diff --git a/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00000/debug.png b/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00000/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..3be52c2239d260d87fe032454f6dd2b21167c621
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00000/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5feb6bda79013eba65bab31d824d40be20a092bc451a04618eac31437200566f
+size 1491881
diff --git a/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00000/depth.npy b/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00000/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..bfdb0dfcb93aff3f5f7908b0bfcff72e4acfe05b
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00000/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7254b5e03c0387c7d4985ac49ad90900d820be6307273d26767ebf66db7bda4c
+size 3686528
diff --git a/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00000/instance.png b/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00000/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..53a8bc65ee24f1bc5a16e778091b361e8ad706e4
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00000/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a8984e3eefa042455219574f29afebafe2250ca6530c585d2a72386af18e8e52
+size 29155
diff --git a/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00000/rgb.png b/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00000/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..cd45cb3de4f5a07e45f967a95515523df1ed1a9a
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00000/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a5c73b21bd15428c3b1708645a7363e1562e0dcf3394a90756449281dacc1207
+size 1471777
diff --git a/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00007/debug.png b/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00007/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..ce2574ccf7162c4723c523765b271a2391853dae
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00007/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:247a1c6dcbbb2dd3f0dac9fe9c77386cae0bf35a5c28398a9e601184226b1562
+size 1638076
diff --git a/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00007/depth.npy b/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00007/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..2eff9a9efd6a85af43cb4c5a1c42bca39bb84f28
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00007/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:03b824fe344e22217a696007e38cd69bb06cc15189ddb0f1eb68cc3704c360cc
+size 3686528
diff --git a/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00007/instance.png b/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00007/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..b5aeb79a294cc4288c4cbec226c9af9211fb973b
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00007/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:023cc8ecd121e604c94e7dc38382b65a819482a9fd4fb3c6faf3c7a5f27eb987
+size 36104
diff --git a/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00007/rgb.png b/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00007/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..635c8b779f58dc0611b768b6fc99effcc58bea56
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00007/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f5c6f15183fde9da6c4f0dcaceefec3edd4dc6905b22ff44e865e669d96ae966
+size 1583587
diff --git a/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00016/debug.png b/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00016/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..7d4a88b762e16ac02d492e52aab7fa131026b71b
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00016/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6294286ed32a560a70e97db5f90330c3cb487f9cb0d82f8f3abbd38c4d728d5d
+size 1666086
diff --git a/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00016/depth.npy b/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00016/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..a1b4e65ce02729ac420ccb2e3e1a7ff96083c8a9
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00016/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fd1465928bad0f4ed0871264d932a44b3192d6af0b18d6bbdb504ca49b829976
+size 3686528
diff --git a/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00016/instance.png b/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00016/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..8f848982fe1525bbcbe49415d38e40c6eb2a2a77
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00016/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c2106419a1c7699ffc099a25492517ee99e5cefa7106de6827a8a8a445433c70
+size 37745
diff --git a/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00016/rgb.png b/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00016/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..4773fa5a72dfef55a8e4bc3192d8cd71cad48c65
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00016/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c9929e5216e4fa2d54630b6d77ea64b2da7bee251ff037ec7db802a654fc75d3
+size 1632363
diff --git a/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00024/debug.png b/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00024/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..60ae3647781fbe1689a5738a2cbbd0fc7355f96c
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00024/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9f5234f784be74f16dbfe7a786dd99d9cfe809b77ebd2873c93a203df8fc4284
+size 1778665
diff --git a/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00024/depth.npy b/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00024/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..8fbcf7f0123b3c3dbebffe301bd9d971c07a6411
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00024/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bbf731e7de6d8e30d09767479eb9b9871a4f73b49a9e48ae6aad44bdd073068f
+size 3686528
diff --git a/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00024/instance.png b/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00024/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..00f07f0830b9d5fb8eb52d353d3a533cd9169f5c
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00024/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c10a69ec4b3e4245cae56b976a5ff2ec367feb11f1d0e971d16ea2d918229a87
+size 42844
diff --git a/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00024/rgb.png b/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00024/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..44d2885cc60caeb63a005772742c69964439fa1c
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00024/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:006d924dffb24b73a2faf71fd52ee6e99aa6b876d3f51aef94cb0db1f63d4945
+size 1708294
diff --git a/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00028/debug.png b/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00028/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..92abaaef7f270c1d9cb5f941077e64f4067d3e60
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00028/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a2b5c424df1c5bc877361e2f1918108c1816216515941b49264016083fd2537e
+size 1878808
diff --git a/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00028/depth.npy b/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00028/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..f412bcd8f72c5c3adef5f91a7e104c611c2c5a14
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00028/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c43729644e1d7457c7d40a20f0e44d2d05ad5da355dc3baf84ecdab8e3461a9c
+size 3686528
diff --git a/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00028/instance.png b/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00028/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..b88ae3091eda9b653c4fd1712d2302775335a3cb
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00028/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a80e62ceb0ca31e6e5148339e9db753a3a6672873f5bd074271c16d51e24a7f8
+size 46579
diff --git a/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00028/rgb.png b/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00028/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..5df38ed719bd5c89a7d221232f02a70c0b16ab91
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00028/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:83a5fdbbedc3ce3274299fd35bd56b060363155f14fea203d4e9d3af03b8ba0e
+size 1783275
diff --git a/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00040/debug.png b/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00040/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..29b50aa9df8d62d2d5a4b33649dbe6a61efee45f
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00040/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:33f34b91f65ed81c9981516954d64a8d32ccc63958ed46fd882fc84db3322eee
+size 1978892
diff --git a/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00040/depth.npy b/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00040/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..97f56fc1148f935e1002484431c283d431e94a3c
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00040/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:529f3fb557d93a7e27de5ee7fa34d942f9cbd1e64d5f2726724710565664c8ad
+size 3686528
diff --git a/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00040/instance.png b/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00040/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..1ad56a948a0a8c32b319cef86746a5ba0c1d66af
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00040/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d734a55f81256eaea53eee91e219d5a7b61c8ce182b60ab0200c891067bde785
+size 60534
diff --git a/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00040/rgb.png b/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00040/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..fb8d21ba2b2abddd42969f10fb4559a17eca9c11
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00040/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:843307277caa6671c4d033e69e94350e03bedb5d66c1e4611dc37375c20cebe1
+size 1879253
diff --git a/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00044/debug.png b/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00044/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..e4df87b74d7d6976a702ad6973a52f6fbddc6311
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00044/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7177e10dcd317577bb77b7606441205af37ffd80fae2b5eee5567b112ab32fc3
+size 1988515
diff --git a/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00044/depth.npy b/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00044/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..d4f69bb7164574314b8062b3b33ee60b4aa560b1
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00044/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:95ad5c16f532159744427d025604cf393cd43a22feccca20652c0f2a10ad2975
+size 3686528
diff --git a/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00044/instance.png b/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00044/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..f6e4e91a2deeb87969be9c64f4f7a91a95ed31e8
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00044/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7661fac4345ae50bf07b54d80c59abf6914ec6df6e1eb11e703890f606738569
+size 59297
diff --git a/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00044/rgb.png b/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00044/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..0c23b5072d8c9514130fdaba0f7b02828f20d450
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00044/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:adae710a94fe78fb26a99b6de01ca6b5dd47d25a80ee75b9684fb1c23e85bc70
+size 1859232
diff --git a/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00054/debug.png b/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00054/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..94b091098f5603f9fd229a08274a0a415a0faa4c
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00054/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:25e80c5ea188b84cc734a548b62a7148dbc61653b7f1f57229efe498f41c2062
+size 1964765
diff --git a/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00054/depth.npy b/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00054/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..435c2169539425e13ca6a3841a71dce9f93d7f0c
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00054/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:32afbeb8c98083516eaec3f587eb7b7bef50c764527823a57a7e68ffafe77e2d
+size 3686528
diff --git a/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00054/instance.png b/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00054/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..9fba4ce8e50d5388e0a97ea29f868338fe3b8cff
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00054/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c7c5cf4332ca7131a5cfeeae51df085823e402775ed6ee71f56c192ed03f8388
+size 60953
diff --git a/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00054/rgb.png b/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00054/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..19f167bc46073c112e9d688956a679b72441beed
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00054/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7e1d2234446e2781c6d1fb956026484ab4a66c180596273ac93925cea511b0bb
+size 1836301
diff --git a/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00060/debug.png b/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00060/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..eeb3281a29ffca39cc7c5134cca43065815a1752
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00060/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:94b2b48acf4fa0d1af1841c742f16e26c29cf4a0d1127c597060b6f568ec6f91
+size 1918546
diff --git a/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00060/depth.npy b/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00060/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..bee54259c0b3e0f06f49c783c6b24a2c803fd5e0
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00060/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8aba0a810acfcdbe40a0cd0a7feed3a3aebd78a2e38c4338156a6c70f9cbcf46
+size 3686528
diff --git a/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00060/instance.png b/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00060/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..17f6658a0c06f184cb4a233b5ec1d297b73c9beb
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00060/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:154e14c3b037ccf2d3c76aaba85146d5ea354b14d7c20c40fa462e1cb6201b58
+size 48123
diff --git a/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00060/rgb.png b/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00060/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..bceb6e0b8d1db8dc64016ac635f7835253235efb
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00060/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7f75655448df15354d823000fb1a36a7ebe1a412f44dff305a0e2a262eaffd18
+size 1790692
diff --git a/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00075/debug.png b/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00075/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..eea1eb199454b5536a7b83e716ad45ad3491b640
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00075/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:46e7f5a6558047adcc3b254eae96f4ddc51bc6ba39f8ce80d08c9c1311470858
+size 1846066
diff --git a/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00075/depth.npy b/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00075/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..f21e74a828435e0c20681d61b52e24a750dbf8d8
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00075/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2d5cd4d2696d81d134d9d9b3552804803fcae081c0f37095ac3c04bdf5f22514
+size 3686528
diff --git a/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00075/instance.png b/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00075/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..9205d8962563358847e3eaa2b66d946958893364
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00075/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:94b006f9c63e1bdfe8e71d9a15ab1cefcf5881c70218141e9939d2377f07d47f
+size 31771
diff --git a/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00075/rgb.png b/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00075/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..328fce642e400cf786ed7eabcd3d7db8a724d35b
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00075/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:82caf625b2f3da55c1bed0ea06cb0c6c4c72926012521c505ab66abe8fe06591
+size 1716649
diff --git a/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00076/debug.png b/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00076/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..565e2c81d86761edb5ca921fe7ee33ad0803bd19
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00076/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6544320dc29ff71195e2446ed94731642cff5422d6a4b00c0333c35e60a1d392
+size 1854925
diff --git a/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00076/depth.npy b/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00076/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..ca74086ea863d156cbf64a24c9964a876308c3c8
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00076/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5556618c69010594f4b7b9402b80d045bd962d1d3ba851c2062b58d05baa7cea
+size 3686528
diff --git a/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00076/instance.png b/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00076/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..f7ca5357504b3c6548bb0d7a141476eec1e37a0d
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00076/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2990805de00b386e629b82ea5e59f4963dcd518d816a8a1d11e4ea6246863de2
+size 37396
diff --git a/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00076/rgb.png b/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00076/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..211163e2ba687d4d94616826718818233e4d9f72
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00076/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1553db72eee38bb4f96037eeec81a824124684e264ca6ca334527061e4810df5
+size 1725979
diff --git a/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00080/debug.png b/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00080/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..708f5698ecfc805c4aa5f586de99147b6b978c6a
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00080/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d3039a78da38303a66760e807b68226efc00999a6eb1e84674784f988f34b099
+size 1871482
diff --git a/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00080/depth.npy b/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00080/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..f7765ce92b52640be5820c9eb57c0c07d3e89671
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00080/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:82168436366a0104fe7d51d0c24cc0ff56d482c0c52bf970ea68647c2d1146b5
+size 3686528
diff --git a/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00080/instance.png b/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00080/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..499b03c7e0e2c718e6dc9d6758e22f790521eecc
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00080/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d7185a58cfb57fa057b526b9eca65a8081d7460223b9f27ee6e65764b6ff3bad
+size 49375
diff --git a/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00080/rgb.png b/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00080/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..52c1f04ec4f75b47bd1b175572aef80fe8f153e9
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00080/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f4f721bfc564440c0af7ea8c59a3f0c275556a0c841610026deffddd6ee197f7
+size 1755925
diff --git a/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00081/debug.png b/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00081/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..5e98616438e41a1f61fa3d4e55cdf371244fc4fc
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00081/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:682392332cc8cbcb2564e318508cf72b7e670b6c439755f95b4ef62f9b76e038
+size 1868043
diff --git a/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00081/depth.npy b/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00081/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..0c269ff32922362bb3851c88976665d56ce8eb9d
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00081/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:984e05896f79b9076a7ddee8405215e72abf22ed00cb42c43ce458aa63514e4e
+size 3686528
diff --git a/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00081/instance.png b/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00081/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..74d61e79be1248d80515f0815128e7a16634c521
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00081/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5771d73752763514f3a1bd7048febee1bfabe5d7a973027219dfdf643b6f94fa
+size 39794
diff --git a/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00081/rgb.png b/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00081/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..6c4db3d5f3a9b430eb65cb4332d3c52694e16389
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00081/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:22844c76a2f3a4f34f88b68ec48cc48a7f8e9d756b1d4e11d80b2eebd498b799
+size 1751530
diff --git a/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00088/debug.png b/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00088/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..f08df230faf708e56cf5b51ccab0047b98e4aabf
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00088/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7094668777e872c159886ba90f998a8df4b19416c1fe1e58e9bf39f0cce3f3bf
+size 1876283
diff --git a/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00088/depth.npy b/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00088/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..975a96093f9b2c51bfc32f7d2145fd7420078bdb
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00088/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aa0c5651e81cd2f6ebf94b620ec85cccc2aaaa427aa71df1e74f0cc7a941c7bd
+size 3686528
diff --git a/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00088/rgb.png b/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00088/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..bc5cf1b671f2ee6e14618f31713625a4021a2683
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00088/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9f62a856df25cb14e37f6228c2f105b59b55229b28f1069e0616cde83cce0a43
+size 1756588
diff --git a/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00092/debug.png b/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00092/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..3963d713e4e4d00794164a5faffcdd63bbebf33e
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00092/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6afa27911923b3427d97faa8b3448222263ded5c4849cab851c80fca7f9005a5
+size 1903647
diff --git a/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00092/depth.npy b/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00092/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..09f04ce5dac9b0e88fc2ffaa4dc67b777e540612
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00092/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:967f4aa9101f834535db5b5e59fe8ce536319dfcaefb63bb5b206f2e7ecabe30
+size 3686528
diff --git a/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00092/instance.png b/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00092/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..a1ea8d6db4eff7e0f341adadd89270d48f5268cd
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00092/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bfa42e38c6590972b52fc609e3a7199956333c435885ace63069ec4aff241662
+size 57640
diff --git a/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00092/rgb.png b/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00092/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..336f8d4e0ea1087ecb3d7afd1fb40e19f06f341e
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00092/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a7b10fdc69db1ea39de12b4e156536204622dc3e1e1fae23d3ce72104e3e4cd4
+size 1785626
diff --git a/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00095/debug.png b/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00095/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..e09f24106d8f3928179c2ea7558429c465a68154
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00095/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d549a7a0ebd588812f96c717e4c752e29529cf7efaa9f83440f20a7b867f160d
+size 1827772
diff --git a/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00095/depth.npy b/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00095/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..b1e27bdc8a822106d6f90f87710a660a605302e8
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00095/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:618a8cf5e6349d656fc40517bf9e9af851177d0b87be1cd8c82efabd333c7f91
+size 3686528
diff --git a/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00095/instance.png b/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00095/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..c6488703d2fb463c96b8f971b7ad65b15898fa37
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00095/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e50807616d63b34daa5601f37794d395e27ffa09fc6da64a369ddec2891ed04a
+size 61514
diff --git a/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00095/rgb.png b/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00095/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..9d163427da0e7554ba5798af9d1f1011828e2bfa
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00095/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6b82ad5867140dda5343b39dd2f128f46bf88a91e15fae4afc3321fc31268a33
+size 1728038
diff --git a/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00096/debug.png b/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00096/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..4c2a5b15488ff409dc1ff6e57e6cdbcd20bd8a34
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00096/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cf08e7eee3ea30950f47535f77b3216a72bd9c593f10d127fb4244d79151d6d3
+size 1837648
diff --git a/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00096/depth.npy b/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00096/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..836ece23043b5f35b6b39f963e574861032b84e1
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00096/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3374901c6afbb5829d20b7424f9dde5ca847067e5cf5674705d4ed12f637ff1f
+size 3686528
diff --git a/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00096/instance.png b/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00096/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..c57dcb8dacdd6b083cedde7062f21e29dea5ca64
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00096/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2cc264b2611d1881f7cf46466a69417b851e24211e3d2e163f9e6b56f1425adc
+size 59818
diff --git a/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00096/rgb.png b/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00096/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..a43178b544fc46e0d16473b9af8af3f2c4d6fbd4
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00096/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a31abadd74999ba451faa296bd66777c5f80d803af41d8e9b3847b80b0368608
+size 1724510
diff --git a/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00100/debug.png b/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00100/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..1ee2ef158c91f36d24df89c8d711b5e3892168c5
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00100/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1ec1c7a04367ee76ca7bf1e6cfaf51108ff0c4de7d6906379a880df4a435aa07
+size 1809484
diff --git a/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00100/depth.npy b/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00100/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..f638781380049fd7614f418a3af63ca0440caea9
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00100/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e7761d85dfff2fd8d193b74ef1d68df727c948b140d723ec2c4f719b8c2101e1
+size 3686528
diff --git a/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00100/instance.png b/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00100/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..5fc1e05143a4a2dfa65e8389d54e70bd79c172c6
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00100/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4b08dd25c11a0854c54d605b00d8db39a9fce85b3d4360ba54f375d3cd10de43
+size 65042
diff --git a/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00100/rgb.png b/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00100/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..f3c59a10144a9ac0dccbe5d8701f9c2fde15c4ef
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00100/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5fa026c592818481662a47e816663da14339ff27894128efb594926ebd4a9d5b
+size 1707437
diff --git a/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00105/debug.png b/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00105/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..737615e390d10e5ab22223fb23b6a87a041b6e93
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00105/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:436488f88782e1fdf9db692957805c2ba3a0ead9e0266483bd4241a504306fba
+size 1772903
diff --git a/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00105/depth.npy b/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00105/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..9853f2e16abdfc1305490167f895f5972a6404f2
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00105/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1eebffcdd611343180a73bac4ca8b1deabac2d0612c1d916084fa4559ad39823
+size 3686528
diff --git a/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00105/instance.png b/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00105/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..962b5dfd1a8cc4393beb260ee933a43015f56508
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00105/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8a616f7318961672f0f76de87a4d9230eca975c31ae3c81e481b45e1db629654
+size 69321
diff --git a/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00105/rgb.png b/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00105/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..b23e28ec7c24a01784d02b71d630788d164d44d6
--- /dev/null
+++ b/data_v7/Town03_Opt/trajectory_1777120688/aug_001/frames_playback/frame_00105/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e14b71e9d8b8fea8f1fe815376398cc51c3e3742415d62845cea435fbe65f2eb
+size 1685381