19f45d1881d0e8423158124e60e5862e2850bbbd2a4c0d407c829401
+size 55181
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00083/rgb.png b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00083/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..b47676cbd1458d601de258c9fb2852b70229f957
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00083/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d9d437b458832d7f5a1327dd9047dc2de509bf693fd8d58baae838d412194bd2
+size 1466538
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00093/depth.npy b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00093/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..8f08387c226e3a6b5263eabffb63a410d978c077
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00093/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b4586490fb9d494cbea6e4f3098cb02b5e550565280f34e63ecb1da6b4201116
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00093/instance.png b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00093/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..4fdbca586da91ede2989accccc847ae2b7de3d0d
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00093/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d503ab229c15ac44819e9cfde7ef38f6341db36d26eae84a189ef29c8eaee63e
+size 59015
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00098/debug.png b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00098/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..ca4fa6c63fa9c32234c4a2375358b92cb7e37cbc
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00098/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:edf99584f6fd2b72a869d973b3aa3ca6ff495be2999b4a162b76ef1e480d696b
+size 1526333
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00098/depth.npy b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00098/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..25210e1887d2378e2bb9e2376cb0512722ecedd7
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00098/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f978b642fa352ec59edbf6dfbbdb0d4ba6a65ac1e8d85e0090a05781b100808c
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00098/instance.png b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00098/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..a381a2acd0f1d3c82cc1651ebb4e04cd03e1ae07
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00098/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0a1d8412c71cbfa5203c03118b85808a99459a6b5b079a0464200543b49d8585
+size 66774
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00098/rgb.png b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00098/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..8f085ffc8d2c8dad8efc2102d23f491daa55f003
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00098/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7f901a4d3c8e704595b1eae0eb0e2e0f06bfdc3348f57f9ad3a19c9c22801e1a
+size 1439128
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00100/debug.png b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00100/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..4ca7148ae108791df505b769fe0ac44a0c13b8e4
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00100/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f685547778c145bfc8429f516758a84a3a6d3656065a659b35be83a5e96312bb
+size 1545154
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00100/depth.npy b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00100/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..90fd0f339d7703dbff9d008b439c71c4b9d23d6a
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00100/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c6a6b46df7c32db8526e9f3b103d3acdd7ba5c9e0dbaa4ae6e1d8c7ba16c8f38
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00100/instance.png b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00100/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..1234ae2cf9af1b2575096b304ec0584bad4c4a62
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00100/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d81bce3e2dba0c9465e3b803234e45985a92412a42d1ada689d6f261e057d30f
+size 62393
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00100/rgb.png b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00100/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..d07aa9d5f1fe10efed9f31ab2b3ebd3fc9620375
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00100/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:508f7b85d5329979a00fd1a5f2aaf12482ddd26439c7c600f3133c7fd3ef273f
+size 1453892
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00103/debug.png b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00103/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..3e0fb307c94ac20b4823c0cfd7714de672d35059
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00103/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:260dab1edfed5cb20c6d109caf1eb67848874253142968425faaefcc02f8eb0f
+size 1519730
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00103/depth.npy b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00103/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..99934b5b3611ba03b2e687995222af285ffe470c
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00103/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aafc8425ca602f7d08a2035702bdcfbfe56bc1f515a6f5d9f735833851461a72
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00103/instance.png b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00103/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..52418e65093405476d9ff85e67fa09be20432877
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00103/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a57648bf7db7806a4948a7a3933e2e5c029e8f641143f29ba57b0e8648a63b3b
+size 62785
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00103/rgb.png b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00103/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..d1773c3699a8dae61996371914d7e42eafb78f5b
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00103/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:11ebdfb4aa3de3da958fa0f8c6017600c0e6c9569c67898eaefc5799945f0d7b
+size 1431253
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00108/debug.png b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00108/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..61d671160d5272e59518bdaf4567cb84ffde3daa
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00108/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e18accd4baddf75ef068849fc9f4aa1ddb3b2c96860087c89173fb4b9c55cc64
+size 1561098
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00108/depth.npy b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00108/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..07050f633e3e9d4b16f05b1e8c1d158d482cf174
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00108/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:09db8cb02328ec1457b5c1d8af1cd218b863c0fad51b38eae8de0c782eacb90a
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00108/instance.png b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00108/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..2813ef268ee009f050b5f24692ac703aacaafd2b
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00108/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2f3e09df0d31659fbb58fac6d35289e45f006c54311423f872490c296c6532e2
+size 61333
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00108/rgb.png b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00108/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..06f1f2ae62144bcfa111f1a54c5ebc52a58eb8e9
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00108/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f15f0bd0527ef55840ab40a8af3a368d75d39c5c71cfc358143a1d631e5706bf
+size 1478355
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00109/debug.png b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00109/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..efd0d0e98643c7f0f1fe3deef141a36dd7f66752
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00109/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3ea1bd710f55f33cf7e4dc8b80c029c320b222787a47c957482ba9a420315a03
+size 1608764
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00110/debug.png b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00110/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..8bce2762f4163505c779c55c2279ba06db531857
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00110/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:76f8731fc293fb18a5fc1385535ebf2b00826f3812c11c6e748a48c801f7a28d
+size 1595916
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00110/depth.npy b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00110/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..a33d93a3203bd47c551118a8763aa8aec2b6b155
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00110/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ab4e7ad2c7b401566890f602a5673af3c7938f7cfb28729a646813c7f43b3aec
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00110/instance.png b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00110/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..2393dba820e23f6baa38e84b3102099241df5f1b
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00110/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9056f8a62827c4559d9b2b12f9ef40f4af95f98f72ebe990494b87c5fa7bb8ed
+size 63649
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00110/rgb.png b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00110/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..629758584682c3a941737464bbdc3d226a163cba
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00110/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7b4cf12ae43795a0bf7b261583eedb365f18a7cae2f63b9d180f4276c0c36eec
+size 1528684
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00114/debug.png b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00114/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..dcbe4970523c093997728635d6b0ffdc16c938f7
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00114/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e99feb9ab09dc08fd2e68110ff0b15e3675804e807de815eac56f6be816298ac
+size 1618539
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00114/depth.npy b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00114/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..3cc682ea9f462bf159792927ba89d02226da663d
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00114/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f738b5e8ec7b18028c50a9d745c7c1096ceba345a68f3349d4486c6e5ae0afbd
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00114/instance.png b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00114/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..bbccb6ac59ffca2f8d585343149aaa19b298517b
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00114/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:49c05e6790c7c44ddc7a4d1741d9f58fd9a0b02ff3b13a14022fd0bbbd49dc4c
+size 61302
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00114/rgb.png b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00114/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..3bcb6c2301c412e03710dd71246796147cc33a39
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00114/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fdfe1f46767458f0fcdecb5f0986426a55329f1619b1796454cd6d43918ac275
+size 1559709
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00115/debug.png b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00115/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..5bc4d49c9ee39ee3c37f8c54c3b485c802839b03
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00115/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b31e8defcd9e3926eef21a0407dcc73525dac34ccb9a0e52793a5c44f01c4b8b
+size 1614045
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00115/depth.npy b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00115/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..ac01dc26bf1eb45c62c63a80c9b7f02c973d0cbe
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00115/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e73cf51a7120b8f66c97ac0ca246b8a488e181fa58401e4fbfc2dd749a50b962
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00115/instance.png b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00115/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..e856a0a8172dbf28880f23c82cce35e94282c184
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00115/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a0376eebbe74874e5c41f982776ef3b3905acae0ef81023631ca4a1fd235ac36
+size 61449
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00115/rgb.png b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00115/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..f05270edbac212d9724e6011b02b146db5d707b5
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00115/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:35a2d601583bb5cd339bfa2fc20a507e2834e81b877b899ae98385eb1c465a9f
+size 1560771
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00119/debug.png b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00119/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..babf18bcfd75b5c636e39f36fa4df5eb7c9f8327
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00119/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7e186a4f5f6ec112a3230fa1c6f8288d25d6dac460e3176a41a534354af7f99f
+size 1641878
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00119/depth.npy b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00119/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..66379626b258a4a0d52f59b85f373a8408c1c9ce
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00119/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:89f70468ec804529d6efe2effcdb84dc3d5f902c108af92c08c205da2a3b22ce
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00119/instance.png b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00119/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..64582e4058582f3ae9c3e5092dbdbf61663eb8dc
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00119/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2ac639a3a7de178e88cdd0462cf5a908b53d08c313ec4160a52257e8fca2b1c1
+size 60652
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00119/rgb.png b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00119/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..a444c03e558f4dff35111c83d459c58613bb03c1
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00119/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:407be39819dd4c98133232a62fbab658217f0103e150723186ae04334e8116b2
+size 1597215
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00124/debug.png b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00124/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..3f26fc214a1fbf9502a580bab275909a0d845fb4
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00124/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fc674df63bb6e640da3eb1a550f874daafb6a2de1e8bdbe5f4243209686b24f4
+size 1642156
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00124/depth.npy b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00124/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..48d48c1a21c1064ffe64104ab1a6c847603dfe44
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00124/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:30416f9dbda2c3d79636a6707fc34a4684f8049cb5b0ad4a5c805b25d4297516
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00124/instance.png b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00124/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..22f0d90ee9c7aca4c154a38ffefdf50c62c4d1ba
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00124/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4f3cea5f51789f511e9d26de335f1477960f96d7640d4139afc053d5163b4a79
+size 56190
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00124/rgb.png b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00124/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..7064dbc98348bbeca81b513d8a731ad9ded04866
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00124/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4bc5e91a4df9326cde075448daf272196354cd3f77785d1f06b6d6a3ab500a5c
+size 1595633
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00127/debug.png b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00127/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..3505c068d2130cf2217fa1b1bc739eefdf7b4a61
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00127/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:decd0f65eb31241b60e70649307c5bcad4002837f4504954ab32972e8fa40336
+size 1624869
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00127/rgb.png b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00127/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..b939a11e8d3d632dac201217464e995530724765
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00127/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:778c1f45ca65d7f1329f3eccfc14191d90b910e95c5ec26c18426d99ebaef290
+size 1586191
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00131/debug.png b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00131/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..8647b50426bbaa4d90e9db5b359674ac1d0e3c10
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00131/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a669ae789eb77a8eb753038649e79903a56eb63c1e59231421c2f901522fc341
+size 1617594
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00131/depth.npy b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00131/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..679e217e02e115e84f73046f7fc91366f72beebf
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00131/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:109dd3bf3027d68130d8544f2255a346ff12bde96ad22f3d7507d87887100ae5
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00131/instance.png b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00131/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..e32f158aa1dc9092d2b49c601eb354d4743dc9c1
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00131/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1facbe02c9619d80a7f48d1f94ed48cf05af87e3c4b790bd650bd763cecc8de7
+size 55055
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00131/rgb.png b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00131/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..668b1c858c3b71f7d7ec730671a08d79db5baa72
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00131/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:edd818e06a47cd3f0e914c0adb9e15bd957b8c976e0a386ff0b9bbaf09678e37
+size 1566608
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00134/debug.png b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00134/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..663651a6b8addc82c9c27e3149563e9150ffac25
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00134/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dfce11411089cc658a924167d430a1494b2ad2cfa0307ad9d370e5165c5228d3
+size 1622432
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00134/depth.npy b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00134/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..164bce04fa8947b90ebd495d64844cdd951e539d
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00134/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:05a77314c20544aead39d290741644b4fcc1e41e069e0268e2ea656ac0e62b53
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00134/instance.png b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00134/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..6fc8fa1388f8b28cd1ca67a00acbbf90cbd806f9
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00134/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ded16212b9e03b57638f3d2d857c90ad9377d5d0bf6944c44fab817b55388c09
+size 53426
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00134/rgb.png b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00134/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..fb59fa54bf22952291009a55c16b95a9cc0731e0
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00134/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:727fc6d37440f177a36be16755d0af455b7ceb19deb77260de095e90f4c985eb
+size 1569881
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00138/debug.png b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00138/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..0406c64c85367acfbc087e69de626df920585933
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00138/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9947461b5b864afc65864c4ee70ca9f60c559d6df1a2a3d3a9aa5a2d890a6f77
+size 1612802
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00138/depth.npy b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00138/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..0620364ac6d76676dc70ef45babad378a0e8638e
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00138/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:63921392d90765847331f833d1340bbded7679329a79cd2d903fd0d4ac4e94ea
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00138/instance.png b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00138/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..89fd9ac7645780eecb53b86562f596dc7da2c198
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00138/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b09b1c3ef2d95554c90d2b83bff3b8aa543b6ca349537439728bd8b39d98bef6
+size 49056
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00138/rgb.png b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00138/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..6307c7c8bd7c1e5ceb030690ecf3a60300d7a2e2
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00138/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0b43d28a172efa1cc9fea6033b7644ac70e79458281c783fe1137b0c02657f43
+size 1548970
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00139/debug.png b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00139/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..897aed4448c27d6edefffb421653ee22c843efb0
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00139/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8732a31c02ec1cc1882cce962812a60ce55d95be7cde30b9a77e4e682dd87cab
+size 1622607
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00139/depth.npy b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00139/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..eec965480820cdc96ffcc91bcd1fbaf00feb487d
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00139/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d30cf6e116e74ae671345a8ee9cea6fdacaa0943cf6f8c710e6a7862604bb7ed
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00139/instance.png b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00139/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..124ae5dd292eb259b33b6592e753a07653d15444
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00139/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:12f08852e38adf585f84e6c483386f048de163007388f24e91ef24b8af22b7e1
+size 49217
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00139/rgb.png b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00139/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..276eb2e381f73aea5c6d550bed4db422c55846ca
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00139/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:22e32fd2442b9fe3b7a14809a405c21e42a6161289d7398d82d7571a99c765dd
+size 1556753
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00143/debug.png b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00143/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..a99f52d5b0f3a4002c1383f6d293cf51d351ebf1
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00143/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:195b357f59611f7af4b0da24a3636bd966f278fb685938e282cf425d788b2b74
+size 1588807
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00143/depth.npy b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00143/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..7fc2686372db22a5c8d5ba71c591970b99620929
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00143/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:43ac8c3cb6b0180d3e91c5693eeee018c7a25290bd4ebbe323faa363b73fddc6
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00143/instance.png b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00143/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..a58c42eb0ef65941321b054a6d6e005ff60a0fcf
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00143/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:36bba9f1cba61b571389b7ca7bf1b90ced7128f6df7c57aec7cc3899e5e259b1
+size 51784
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00143/rgb.png b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00143/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..dad7a4239deffa2626b148ca46cdc574bd1c8a83
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00143/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:de48cd26b92f28586a9159c76ed6e844417453638c567a24c5b274761e6845cf
+size 1523308
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00146/debug.png b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00146/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..cb3518ef52fdbd6b965c437cb282d6eb0ce5a77e
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00146/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e24d0263e0137019c65f357ad4b5849d390621886ec425ad0152570afed3c135
+size 1608550
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00146/depth.npy b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00146/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..cc67072bea548fba4168a798536db36f47c438ac
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00146/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d94370bf2b4ea498aadac05f6567f6d8bd2edae52204b578ed47f861a183982e
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00146/instance.png b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00146/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..8e8c21c4292e1826847bfe0b0dc6f8b0b6c21cb6
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00146/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f43fc550d368f603bd9c6895fd2c49bc0f02cd7fa69c4291c6fbd57346b8ec60
+size 54767
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00146/rgb.png b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00146/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..1d9b448fbf1c7e7f8fe460443a588b04d498526b
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00146/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:469ea5da65c3ec97b852b247f5b6ed6729455dff42f2f4c512d3f2eb4bb63ca1
+size 1541068
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00147/debug.png b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00147/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..76ee963cb786520055df273f7653b271ae5d1873
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00147/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a014d47057d1c80156d4db429a5676fa061a73772df6f8efb85c57a04dcd7982
+size 1625544
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00147/depth.npy b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00147/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..d283990862d44129213d6289972bb161ccf72f4c
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00147/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8a4842c2ef36466ce2efda298452df59b7f321aa09e48ce635787de46f5fbab6
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00147/instance.png b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00147/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..172b237970f4fcd08561f0782d157ef51df4054c
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00147/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:15418dfe1e2dbfb0a84b782d3867c4374029473a0fd8c2d451aee9d82ea38bbd
+size 48155
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00147/rgb.png b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00147/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..afeaf7fc621d06eecae16ee077ac7779cd6e27cf
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00147/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c516f9d7515fb0beabab1f7b792baa3d22c204df4f532072357fbb9bca61bb31
+size 1543365
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00148/debug.png b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00148/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..b73a7315a857a3c65c6dea21f2f08dde2856e09c
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00148/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f411de6343a3a3e1720d5a551ece60bf181b6c97bad81059e3ed01d93b67cba1
+size 1619991
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00148/depth.npy b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00148/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..c70b628c8412df1903db23e0e7a9cbf48e061e8e
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00148/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:83e1c291f9fded487e1c290ebad596388525258c4efd654d719e3360587cd8e7
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00148/instance.png b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00148/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..9b51d03b6433e4dfcb87d2412e6edec4a8c45aaa
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00148/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0335dc0f2206a939275f0858fcf66e1155c4691834d48be42aded850705f93f3
+size 47246
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00148/rgb.png b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00148/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..11f4620ddcf5bc5bb1f79c81b322b29da10a4591
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00148/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0a99c747570d578e5124c734b348228f7408a49ae2c5e57bfd2caea67ea53758
+size 1543735
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00157/debug.png b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00157/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..9296d4a15b83a09a9a831114d4b4c5c4d4420366
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00157/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f551784792d5562d1282e61630dc862184bafad0efbe478895a5448c8bed8190
+size 1623924
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00157/depth.npy b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00157/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..350afed8d23877be512ca493cf3210c2b69b20cb
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00157/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:df17652564096fadfbf8957ff74a9f357bae2284c88f7da1c2df6a4bf0c475de
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00157/instance.png b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00157/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..dc1fbad75dfdf8b475c20112450f4006e6f881cf
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00157/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:164b5c46d1ba5a26088332d75423c408cb3b4332cf97efd79ab903ebaca5b9b8
+size 50299
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00157/rgb.png b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00157/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..381d8d89dd0fe385a40256eaeb0664f5704095cc
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00157/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:06e20d5caf4d7add14448825d32a34538e1ebfa05376c63870fc4633a65b9382
+size 1552335
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00162/debug.png b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00162/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..fe73ecb95ab4572bca17703871df25ec3d7aae62
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00162/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:67834d330784438f82cd2302ec17ab82bf2e0d573c11acb7726784a78f082ebe
+size 1588448
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00162/depth.npy b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00162/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..03216e43b9cf3bc6b76f173ae2995fb47a8bee22
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00162/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:81eba89c36b53852e43eee98cc7ed453cb8c26d08ff8d812538f497fa16f9c53
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00162/instance.png b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00162/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..52c3688942eefdfa8604c8be6e2cf82a9077e2ec
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00162/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ccde43859a9c6ff25140fb7ca91247c780c9eb3fc451284934dbb60fe2aa2f16
+size 46471
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00162/rgb.png b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00162/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..d7a561190a054caad2e5a3ee61f90485567f6e59
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00162/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c404d6d65eee5e33b49324bf5dcded4681fd268c35485742b884196aab5e63a3
+size 1511245
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00165/debug.png b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00165/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..867f699187b8dcd22a9c83aea3424bdb52ce6aa3
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00165/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6e7897dc11101d28f119a5b8825a6a2e28155aa4270275f799f1503e4b4a46c4
+size 1627434
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00165/depth.npy b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00165/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..6dbfcecfe95b1d63b52c9a1610531e6eecbc3494
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00165/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:16a2c6dfc48df79cb9fd41db42a2cce1c21771f565ad410675201a567729f8dd
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00165/instance.png b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00165/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..9bfa3324c54a3cf22b059bc7996e44a27ebe7268
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00165/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3873b248c5033e8c18aea230c5cfb98f788c65b7e428664555964a3a2ad811c4
+size 45309
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00165/rgb.png b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00165/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..a1146b450343ead14ae4ab36fd7c6aa8553aba3b
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00165/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f21e160b43b598b8b388cb77329565f9208ead940fbe646d6ac572fab1ab6c5f
+size 1534045
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00177/debug.png b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00177/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..f8a65e6ff88a88522e286a79aa6aadeff7eb1de1
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00177/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2f843686af57e79c19358a30e38c7e11d4806746618ca08bf266433ac3a9f535
+size 1592987
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00177/depth.npy b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00177/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..f58621962a5a85862a88e4be5ff035ecc0bed72d
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00177/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c441a0780056d3adbf797c48e23db2e04075de2ab3d7a26ed926510cdb36905f
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00177/instance.png b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00177/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..91c7c8e4cdd2442904fc7c554ac4691a21937e27
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00177/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:05d9751bb7100e242b7e75ad4c7fb275301fb9413944c5e98b32a352c416b443
+size 51946
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00177/rgb.png b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00177/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..1698bacda1ab137965d68ed1ded7f9b9b1fa53d6
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00177/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4c4073982b93725039b165a803b0ee0c729e929e436a65cafdacf04da4db4625
+size 1530705
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00180/debug.png b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00180/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..1d9f7e7c794e9621cfae8497d7e969d99d34a71f
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00180/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:12dd86ab01fa9a681a87885cb3e567ffc2ae5772479a6bb23aabc6d92a5babd6
+size 1581974
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00180/depth.npy b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00180/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..f09807d4c424db2c7bf9c829b91b4b8f12c7de6d
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00180/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8985f4e930ce388207937e04506b035cfd02f13331497a5626136674168c497e
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00180/instance.png b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00180/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..9a61f5e3f3bdf7957c72248605a31a12f5c01ea7
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00180/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:88634481886836d296c9f49fb55961640e2676d5e57aa9cad7e73730e801f43c
+size 55757
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00180/rgb.png b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00180/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..c2d5bed59800717d78b99f10a3b8eb8fa174e4f9
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00180/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:78f05db4b088c772ef71c8476bbdf0869a2bcb64a6b201c9a1ef215c55d73cdf
+size 1507800
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00184/debug.png b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00184/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..83bb1fdf23af839e73ac98bd1c7cdbb85a46afeb
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00184/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a878306c9898c5b3f596b3b71ad7ddc522e0b2814933a81f94c9a6495012599a
+size 1591966
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00184/depth.npy b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00184/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..529f1ed9b85aacea52a2ec8e28f9d1e12cd2baa1
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00184/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ff436fcec1ec0833314fbaef1f4f9320805a66d2d127b214b26d2ce44e15461f
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00184/instance.png b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00184/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..d111c5eef2d468940536c52531a71abbd253ac03
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00184/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ac71c3e7adc73e9e2d9c517a4d9b01d03c96f1963ea98ab9761c3dcb310777b9
+size 53554
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00184/rgb.png b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00184/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..b434cbbf1086f122ea1b859277c2bb8b102a11b1
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00184/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c517ac6fdf4a3c4cc942dd9679a26379a2da51cd45dbb4ba81430d58cd8f8dd5
+size 1528568
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00187/debug.png b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00187/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..6f0ce4947b707f8e9d036bb6221230633bcd7664
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00187/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a351ac854e034c0c7738153f831f3b138cc54973c92eb5a140161a47ec82789c
+size 1554189
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00187/depth.npy b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00187/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..6440858460e31aa2f993fead9e977c09548090af
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00187/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ada9a78a7778bfb79a3801e476163b66e3bfd2687c47efb53874170ef2e79042
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00187/instance.png b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00187/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..167d038e8e30aa84fbc909cfd8d2ecf4e9018fcc
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00187/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:44faa6d8e594efbedb9aee598bc979dc3611299803365ad1a40ea351471818fb
+size 62974
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00187/rgb.png b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00187/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..0d957b37615e5b465fcba56279c71aeb7ad0b94d
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00187/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1ca57f6565a0fc6fdb030dae4f74ea0a2b5cdd38b20013170464577b7752f4d9
+size 1476584
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00188/debug.png b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00188/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..497dc3a5d95e5d1310fc87645f7b355a5a23b99e
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00188/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:464c8cba68c84e1a9331952c3a84e4bfc368a6ed2412db87b3614f1df5ca84fc
+size 1570398
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00188/depth.npy b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00188/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..ff123a32215c071d317e286393c28750f7ad9948
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00188/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a60d3e1ba9f03dff8423aff322a721bccda1be04fcf90361acae82d0935343f7
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00188/instance.png b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00188/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..8120145c0cf6d9cda6a5a8afce1c9bef69dfa610
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00188/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e28fa001ef72e93e3c8e18532578a97a0f235d14674c7ec4ef1a8d77fa4ba875
+size 57440
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00188/rgb.png b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00188/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..d1d02f0779c5d24d0944cf9c1de8e54da0b72d30
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00188/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4861f3d00b0a8ae2020ffa15513ed0acb7701a7aabb8db268acacf20f0e6d8d5
+size 1487490
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00189/debug.png b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00189/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..0383c860d76088845bd962e4be57a38ce3931904
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00189/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:067d56b6325dcf817a57c24ea7d52d17d9d32baa1b17085bbd613603d6fd437e
+size 1555462
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00189/depth.npy b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00189/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..fa49a7bcb7f58c222538fc8cf6bd27cd9e39201f
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00189/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8c0a2b065ae6009514a025ce01636b8c45a593232e6395891649e444d449b2f4
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00189/instance.png b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00189/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..7c31810209b788ca860ce3f4efdfb32d78918368
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00189/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a747860cf18acd0587a60408ec24cef4a6d0b3f79cbd6a50390b2c1284da9582
+size 65524
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00189/rgb.png b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00189/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..89f29481386a49b6ab8944a8a2ead2570aaa6016
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00189/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9fbbf4e84502414b2dd3f32f70cf4d083bea6ef1527da10b6a066af883b9c572
+size 1481471
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00190/debug.png b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00190/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..69dc58117b4c125a59efa390731ccdf689fded3a
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00190/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0a147e8aafa396bca722b60bfee99fdfd7080c29897da2b92173dd2e692d25d4
+size 1565661
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00190/depth.npy b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00190/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..6d62c9d3aa4c21bff1493fc4b0cad5115d5a630e
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00190/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b289445de4ae86accd7dfb8f86023ea1c71227df0b1431e0d4bdc7d0c01835a6
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00190/instance.png b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00190/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..94ef2d518ba939151e53ef30a6e15f3128404a5e
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00190/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:563cdcde1cab941c93907de931c2b032f1fbe8c2cfde53dfcbdb0c42c6f0ddf9
+size 64302
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00190/rgb.png b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00190/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..65c1476eb06c9dcee11e0566643ac87934a36799
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00190/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0942c55afe75d2c39fd8d28cf8b8ccab490eef401138607edb9e9923cd646b20
+size 1493138
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00192/debug.png b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00192/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..4b44f0a38d3f69dbd97b34a47245c487c7e7a5dc
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00192/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:344b097529649b6a2fccdfcfbbf88b8cfb515a0053c3e03cfeab391955d7ed85
+size 1547186
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00192/depth.npy b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00192/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..d2eb6788218127c7c22e3c582affed12449283a8
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00192/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:288a13424583eb17f91a739d232168aa26f944b02b62337eb97933da6a2cf6a5
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00192/instance.png b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00192/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..ffaed49b25d7c99c658eabe3ee2a4ea9bdcf479e
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00192/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:73664a414d6ad629de8ad037dd17122be4ae248a15abfc83df1c6e0715fda887
+size 61106
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00192/rgb.png b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00192/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..7c9131b261e2ba49554bb8ce10264a243f6ddff4
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00192/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8e8424c0234b692ed036d570ed00ca463f680625e50518bac831a6e07745f948
+size 1459303
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00193/debug.png b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00193/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..36b3c1d9c919ac5ab1da48aadcb8e4260e456fd5
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00193/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c01b6b8279281819fc29cd1de13687d12950b8eb6d1617180a8335bc7e92d00a
+size 1574303
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00193/depth.npy b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00193/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..8fd63266c88fd7c11045a8519d39cd5b877f00d1
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00193/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9b68f1fa62e79799a00e32ce1ed953aca6426041b58cebeec0ad5b756f87dc5f
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00193/instance.png b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00193/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..d7e488d7164ae3f484c32cfe41c67feb96a0a8f2
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00193/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6a372d895815e32b4ee356500afa6d2c652a7f425c7e7c6fa55b4aa91c86fca3
+size 60513
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00193/rgb.png b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00193/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..f3d3c8a09460eb738832ec78260a5b6412c29ad0
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00193/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3425dfa9a367f2f535116566084aecd1947dcfdfd6e175a62e9b72458870c1ee
+size 1493960
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00200/debug.png b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00200/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..833049cb924c9a343b7d296332f17d798fa8b2ee
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00200/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:71d7cfae19fd2571ab89e40ea60841d18cfac1400ae2744a39c70f525cdd7039
+size 1534907
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00200/depth.npy b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00200/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..321fbc2d496ec99fbac3f4f8f31085f4f90918c4
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00200/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:371a8bf6f64bf380a6bb558a8563c81ec2711ece1938547e30e254c4108e84bc
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00200/instance.png b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00200/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..d662bc9bb7971bc92a69bcd9bba1227d26746f42
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00200/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a99e2e30c49e51dcf3ca2a3e3680abaa39b62b278715ba44c19164655f1cf3b5
+size 65609
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00200/rgb.png b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00200/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..dedb65a17c8124245e66aeac0ced572c5ba67c48
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00200/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:44a72cd4913c1e8571c8a0039ecf4f60a422d0cf36791b8be111f52eb1dfea17
+size 1457510
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00204/debug.png b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00204/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..16a4e2ca62c1860e0b537b5b39925181bfb43647
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00204/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2674077fe61f95217d2223b38c1b88592264cad37717dce1246005cb59a04276
+size 1527602
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00204/depth.npy b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00204/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..75b588028d3b5a3a9bec5bf2db697d482c698aa0
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00204/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4441913c187daf85f686d67b089ededef139be3b374746046c335b20ff1c3d1d
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00204/instance.png b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00204/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..d8fb5e3b29ef494ae2de7f9f59b037f2d6eb2c42
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00204/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fa0474fb2c5cce7e0bbba37619e87128b66e22458b49d8198795df6773010c2d
+size 59415
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00204/rgb.png b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00204/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..63e13a6aa8435c3638de4b9042adce5d38c4937e
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00204/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:651bf82c072917b76818fbfbe3927e1ec8f17a11a3148920599fd111418e079a
+size 1445394
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00209/debug.png b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00209/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..0ad90ead359b811ca5bde7685104ebf6af7bc9d5
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00209/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:041b9a267e8351181695a95a9b045cbd94ddc2530db0aa6988a819eed7117737
+size 1480079
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00209/depth.npy b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00209/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..4c01ab85fb3bb452edff6495b3e8932f709d22ce
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00209/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6c9209f46ef424e86a0adb13bcadf699e307d05742bbacf70ceb31965a0d25fd
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00209/instance.png b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00209/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..3077c5dfc917fa51857c96a3696b7c65d90b6465
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00209/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fd0be2b1ad4f5794a5939d8520743e9e099ea0f76b8a912c56af6eb68ff0260a
+size 58249
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00209/rgb.png b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00209/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..ca18ac62c47cb68d08e0115fb5695b3a8b79d722
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00209/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4b739651451e367560bd82ea8dd8f79a681dd4aee480979e7ea23a2e129ee4f1
+size 1409654
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00210/debug.png b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00210/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..712f245be232c8e66243f60ae98283dc2e4e48ab
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00210/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4cd78833eaf45871a09fc22bf1653a49bd068f0b0d34eae933e9bc22b6b95ba3
+size 1461529
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00210/depth.npy b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00210/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..ea13822f04b89ac736537867c2ff7d4d46cf5f56
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00210/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ee681bf7c3e6a2a76779826cec7c3686a37ef10ec71ad06d9456d54670b1a61a
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00210/instance.png b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00210/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..73e106c18cc583340e18828650d2ede90ef80edd
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00210/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d62b2b1bbdf5bb2593498db736270ffc64a23a5691effd07ba0a214f4e920a2a
+size 64138
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00210/rgb.png b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00210/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..0bde0d374a413dc574917efdbd741b5bc03fdd99
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00210/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cda5b997221deee9fcd12aee7ee2b503d019ce0f6cd936483a54552776448e6b
+size 1391990
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00212/debug.png b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00212/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..bc18332d371eb835a6a4563e9adaef2a49b85087
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00212/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:975b80cbc5d1416cf3e864f31021f42ef9bf99c0a3919234f37c43bc5adeb498
+size 1463982
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00212/depth.npy b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00212/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..912651d1910c15f491d3f72649341ecf8fea7e9a
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00212/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:42ef2fc76164a7c55bea85c2e835c13022634f5fa7a4a6239ffa9265b356917e
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00212/instance.png b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00212/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..5e8fe41aa4392ad4d4ab164cf8dcc1c889799231
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00212/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:19dca4d29987652ddbabff4e78fd2e6b3d7ea75900e7f09cbbda3840fad98fb6
+size 68148
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00212/rgb.png b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00212/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..369b67a99488878f7e189fe6b120e82f841effc0
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00212/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a044cc5b06d7517a62230b338a763aaf5b124a997096f83a4d19e4f712f5ac12
+size 1391775
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00215/debug.png b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00215/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..84b2fafefb5d50aa778576667e514eaad4c3c679
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00215/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0695b3f6ad48bf5e91571ea6adeaf544a979490d8ed1a184bb5b2c7493064a80
+size 1470152
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00215/depth.npy b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00215/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..3133cce548a6020853903a1c4ee23e4301c6ffbe
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00215/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:26f56d9fb29b4731ed5c800504a3d8758329d51a41e851074906ecc5e007e5de
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00215/instance.png b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00215/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..2d12dd6659ffc068e496f3bee4650bf8f98eb7e6
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00215/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c1e0ae144b87e34798407b27f173ff2cb39181a3eff6c168a7d14c477c8176ba
+size 68403
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00215/rgb.png b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00215/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..b01120663a81b1a56d6d367232693065aae47e00
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00215/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4f005c0caf71ad8c8b78dd3b29da58409975441ae0137fb53bd634c9e18f5aa5
+size 1408839
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00217/debug.png b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00217/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..297bf7d818d25bd60de7fe213e8da1d8913fdb75
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00217/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:480a6fadc0ce904e2d7868614808f762dac82e67309f65e40d66cf4f99930fdb
+size 1455207
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00217/depth.npy b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00217/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..443d14ad9e777bb78c884d3c9b103aa0ae2a012b
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00217/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6da22f2a9dc8e7b106a2fe2d60fb06434f7eb919a6c68afda5a160c36a9883c6
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00217/instance.png b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00217/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..58e5115a2f37eeaea2cf9c73e1eaddee3cf0e364
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00217/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f746dd83e3abf18730f6d3866cd5aa5f78737cba665ca8e8ca55d289cb7650f3
+size 63722
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00217/rgb.png b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00217/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..216cca1d37dcaf81d657f5e70bd38fb00db9b184
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00217/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4402dd05db73d8489c069060ed989f860c1f83db7fb186f5aa8507d7d7cbf3d2
+size 1393019
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00219/debug.png b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00219/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..7343fb34020232ad5652afe473bfe5dd9a583fce
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00219/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4926ed76eee55e2c6d0334db78b21a805a234243a3d6c7967ddc0516f4966e7a
+size 1473579
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00219/depth.npy b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00219/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..e8cd763ae9f30e9ede3a1c64604af063ebb04790
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00219/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b5bebbbf6bc053d3e43a8cbbba05db08000cb40b60ebc17e0949569853454e92
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00219/instance.png b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00219/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..b2be57b21bd588adac3f454353e23d89e00d7b1b
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00219/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7c496733e9ceb5893be37e2ec328b6c4bf62f702ed4884f33f8599fc5359b56e
+size 63797
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00219/rgb.png b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00219/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..3538c1e08e92dbac6b557911dff42e2937fb7d88
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00219/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:20c6a86de8046cb63585128150a0d794875ca65408d660449f83d77e5bb94591
+size 1409582
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00225/debug.png b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00225/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..8b8e99bb63d6d7e534c9c702051ac4f07c07fe4d
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00225/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2baf9fc0840bb4c0955b805376e0c8456f001352324480a3968a4071d4eb1fc1
+size 1497023
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00225/depth.npy b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00225/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..f558cdf0a4214c17ae146a869b4b0b4608ab2983
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00225/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:10797dccd0ecd30b37b07f9a332248a81ba1787920a160b4c9d1d108d24750ad
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00225/instance.png b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00225/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..6462c08626fdd48b3a86551900acbbec1c243798
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00225/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:402c1bd4ecf2750ed5c1512a0c926e879790741139ba40f3a5462ec657f9c4b7
+size 67472
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00225/rgb.png b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00225/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..bd63560e7420cbd51534ac9967de12d554350ccb
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00225/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b6fd03aebd1585a11ed2de96efd475317aef5d8167f063536cc34a9f8f6c8621
+size 1426968
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00226/depth.npy b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00226/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..e55e7b98a7f3ec5e7a93baa9e551cc724c8cb69f
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00226/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e21b8a9137bafbdb8e43796826e422dce80e6495e2d96a4805374cbe4dcf8c0c
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00226/instance.png b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00226/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..0098019cb6226a34c18da182b61523760d4b7a16
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00226/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d5de50de225dc930a303eb063152ff646e52c323e80f17617f09001813f25bbb
+size 75577
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00228/debug.png b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00228/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..14d6d1bb8910bcf22f9f8609d118e70886aae603
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00228/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8238e16ef5c1d51a01ee324f6b7017115eb936c4c8faa69dc0ff55005c19c2cf
+size 1504360
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00228/depth.npy b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00228/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..359bbafaee6a28ee0c19a06dfbd84e975582b878
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00228/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:be7651db01b6f170b7dd451366454b9877315d82720878266e0e8de6d24a7b20
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00228/instance.png b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00228/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..4e59de42d1713878b5fb23088d9932a36cefd654
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00228/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a2ff4cdf0ce33b4aa9db0897468d1eb4fdb89dac6ce994036875fd945b30ddd0
+size 70681
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00228/rgb.png b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00228/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..11e4b4d00db7aca9d36651627bf37472397d2aba
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00228/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dc655a277cfa5e82419d0a0f39975909f6578c3f50aa33c22d8d4ed324568585
+size 1435224
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00229/debug.png b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00229/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..5171e543615553847d3d64eb0c3a2daa53f885b9
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00229/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cbe9eeee2f58a4d95bb0d8c9b551036c2659dc4cf15142e18c4308a67b16e775
+size 1541463
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00229/depth.npy b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00229/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..4c62e25f4c24502ec7e46d62f32f48becc717333
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00229/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7cb5bad2fd200227710edd84ee458b59072c465dc07abb7e9f2aa724d9e8642f
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00229/instance.png b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00229/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..79a79fd21a55a3c05e4a345e81096e46a2b21ead
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00229/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c166a6323ba91b0f1e14be097dc984665875bcff1cedfb790e6b7a06cb5c741b
+size 69720
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00229/rgb.png b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00229/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..5450e782a48a717180395c6a49f46d58bdf5d94c
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00229/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e8797a6afce416a81303ee363ba27b20983c2229cfaf5c29dbe2eca49b2ff223
+size 1466605
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00230/debug.png b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00230/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..19eabf90f7f3f9a2e669b7a83616bf20fad3619f
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00230/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f70ec7ea89b659c37753cbed1bfaf144040b1597474a31eb4be2a0cf92bac97d
+size 1498799
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00230/depth.npy b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00230/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..92d174d72fefc3399a6c5fb95a0fa5d142015d4c
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00230/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ffc765b817ebf277947e0fbf0c4bb71414054a04f0e581118e4831b3c1af8749
+size 3686528
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00230/instance.png b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00230/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..5987f672b8e0699537684ed938624d4eb7bc50b8
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00230/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b358c542db64d82661b9260f163851ecfe5156f077d59a01cb1d6738c40fbb73
+size 71918
diff --git a/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00230/rgb.png b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00230/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..2239787ee3efedfab4a57aab69f5c771a7dc08f5
--- /dev/null
+++ b/data_v7/Town01_Opt/trajectory_1777154601/aug_001/frames_playback/frame_00230/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:23982087b5fe131fcc00468f0e5437507a6b0e5f1ba5c9f951cfade6ddc53d15
+size 1432701