diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00000/debug.png b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00000/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..124d5424415c094cd9648a5a2b06b4b754a89477
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00000/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9e268f6baec333e8d9f5a9d9ebeaf849ce7ece6f610f58941f1dcdac68376624
+size 1898140
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00000/depth.npy b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00000/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..9ef4ae2b131554ffa597b5bce04f529dc30a259c
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00000/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cb090a77aa01fe100b481ff23d7acda86e90f6b0905024a7b10f70928e4e3a3d
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00000/instance.png b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00000/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..b3598c5e20a4bf7b4bbcaede9627ce0a7c38a2a8
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00000/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b393d4f3f1a48fbc7594f5936833743cc8c5caed649bc156f9275594b6b6f7f3
+size 162747
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00000/rgb.png b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00000/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..aad3eaf7215b43d08f95cc71bd55ffc9baae89de
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00000/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:422978fada4527227d6bfe869ac374d7ae21f24d654e3c5b081a804da18144c1
+size 1927821
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00002/debug.png b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00002/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..8833973a9770c95922c98f2c444ce23312caf23a
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00002/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e5afe785980b6348733b9db8cc98606062e896ceba5d5ee5ca9d271f035d5166
+size 1925006
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00002/depth.npy b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00002/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..068402b8286e79533e79ca7a0f058afdcb759ac2
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00002/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:903a510752b1f0ad3e1b93b397c5132992a7b4e0438a61331a9590c1b992456b
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00002/instance.png b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00002/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..d87804e4012f716879c51d449ebe5c7f19810b33
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00002/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2443bffb2cf0481981349a15420de540fc7a6ecbbf3b3fab60b5bef405516fdd
+size 166114
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00002/rgb.png b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00002/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..902ca2d11afbb2ff0aeaeea450dd9740be7aac7b
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00002/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:81a2efb16ecfcf176d1c5966c2e9ba6e7e0641a829e98e31a988687f8ec764bf
+size 1950469
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00003/debug.png b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00003/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..6274cf888cfcf6709cad4cfa4d1e6f320abba0f3
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00003/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:47b8d44bf2ad0982cb1516d263dbe2c0ea3ee721a8caeb0346852d595bc55d58
+size 1932270
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00003/depth.npy b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00003/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..afe178b2b803a7e799e493e1256655e19a4d7d44
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00003/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4089e74c21acb2dfae2242fb0a100ae9355ec7fcc8d649a03a9b0f5c1aec9316
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00003/instance.png b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00003/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..d99b45fc7fe1679dd621d6dae36728b7495fdde3
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00003/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0d58911d86a3edc65492fd512234d6804164e8b2ea6f23db68d85465854abbc5
+size 167665
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00003/rgb.png b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00003/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..62d91219191c651d3d0555daf714ef21bc21a8be
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00003/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5da071258a7374e4962c5277c29a768e21c600e326821202de14eaeed469faf3
+size 1956269
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00007/debug.png b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00007/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..31ae93b20fa9353f9a6aa325ce504f0d24e953a7
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00007/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:848764c56065dfe8c6fe3df83c83b72b760889c797379291ae373a952f250a0c
+size 1933182
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00007/depth.npy b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00007/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..4ac6635588540b34e97350df0d7b6bd025f70533
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00007/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8b4491025351ab0d6376714b54e01985f0fb1bc2da79379bf9a76f45f392f39e
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00007/instance.png b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00007/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..d0fc8a787a76c472342f1d914cb127e407f3f358
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00007/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dbd143eacadaa74a118d20ed70ca4952c846c8e9921c1a6ac91d9acb9061156d
+size 170725
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00007/rgb.png b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00007/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..0b883d957314e8b75b257ffa044618e8841f3a65
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00007/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e61b782495c69c3dc9cc8afcb101b4ec9cf942fcbaf97c66896bcb0a71c22a2e
+size 1949075
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00010/debug.png b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00010/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..b4216e2e549538f4239b5c3964707c1bc6b168b6
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00010/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:06295c9395b77d08f6b050743462218cd9b255c40e731a9bb085e4bb3c63078e
+size 1924134
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00010/depth.npy b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00010/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..8c834d0c34f732222f19ba8cd71827fd809afeef
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00010/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7d05672e4b81b0aa1f577927a3351e28a9f94a16dd17d3502cda1d346f21e15a
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00010/instance.png b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00010/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..f34d31378817046dbaf19a3dd1e8ee871d599dfe
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00010/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1b905c26f06888a7ff6aa803de272bf410c332a4df9cd66fea3933f166a4b393
+size 157556
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00010/rgb.png b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00010/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..6d3846c247b2650adf6ec6412713830cd3f6e141
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00010/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5c98dd249f89c2219cb461c51b0bc82a4d2c9ef3e521632c1b33f9cf19f4b255
+size 1941711
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00012/debug.png b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00012/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..86efd0dbe985a4af219d9174674c3929c8dcf127
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00012/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c47f3760521b8900fb3c3ec08cb680c0342a7d2e825231a80a0151077760d7b8
+size 1925240
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00012/depth.npy b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00012/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..173da145e68ca59d6bf15ed6524e698101b6814e
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00012/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b28bff5b3a31bccd435fcce9494d486510f2d9b714de21166b990d81e1175ff6
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00012/instance.png b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00012/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..653a87d1e7b788dc09622b6775bfca0aa19fdb13
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00012/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:00f57e063da6c7087a5bc017b3f309d5154d649afe97094a61950d8f135dac14
+size 166917
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00012/rgb.png b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00012/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..f26ca95148ba114cf0c80283b3ef2c50e944c1ac
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00012/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:daaa9c0d5343c210f314a72292eb528e295a1cddfafda0ca2c481b58984b01ba
+size 1951037
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00014/debug.png b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00014/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..0676f03f17eb74ded5f11905eb792703b5b862ad
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00014/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aeb245175d04411e6be296355d2d45f936adca8b43f4956f9a3ade95bb70f071
+size 1924289
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00014/depth.npy b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00014/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..3197fbd227531be760967b24a7076aff2a4d8119
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00014/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f33b50c6fa09ebf7e1b12eb761151e5edb05e45315e58ff03bdec847ec832367
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00014/instance.png b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00014/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..517fcb76fe1a9aaca8197724963cb06946e061ff
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00014/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6bbc6807f1373ca13d99e07c7f127bef3c92b9b3200aeb33b1ae4305da294f6b
+size 162610
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00014/rgb.png b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00014/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..541227936dc537a22f730f3e9904ddfd0109b986
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00014/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:80aef10bf4e42fa79bbb764ed9221e606a44499667217622a9d9587c004acd8f
+size 1941216
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00015/debug.png b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00015/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..9658f682127a531e9b5883aad105507ef351e1ec
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00015/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:764d5682b60d50c181a5debda8b042b6202d1f34db3b250531bf23b5a3eb6aba
+size 1944964
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00015/depth.npy b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00015/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..a0db0b46d45a0457d0177191f0eeff5ce2cbd471
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00015/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a6ffb0b2d73fffee40ebcdee24927103251dfe178df90dcc07d421a2723708da
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00015/instance.png b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00015/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..6b5603086179a81081a2f8a9712abc6e271ef9b1
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00015/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1aed82e63dbd1de44e251c8101717bb7abc67e65ab770d39067ff409c5ee7e06
+size 169809
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00015/rgb.png b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00015/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..62272994698f3e7e88911d979a1c999aa2b8bd56
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00015/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ee9b7efc7b7042ff73c3ef28c01d592ab077d7ea444345f63c024c2493db2321
+size 1968681
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00016/debug.png b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00016/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..4b3f72d8a578398b2d71b36199f838c8f1ef0385
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00016/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:80380180a4a7df6f7a1e52f8481dee78fcdb923471e25db48cd60dcbb1982562
+size 1920236
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00016/depth.npy b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00016/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..760ecfd224b8ff099866fc636172fa8c263a9e95
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00016/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6ee368fb8d19631a10352290e8281363b74d1b6b2ef4cac94ba1a2ed2b31d6f9
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00016/instance.png b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00016/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..028754ecefdbf168efb90822499c5a0ba0746085
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00016/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5f0636f2ba64c150c630ca6c16b3daf3d6eda389c9e158c65edc0fa8e1f3db7b
+size 161604
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00016/rgb.png b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00016/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..31b7c61f3f178dcb3e9c55c174f50f6dfd9a437c
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00016/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9b20c9e2951fbe25ccd0ed71a01c550302d18558577a8ea5d0093b8818b2c2c6
+size 1943973
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00018/debug.png b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00018/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..6ab7891bbef612f23545fd9f8c9ee2af8e9c7d2b
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00018/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9626757edc6ca57c3479b06acf573a89019c3a345821ec60f49d10a4223670db
+size 1932570
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00018/depth.npy b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00018/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..47bc9c71adb438818f9927efdfd146dd44c18252
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00018/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:42c4959e1357ff0fe87170a1e40eabe439656a578bd6ad553d0d1af84a14ea52
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00018/instance.png b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00018/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..45f385493adf23f183a590c57f99907d8351e3de
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00018/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8c978df9d3fad3676af04a73f7e167aea03ce82f78a4ec4ba4284a6391588cdd
+size 166807
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00018/rgb.png b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00018/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..c2aade763f1f09ceebc8fbdcfff93f6810eb215e
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00018/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fd8af241b8b9ecb2a7531e5dd7bd2042ff527488a148ad5573957949449421af
+size 1959198
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00024/debug.png b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00024/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..a5bb34300e114b3eda55edd440f89563bf7b3f74
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00024/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b1f9864a804968a6d54885d5c271b007eb0902919e5fefb3d472859791bad7bf
+size 1933211
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00024/depth.npy b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00024/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..0d37f8c478e473d930cb1b5f75fc98d2e688c609
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00024/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b4ed217e2ee4a7b4098a89f5ef2c414ef4cfe85e01b646a08695f65d45cc9cae
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00024/instance.png b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00024/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..1caba0f351a76b1d5145ac4b2fcfd11ca39dd819
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00024/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d7d32023c69a37ad6ab133eeb08387f36b12082d799a29fbab3a7b0319eaa2c3
+size 168875
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00024/rgb.png b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00024/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..c24477a3fb3336c5744cb4d86ef3da65736f4381
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00024/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d6d09e295611d3113d2b1da016f3dde533fc981975724773d01b54d39826796c
+size 1958394
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00027/debug.png b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00027/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..bdea9ec0bc5f1e7331f5380239fba53d7e3ca7e3
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00027/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dc9da62a174299b1c0987d1fbd317b1d1ae75f6108b5c715ba25981e055251ac
+size 1908117
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00027/depth.npy b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00027/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..d9c6c95f1a45b537df525e6d820bd182774c2a13
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00027/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d09241d0a6473d291df213039915b9528e06b989cd3d29da5bc537e21338e42c
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00027/instance.png b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00027/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..ab5fedbac15e2ffebc62ffb95b55689a79dadfb2
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00027/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ac5c95e396084f399f735f33857adc36e19aac42d8067995b3a60b7e3697fcef
+size 172278
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00027/rgb.png b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00027/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..0a79845847d7e00f633fad37bab2d2b7ff082094
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00027/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cca3d548205146ea318b56db86c1cfaeffb6a4d93ebc8d674495a0f07a8e62e4
+size 1927858
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00028/debug.png b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00028/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..c87b220ee547dc8d7ee64b2624e30a2c738c0065
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00028/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c2d2212906557a4154e1197185269584342e7b79a3673ed9fa89b61ea4ddfd48
+size 1908451
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00028/depth.npy b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00028/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..da16672d9381957b2e1b7e65d218d6c8ba6e0b21
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00028/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ad0e904814a42658998f0cfedae1d4e10ca9b13442ec005e3d91b37d1188c68c
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00028/instance.png b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00028/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..ff32fba9940e9a1fd9a1112c33f4f2955c961dd1
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00028/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:02f4b86df5cba1f572a95a58bb2af474ff27f5b74d35df4b4291a9b1eb6baf18
+size 170020
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00028/rgb.png b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00028/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..03be98ea8088aa94221b5887445b04d686cb1f41
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00028/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:839379e94226facd688f98be4cc630e40cb640cddffc750c57d3f5b1388e027d
+size 1927116
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00031/debug.png b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00031/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..0b702d9f0395e8e0cd057cabc68bbb335f8dee47
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00031/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f7984c228ca7a8c462ed8509fdc77f900dec08aa5b6fc4fab2b69802ea4c23ec
+size 1910834
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00031/depth.npy b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00031/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..371a06d622b8cd26acf27d8613ab3bbb00a16c52
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00031/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:58d8f55a61b3cd2cfb27bccad49bb8880ce44123e31da9e311a4293373dd14e4
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00031/instance.png b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00031/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..9777a86fbbe0fefdb180fdf708866c704b110cc0
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00031/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:06c5d43596e7b275f1fe4071ea7d9dfb9a715258bbacb788de8e7c12049a8de1
+size 171265
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00031/rgb.png b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00031/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..194feb574457baf5c28600b931195aaf92fa4039
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00031/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:03a755ad0891a17d7bed9d4a6fff08a90a77a9bd1d2baae80b4ecbc5ee97cc28
+size 1923856
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00035/debug.png b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00035/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..2f6ab7b59809faf03b0e7741af972976504916b9
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00035/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1f05e128ed3f61a8b2c472be5eed8153e34dd502beaf48b1dcfb57d37698d8dc
+size 1895484
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00035/depth.npy b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00035/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..1da73791eb7141ac293e3370990ac13183ae1e92
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00035/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:979afd4b84bd76ea1185bec79fbb9965f732f42268c34b630f9d590f6e8eacda
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00035/instance.png b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00035/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..9edf22607613a5a95c39489499979696249e1a98
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00035/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b6b872ffebc0795c2080f7744c0b7c1b0d00021c6b94cb8957f36824a949ae3c
+size 164368
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00035/rgb.png b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00035/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..d30658498613fbe431f57a4d317124b250ad1a12
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00035/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0a97a6ecfcf95d95509211a8f00a6044429678576cd60f058528d3e53430f343
+size 1917269
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00036/debug.png b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00036/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..a6f6cb9903f33a614aa35bf0677ef847501ea173
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00036/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:08df7a0aed738ecab0c55e0d15803730867c2ef326a82da4e1b4d85b246d525b
+size 1897542
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00036/depth.npy b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00036/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..747fdf4d274c3454b55cfba95e878e72339444fd
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00036/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:41e24eab3f1db54ff62220373423a8e869cd4a0009d38b7bccc24c7846fe9493
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00036/instance.png b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00036/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..a55e01fe402e7380aa4c2ae8eb6f4827874a4fbe
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00036/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3c4cb92b4cacd425550112d665f3c10d618aaadb2a972c9e5d53fbcd0349a302
+size 164048
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00036/rgb.png b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00036/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..d7076b2fe354ce3464ca9ab11a98733da42a9f66
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00036/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9690ed6f1735fc120ac76caa17c38d372f786b627e7df11d01a64d8ca6268376
+size 1914148
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00037/debug.png b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00037/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..fc8261942d3c9e298c1ca737512f80157a8f2009
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00037/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e135d154980f3ceb167303de580f1ed21381032dc4d142f1a97fd0222e1d4ab3
+size 1893366
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00037/depth.npy b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00037/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..925ab28b31d054e7a272de15f47b0a01f34a4919
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00037/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4710a99c2497fa2365b50efe21de069762bf2ee50dda7b7203e9425a1325b979
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00037/instance.png b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00037/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..cee32116090ee8e8332e4092db590a354dfdc223
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00037/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9a0217e1b06e0f974ed167025304db26db21d1881cfec2cb90344860ee4d1038
+size 164892
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00037/rgb.png b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00037/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..3a563cff81e0e9973717282972bf371af9736558
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00037/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:feb91d65e1dc704a92e5bcb3e2754d84e34e10295ac81e26db6261d3fdc99e37
+size 1913467
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00040/debug.png b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00040/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..a954914110489d9236ec86cbbba18bf555ca81bf
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00040/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1cb229b0294290b1b3e6de0bde239a47a6156f8949874e032b703c17b336e412
+size 1893052
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00040/depth.npy b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00040/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..c6a4e8a7883216b1e36cefc58d5ec8f5e82bcf07
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00040/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4175cae68101d955e271aa8e27283fb2ad392038bc05f24e53bae903efd0bb4c
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00040/instance.png b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00040/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..50d3aadd0f6f8d74227ea305548da448423d50a7
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00040/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:06d681da94fbc09d46a0247deecee79ab938d42565011af1c94d8d8c7f1e2458
+size 165536
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00040/rgb.png b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00040/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..ac3df5cc7e2d9d223cc61ae49aae3d92249981c8
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00040/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f67761d80c40409caebab09c28c0ae0cf2ba38a80989d6e0c1620dc9e9b885bf
+size 1913754
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00042/debug.png b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00042/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..beddf49099d07ce53d3786759ba7506b13c25855
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00042/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:790e51f589eecab30d6596ef5c0d59e11ddd0acbb69e790e6386034480a58814
+size 1894500
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00042/depth.npy b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00042/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..aaff26cf7d37ab8ce087c846ab1cc7173b61f53f
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00042/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1d69a78f3765e4c915f15816aeb72606275daa069725213ae086391227375771
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00042/instance.png b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00042/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..c63a9a6a05be51c336af81e0e6db5852354e5a55
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00042/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dc8745807076a092cf5f3054ad513e305cdeb5893f8172b869f2517ff538ca8d
+size 173806
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00042/rgb.png b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00042/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..70de65fe49c56276626658f78d777b72736d0dde
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00042/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2aff3d840c46832eb8ce1ac9c0ffe8552b67ef769d5b88afc2920ac0297ed1ad
+size 1915631
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00044/debug.png b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00044/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..f61c752e7d2f890e095044b665161b822caf9ea1
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00044/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ebe2b4d2085b43b91282ff51fe21057e52e9a463d44f36743d29ce49124b2105
+size 1892405
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00044/depth.npy b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00044/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..bdfff44de1791fcbf65779faf5419932e1a09456
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00044/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:51e05bb508b491cd604c2dd08867b4b502b9a707bbb98725fff2422bcf707de0
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00044/instance.png b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00044/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..48f1cb6e8881a32b36e51569f71987c3b01cd7f4
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00044/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:57a93073e23e23511bd9501cdebdd2c5c17a56cf96eb014ad3e0ea4ccd2591b4
+size 152176
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00044/rgb.png b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00044/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..c0c03f58a8cb565c38b3ab15801d21efb6626255
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00044/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:264512d2241ccf0fa4edc223671a3d91d147b58360f8f3cca53d78c315c96296
+size 1907282
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00049/debug.png b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00049/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..04542fcd493fdcd17f6b43216810267db9102911
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00049/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4cdc7fbfa3bf109e6d8dc978a98079ec6ea78c8d624f0ac87ff2a9cdaa92872c
+size 1885607
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00049/depth.npy b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00049/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..ed74c2084be1d927a01f388adc8f08a999323664
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00049/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2a30e81e23c436b623fde7420aa3df17e996e7d6082897796e8416444135f292
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00049/instance.png b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00049/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..1e447654f59dce81f5f5b325ce7e49694f3655e9
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00049/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:50d3aeabae670c2fa266458bfb660c2702a00a9d79c5057a8579d1fc31e7e910
+size 150094
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00049/rgb.png b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00049/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..21681523cacd078854069a90d9d219f68073c07f
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00049/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:53ec2bba78ab33337ce79ef017a41940dc72355bbd2257bcb2e67618804f36b1
+size 1885255
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00054/debug.png b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00054/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..f6d0da885df982d9c8348a9ea646dec78a152073
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00054/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:543b80b06e51938ab3568affeb34821be0194ee4e5e4a3adae480ccffc1836db
+size 1898471
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00054/depth.npy b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00054/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..2867914026d2218211e37580271a838986c12c8c
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00054/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:22a00fd0e29e91868a77cd89b891d120b30a1270b83ff1547d5e482946a310a7
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00054/instance.png b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00054/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..ee619405d63288357ee246a5efb4d48ffa8abe62
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00054/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:463059cfbefe006ff010b3255e23f322c4934ec786440ef8db3b5d612c8aa9a5
+size 150337
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00054/rgb.png b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00054/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..5ebbd2287459fd1daf7186da67261bb34cf45033
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00054/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:16be25cf0476cbf47f40dd5c3ea3ac5b487669ba7d0248e6c3f80ca95e70a7be
+size 1895552
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00055/debug.png b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00055/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..1b7c0d041b59d232c853a7278b5d886ec086da85
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00055/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a7e69bc58d59c649d64c8944ca56f45f2389a801d448e8803f45cd90275e27bb
+size 1889701
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00055/depth.npy b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00055/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..2d9b225a67d0057e2c00c04c50b57040533d56ed
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00055/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a57b5164b553a0094b2f7ee794a1578f8c759c29dad8980c6d1bb40b48a33303
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00055/instance.png b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00055/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..6a52250b96a5c4f2714eb92f80756d4732faa530
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00055/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f8f8fb4d3f8dcf27a68002e73f75bcfb3c33de6a20257472cdff26e10daa87ac
+size 151985
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00055/rgb.png b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00055/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..9d7ea7613812f7c7ce2a39bca9493a7d880b1d45
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00055/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9be27463ec9d8c1e31c145c93c146b82f47fd76a903bc5326c54d2e0632e31c5
+size 1888412
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00060/debug.png b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00060/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..c09dff98fb513d30952a5304a4228811e3fd7fb0
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00060/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:703850261bdaeb962800b3066160515fe24ccff4e54cf8aa2286b4c548d2c892
+size 1885410
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00060/depth.npy b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00060/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..089457b24f1edcb5ae9e06f8593b77d607809bf2
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00060/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a95491c182f1f1556280c65db6f37bd8fc4d4f080acb9d623b79eb1cc1e0959e
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00060/instance.png b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00060/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..7286a08a463e056393a388babebaca04307657b1
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00060/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9e6b406e5f4b441cc27e10dd3babbd48549f167fbd87eea27a7a4fb57ac7d781
+size 157073
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00060/rgb.png b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00060/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..bd17f16973eab09eb65f12fbd00450e0c6bfed81
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00060/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b8916475eeb80b57102202040b22b8abbc0c4b8a11a0638f193432800f85a73d
+size 1892737
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00061/debug.png b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00061/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..66e197040039b96829f750ebb1def5f118f42c1b
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00061/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e0334153027c457781755655b6a8f9a70b5fd95715121db867032ced001532fd
+size 1872413
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00061/depth.npy b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00061/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..3dd7cefbbc557ca461841cd32d0c925a6159b1e4
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00061/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:99fd24aa2f4ff817203b74e516b78370db45df35e55188c1df834b15c4569e0a
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00061/instance.png b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00061/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..dcfff5df3329da9c8fa5bf2e9707f627c5d63079
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00061/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:251d6b4ef2651006cbd87deb7515ec3f3e7b4897b4f87ff794997228247259fd
+size 152892
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00061/rgb.png b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00061/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..be9e34e5e95bee7b5c4689d77e2f9625f984e7a9
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00061/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:53028ca385c4e1aafdb53d6a8932fc2eb56c29d0dbd9c4092c4ae7586605727d
+size 1876888
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00065/debug.png b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00065/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..194897a51ed05ccc8845c1fb74a5da5883731536
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00065/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:232eb0f75bb58d148899a6e1131535087850dd9b87cbc7bf4f2c4b08ab484ce6
+size 1861573
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00065/depth.npy b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00065/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..673e7a12827b253adf54ced44c827e617f688acb
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00065/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d55cd0954167415fef74b3b9796b54c78626afe3047a2a615f6c8c94bebdc308
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00065/instance.png b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00065/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..8c649a6e57544d419cccc9671448caa10b042582
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00065/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:59c93f53496b06f540994dec58902a0f662789a94c75bc37e33d23c55e7f08a6
+size 140098
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00065/rgb.png b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00065/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..2da74409b8b3824c5ab3fe627ae7d25f1728742a
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00065/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c3e6aa4380c542ea083545c5be756623fadb37500a1fe1ab11d3c0dcd67e271f
+size 1856674
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00066/debug.png b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00066/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..22674d110b64f6a31626030f1adb9c659e76db21
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00066/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dea32d9673a82858106931b895dadad10f9f37be88f5422fc0352218b84a854d
+size 1881316
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00066/depth.npy b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00066/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..f156a1ebce2ac00891000190da20d00b5cab0eed
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00066/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:07ee489b1f38465c86fe1d7022b4d6b61e49f35bdabe41745a780c845be23f09
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00066/instance.png b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00066/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..bcc9cd4ec98b73f0a687c3e5f031ad317eb7952a
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00066/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:25c5527e508feaf6a2d9676756cd3017228c126f07753260b1d82a324b9c1b83
+size 150324
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00066/rgb.png b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00066/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..fcb189d222f3795b20aea83a849bc9fbb97c0421
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00066/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8ce9a600c59b09a1a6b09273ccf870bb6217fd4fccc6568a7eec9e5d20e439f5
+size 1872354
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00068/debug.png b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00068/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..a71b104fea81073442ee28a80c2e50e181abbdf2
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00068/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ba372281fcbf9b15a89ebcbac7660b241554bb18225123c7871dfe10306c8c8c
+size 1875356
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00068/depth.npy b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00068/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..2ee3bb418a274947cbb1f913c1d048bba0f80a7a
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00068/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0cf63334e286bb4369e45819a0f26d8207033b180cb8f548bbd56eb1189aa9a9
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00068/instance.png b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00068/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..9677a42a1d1823bb98f08af3d47cc81582e66368
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00068/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:200b44d01487fb447838787b78ee52bd50105a9505f97c93ee4521c63c5fd532
+size 141289
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00068/rgb.png b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00068/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..eeb4f457b721aeca65daf4b4abb78d572eb5fbaf
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00068/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:393a8c951afde19b492c5700def4617c3d8d36ad06d466feb48741ed6bb425da
+size 1852187
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00070/debug.png b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00070/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..8dc85d13a28c2f3e84670ae18a3a6e71a0a0512b
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00070/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:363f6ac08d3aa43760cc18fd87be6528e138ad633e646c6b4398885ba4e810fb
+size 1875567
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00070/depth.npy b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00070/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..b3a5b4871698f78b623b9ff57e4575c2b040fc7e
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00070/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e341b18ae3943af9f7800b3eb2176fc75644121b223896db976f112def6344b8
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00070/instance.png b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00070/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..c92397c0071aab02d8df77a27e21158dae5a9e7b
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00070/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:56cf541a7fe9c24250ed818572db520d523b866c3e5204e74d27563afe5192d4
+size 149688
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00070/rgb.png b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00070/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..d1eb2a94868db1d08eb7053d18c2910a7111be39
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00070/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8af06e03083cc3d129fdcc5036ab7bcdd1f1bdca147136d0992b2f191ec69b9d
+size 1871148
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00071/debug.png b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00071/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..07ccf39cff065d5e48036e6af738af6d8e9b697a
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00071/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:de18280e6eed82e24710b0ef441efff22c801fb511ce5344cc9decef951dd879
+size 1886312
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00071/depth.npy b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00071/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..38818802d4f625344f971a24f94828267e591fb6
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00071/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:86a613f8cb9c51e243ebbfcd337e0352fb0c0c9d1bf6c65f72e306160a895c93
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00071/instance.png b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00071/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..48c62698c896d6908df049fdf3e1baba772541b0
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00071/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1cda8b365d1d5110a18a01fa82226b29fca1b9ae341ea0ee43c93a2dc2eb8123
+size 153964
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00071/rgb.png b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00071/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..8717c7644e92834623347f10dffcbab0c7cb9b7b
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00071/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8c8bc80701866a6c3e4fecf0c553a36e115f7fb561fcf8168f5f0a36ec687e29
+size 1871027
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00074/debug.png b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00074/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..1a98b944d66fe343f9562d5b943338218e4b2adb
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00074/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e9f1deff94c58a646f8435685a978f979f1d040307cf20510f636b6e050c04a0
+size 1860218
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00074/depth.npy b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00074/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..4b2c8c7f806fb759cdc095b48cc9670dbb466700
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00074/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a8ccf212cdeced50aa355f6b937c34cb13ff977b9f2a6b9f25ba311ea70e5f5c
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00074/instance.png b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00074/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..5d383db5164478f7344efcbda5bae941bcd18a2c
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00074/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bd407223e926c3fc0a1e90ba4fe10f9017698b5564a09fa980bad1eb8361a688
+size 146541
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00074/rgb.png b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00074/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..1d0e7eac421709d8b555e453c4bf246ac08d85ce
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00074/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:53b126a15aa3d3b7090f6b89a35d1e84b4ba4d08d2b42966dc44fd619b7c4941
+size 1856714
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00075/debug.png b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00075/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..e446b2f0a36c2a44162ce7de71e01840e0a1ec94
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00075/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e2b2d355c2d22b4cfd9f9934c672c3b5d206168c71f59bfe1bb0fb92b01b27d5
+size 1862787
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00075/depth.npy b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00075/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..a17fe68579d86fee8f563fdcdedaae7b3e93ec9f
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00075/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bcdcfa45bc6acf05d3fd69d10cf9802b38c8afef3c8e5bc416aaa4a4050e8787
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00075/instance.png b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00075/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..fa62fe48f81106ea506dc73a798070fb3e8ea044
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00075/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9c6033ee24e6287a684d249324b221cc1429a4ac5bdf2b4522f84c649e84cb30
+size 147540
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00075/rgb.png b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00075/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..d60c9d99c57389de67e1ae8aa1d35d5f60cc4a54
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00075/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e3194388300e46f5683c0ee3d1f87713923d88916c55db201fd0e48f5df23f33
+size 1861931
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00076/debug.png b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00076/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..a9dd88d71e872f4f353ed03ce78c029715822182
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00076/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:24beb367de55175c99fda72b5bd14c16d360069e24c5de8a90de6c4a7c994646
+size 1855878
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00076/depth.npy b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00076/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..1797f26fec7441a0b74841ecfd8cdfb76536b79f
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00076/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:646fa2b7d087c5b17adb660329cba18ddcbd80c68e734455eef22a5c2ecfe36a
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00076/instance.png b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00076/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..ec4374c92a231317bc39f141f2c5ab572af41385
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00076/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:136ed750fb7bc54ac28b2ce2885b2d3086583e82605b18b08157378a32c628fa
+size 147163
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00076/rgb.png b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00076/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..c09fee0db3f12c48d6e7c055d26122636707592e
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00076/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:70c8f805a2c0cd6452dd9ad59eedde090570e49295e346fb412f43b9e6658c85
+size 1859361
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00078/debug.png b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00078/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..485081e21f0a3770a89bd8c9a66410ca3c649ee8
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00078/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:777da2c04602fc0121d986763ceb151c2b1278bc679af3e12422cf981893d968
+size 1859361
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00078/depth.npy b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00078/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..db9280d3a819e999d13c7a1895c1709b0432ed4d
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00078/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c8a7b0f84b11a9be91ebf4507713e2279a86e5a85646f56a3c47cd5570e27bf7
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00078/instance.png b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00078/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..0a1788415cffc93a3955d4f29d68f179a58f2e16
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00078/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:109e06d23eb7ca2b964691f7747f8c8c5e9a7dae04c34ef4397050d4b376b0c9
+size 144549
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00078/rgb.png b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00078/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..7fae63668ef8261eded387a9114dedc0f1107609
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00078/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dd14fd3f7e543748bdf77fbd7550b059e8e6f98fea6a759392d1d9a012dd648a
+size 1873505
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00079/instance.png b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00079/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..7206667663b063ef2f2ab148351e5c4b1c4b0aa6
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00079/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ab0c475a66f0727f5f33adaf1a6a69a8a41973ff40fbc0d5abdb10b105aa21f3
+size 150375
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00080/debug.png b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00080/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..cd6cc116353c2916dba4d8d9e26b525983cdae25
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00080/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e5f83623174556bb12bec8661e2248bfb6b09778e234492d224d85b17761ccd7
+size 1848428
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00080/depth.npy b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00080/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..a27e1465a733b1a893fa627f04deca8fd50021b4
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00080/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b92bd54f943b81691f5925e537fd2e79312291538905b6cbd468a202df0b6d31
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00080/instance.png b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00080/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..66870fccfcbd2f3fa56d22b3f48138b99cc8756b
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00080/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2f53ba97dc940838e48bf8d8c9824dedf9f79cb70f9e7451c535cdf37fa7205a
+size 144813
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00080/rgb.png b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00080/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..0a5cb9931d770d6856df2f05a1e1b43fb4e5bd9b
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00080/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6760dc1f6b6081263cdc98c381067bb6d8690361d295432784027f8dd97fecb0
+size 1859129
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00081/debug.png b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00081/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..0039d141692c88c45083f247e0aabe5f080043a5
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00081/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:386d039409a928ba446413ca100a82e4442304f2d5fec20cf232d6b2ec183dc4
+size 1850183
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00081/depth.npy b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00081/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..5b08c6464dafb763841d7d4137239a153b99b982
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00081/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:024f9332a9f70a3865a4079be319d774b72e5fab7e395daba84a8884d1ba6955
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00081/instance.png b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00081/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..fc7e9af6ef2b9059ed1c21dc75b543c96781417c
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00081/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f70c55571cdb7fcec127dead18c4fa54f356b79c58abe7cc4b221921fa637191
+size 142295
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00081/rgb.png b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00081/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..e5d0e2093ab78a1db9cc7f5c9bef290df395b414
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00081/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:07a67550a40b53d3a44b9f9c3b6851e3c2b23a474704ca80cb8e036fa3cc69fb
+size 1865928
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00084/debug.png b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00084/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..47f0e5e665dfc7031041944571844bf9b5c2a958
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00084/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e822525295b274deaf75ebe859db6a24d4e5ce2a46392d25cd9f11a7f0a8941f
+size 1849730
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00084/depth.npy b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00084/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..7f19805418466565a160b8f9b61595de70ea6b4f
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00084/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:49f304f144be94856137af9b78d8b17f820f71e33f89f2c5702fbb57ee516d5e
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00084/instance.png b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00084/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..e7651a9c01211d7c9700c04b64803ae7fa841766
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00084/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e4e11d7f99e47841ba6ea9338bf8eeb72d8b8c125facb260549678df2a9ae2e1
+size 145830
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00084/rgb.png b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00084/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..ddf9c030b91f189a3c9db2859f4212bdb8746588
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00084/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b8c4c68574b3d2a9854cac088e0c0d1cd39eae4de2c429f07c0a26b6664d9ccb
+size 1857879
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00086/debug.png b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00086/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..cf51bdc02d278ab851fda70adfc800f0061e3f07
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00086/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:201f22b8e4946a7af6ea6690e407b1d0b5b207febf1daf3fac8acfeba1204185
+size 1843393
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00086/depth.npy b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00086/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..f80a98c6a2838bc76bf7224b0d5b4d53e0f5a062
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00086/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5cd8d7041821a9148d683f16ddba48beeaad3afdd4b05d0a8f654287dc7877c8
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00086/instance.png b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00086/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..264b6b211b2d03d625697704cfc13db27d6ad715
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00086/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3cf9cbef3c1b871ab855f5a0e5b96ce779db2940d92d8a0aa1cc64424b64dbd0
+size 143464
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00086/rgb.png b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00086/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..2a0fa92f3067b18bd529d8ed274b775fec4d7157
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00086/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9fb8fd3b83c5e23808c0110a02dac59848a00fe8e4cb141bbf7a95db0f4d516a
+size 1856193
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00088/debug.png b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00088/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..2891c41f8f1320f9d06720d53c04fe9c03577937
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00088/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:248a77bda63d2ff9a86d7448e0acf28e62b9fe11649243de7fc7f53ef279e277
+size 1829737
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00088/depth.npy b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00088/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..5a59c9b28c2c99a9f1f7152c291da5f22a1bbeca
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00088/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:67e5842edbd268d4502a231388a52e518e9f9ee601960db3616cece0ffee9f73
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00088/instance.png b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00088/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..0f911c3938ab6f47a63fd21fcd34ef052c0c0005
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00088/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fb0477da228cdc827017331a73ed7858b12b8ccb27e8010d0a8c6554277b8772
+size 143911
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00088/rgb.png b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00088/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..03c0ddb566f550d9d355caa69b6318632ffc199d
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00088/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dc1fb4ff8d2794aa8a138a0818078911ab0ab446474c5269d3ae21b17d92a3e2
+size 1846891
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00092/debug.png b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00092/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..bef4ca8ca9443f3b085ff8f7f172a0b845302f60
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00092/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:629a9caf01ac64e13ddb71e9eb73ef82d8365524c1b3096e42f0aebf4a729f4f
+size 1797412
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00092/depth.npy b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00092/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..fe3181c6ed88f4888207fb0f3581f12f53dcdc92
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00092/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:195bc0dffa18d4d89dc7b52f723c37e489bce5230738ca1e27b643fd7b08187d
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00092/instance.png b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00092/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..94b0a3a5e5d82eb24625d6b98697a161f9677eec
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00092/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a0c2d54f7f97cbc9df11630164a2fe2265ab569df157c8b78ba21c45e525f793
+size 145362
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00092/rgb.png b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00092/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..4f5c622c6586195a4671b809cbc3b40a0650bd2f
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00092/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9becc2d53ccb08b728ff4d9fc820cffb14d63cc2d59bf721b456e83893ad57c9
+size 1853158
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00095/debug.png b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00095/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..751dec88f7bfcf04aa2e44e16d2b14c5c18d0db7
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00095/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9a9e56572520fff2b466266e5f44321f136bbf08d694669b7654456bd20eb52d
+size 1814288
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00095/depth.npy b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00095/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..f6015e99cde4ba97b01a5bdde39ed2f971d900cd
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00095/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7a2fcda6bceaa4693d076d7a397f7a515b6d30830f2d3bd80a636a3a13baa0af
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00095/instance.png b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00095/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..aa1eb2ab92a4465cee496ab7bad92f97d687a827
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00095/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8a598b0731b300c96aa106a49c29994536843992d493859016b61a35a33fb9c3
+size 133117
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00095/rgb.png b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00095/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..6c5a9467f73cf5b47f5a66f6b506f69240d12898
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00095/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a081d910cd72717b2b31de2f6f6f1f613bf157ca663f4d7a94993a1f52a2d2d2
+size 1856295
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00096/debug.png b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00096/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..4878abbe4176677d7329e96d4153fc3090287a4d
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00096/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:60758e8dc44171443532499f4bc5dd4b164946e48d9bc9a51f6e39930657d2b1
+size 1798673
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00096/depth.npy b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00096/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..7c047294bf1e5c7577c5f117ad95b864e9617b89
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00096/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:11922081fc46cea8af0788529b2ffb35ed540bd872cecae8bcd12844393cbb17
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00096/instance.png b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00096/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..63b9a1cb1cc7aa99824a117c3b1ff0bbe159dca3
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00096/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6bfb64b49388d4f92893d18800a02a10a60850eed4ea4db780e37f19a0369a04
+size 146917
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00096/rgb.png b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00096/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..a6e28c0b90907ebe82bed7f6ab25a319463a2184
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00096/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ca11ca134213d7e7278321727ae1b018a745725c8b2b2eb2faae72c73818026f
+size 1869057
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00099/debug.png b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00099/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..dfa4c041c000b59c9a784f61d5a6287b2345c640
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00099/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:82031626bf5acfc142da16d5c7f895733d0153af4c86211d1a9eb4d6fdaccf1f
+size 1810187
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00099/depth.npy b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00099/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..9fd3c9e593bf563e3fad2ade0449e8ded2cc7d0b
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00099/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d85167a3b70a02ebfe49b454cfeb6db07f4450465a0a599cc0a57a43968141ec
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00099/instance.png b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00099/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..43d61663f55c6bbb8c8d0fbc68da2009f9e4cdb6
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00099/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:904212773a625a6b7a1320368a0f5b1a9c94b9e204604181f8abd2bb52988626
+size 133321
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00099/rgb.png b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00099/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..40c3ef0ce65cb0f86a6c7c47700501eb06ead427
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00099/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1885a787f1bfb7f1a005b1432281c3abe172331fd99d4159c2cc883381b9ba17
+size 1863930
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00100/debug.png b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00100/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..81b720c0a7ff72f9b3f25cb1af9c8e9340af1160
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00100/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:caa73b24883144084c51f1e164098e88e8019a8068cdaa8cba8dd611133cda6e
+size 1803239
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00100/depth.npy b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00100/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..0207b727f7e37dab45e46a0362f4c0902a21d74a
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00100/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5b873e495d1c14b6bd222a6e3b233286c98250aa3b0c54e2fe3977736fc8e3bf
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00100/instance.png b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00100/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..147e1e59cee588edbdf3035db5ecbdfa009d5627
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00100/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1a3a0e2a03623b444bd50999115c77761262176bfb5115be053dd82f6ab8eb43
+size 138806
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00100/rgb.png b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00100/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..08a65bd414abfcdb35beab883338cff8ce520860
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00100/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8b7fc16b7a081a2cb00180f0f7685f9d3fb09c8105b1b4d9a35e72cddff4f84f
+size 1865653
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00101/debug.png b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00101/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..4a49bfab305e0639a2b41a19057deee8927dfb49
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00101/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:270c142605376ee664d1abefaad079384b3a4bc7b9f77b8d162a1b709841d811
+size 1802302
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00101/depth.npy b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00101/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..a99827858e7a12a77b2c1229d4174d0767d532a5
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00101/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7e48d851f8380e91d8a3b0706bd911cb675a0b6b4ac4a01794dfc5880a273fd0
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00101/instance.png b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00101/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..9c4cb952d2cfab77bc7ba21336af042e2f5a5dcf
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00101/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:43ddb9d2af8ac7d657a26dc933ff6c64d2c2737684fa7c2805c2adaba9e6b141
+size 140595
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00101/rgb.png b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00101/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..8574c842e7764d65cdfc8e884833a1becaf380c1
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00101/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:43b4aab74514e6744659fd27d173caaff5b5cc015e001efb2998df7b9292d129
+size 1853183
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00102/debug.png b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00102/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..13684da08a46a7a267c59e04b5ba2dea7b62a564
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00102/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8899cd814d8ed42d25d1a1916da04f9b16b5c0491ed456649271a0c0156dd922
+size 1793465
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00102/depth.npy b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00102/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..273ba901592317c685bc7f424e36e677aa4412aa
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00102/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:82c0284ee0c33e68b9176824e1e02b8d6164afce1ffb1e388d6497c75c1b190a
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00102/instance.png b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00102/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..bf574c634868e361c9b5f11653b530aa6e74bf0e
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00102/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:967d226ef89c2bfec1a6022612887ab500c3ca905d4ae7c336e19d17c2885e32
+size 141899
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00102/rgb.png b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00102/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..56382b9b556419404d8ee7114fdd3005700bbedb
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00102/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:51a66941f03d73fc8ead5b8970e8e74b8aac7fe4e6b875ad4cc0ef835b2c4850
+size 1856631
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00105/debug.png b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00105/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..09cb6ceac66097f423ddc55347cd11c613165de2
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00105/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c65748924e8e425c0d07c4d9525e4209dbeb4d68ad70b7b45145d06825889897
+size 1830593
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00105/depth.npy b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00105/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..58e795d2a7081228565a4f1fc25c7d2b7b286186
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00105/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:204a0a718ad5e5118d38b0ee65e9453b51519b3df1db4f1c879724a496d7429f
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00105/instance.png b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00105/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..8f09507717ac175e61ab96a5493d270a3f8b9c4d
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00105/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:11eef12e0a90e9925fe9bc8d655319a7e7702b97a3cbdd318434a82e1417aaca
+size 140504
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00105/rgb.png b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00105/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..70d76e4f01fa1862960b0317d9dc4e26a1290505
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00105/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c07bfbe947a2a542179b3c651ab41137a4c0ea7675ed56b0bd902ca6eda2d5ca
+size 1882737
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00106/debug.png b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00106/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..2aa01312c8f8f6b8164b4a3e42f47cae29f09135
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00106/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ae98b1fe3acfd4a3de2d40adf88b04e230151dbff9c54c763b9d8971e336ea00
+size 1811931
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00106/depth.npy b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00106/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..e2577d61816adfa22631696e88deacfc07bae57f
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00106/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ca3a13d2782a953f79f02730f6ce4a5174cce3157bdd526af42f507e16d1dc0a
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00106/instance.png b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00106/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..75cf1b3c7a2baa296e30f66714749efd4e98a37e
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00106/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e1c076a75ed72145b659ac49c172d19d6ea22c0009f921ddc2edad829811bf33
+size 156649
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00106/rgb.png b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00106/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..001dd27c7bf7522e9435af8b4bf1fea9b14854cd
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00106/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b51b5a772d0361aadd6009e6c19eb3974c8f9498e2b16b8215da6881dff43f06
+size 1880604
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00109/debug.png b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00109/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..cbbf69728f4278ae8ac710f5ae040bfb23d301af
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00109/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:171483a9751b004e2793f9a6e107fb2697c2c7225358531d2f047adb214590c7
+size 1802380
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00109/depth.npy b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00109/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..bf76df0b0f9d1c8b633f59370fc2d4e7a679c3d4
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00109/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:46cd2220ec9bc45884846a5c4072d2f5cd42e587ec21549c20f84c3efff97626
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00109/instance.png b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00109/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..e749b4aab89987b3e589e56ee22ac5d1aee80eff
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00109/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f1189def15efffc7f9d264076cf68a29b71047cec07134ca22d2927c8445fbf3
+size 146339
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00109/rgb.png b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00109/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..07fa120017ac88f64ba63c0346f691835f100e91
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00109/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c24584218c49da5524dc62f5010e6d04121f5b3462ea2f2afacb286bb773bd43
+size 1851246
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00113/debug.png b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00113/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..30cf5da0261a154118781c542cbc21d39e54b43a
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00113/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ce5df7ccba92700b37f12e5605fbd9e67156c65706e7bb3a6857037f8dc7fa2e
+size 1840737
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00113/depth.npy b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00113/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..1f65e5d5d4001f85cf4cb5e2aa820a46d6d28785
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00113/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d22be8d2b9654f0881df801abf69296d9059994380653c352caf180a1423b2a6
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00113/instance.png b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00113/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..3af127ae456c69b6fd3ac0cc75045ce4cbf1f040
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00113/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:afb8165841802092bc7d309ca353e9ce7f650e8fea7264c5685dad0594cc83a1
+size 142331
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00113/rgb.png b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00113/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..0e6593815e8a6e708309e4815362f7049b0b56bc
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00113/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:212bff6f479f1b79952a770fe51b33c8911ddb2515fd1712dbec2f19ae5a5ffa
+size 1862924
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00114/debug.png b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00114/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..0db1903900453410f5847a043738856cc85738aa
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00114/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:03afa2b4abac31d071f2ef6878ca5172439e21a870aa5b31b7acb148c46c950c
+size 1839061
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00114/depth.npy b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00114/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..fba828a2b2b2c10eb6ea880854cae0cf91fdd170
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00114/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:94010a2f334ffaba3833c862ea613140809f445c4066f92146eed0a0df818d9e
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00114/instance.png b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00114/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..06fa29482d0ba02084f777fc04c4d80943703327
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00114/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a09b99597d73a1a35e74983263c3d8752a3375c844cb2b2c6ebe7737ff689e4c
+size 151893
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00114/rgb.png b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00114/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..90352e9f8b30c6ff581a16e7af38e78838648f6d
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00114/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:269875ef4ea589659623c601eddb2fa276a18aa6a41dfbfd3b059d8f627bc3f7
+size 1865649
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00118/debug.png b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00118/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..5833a0d4e4017c1423d3f7dc2e4a251c19bfd96f
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00118/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:453489b583901894bec1b63d226758a35bdbc4d9ed11942c0158357a56b0885c
+size 1850664
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00118/depth.npy b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00118/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..15c1e15c23af1223eac50c73deb478bb2bda8178
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00118/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a6fa27e633fe540f38c13e9512f76728c33cf17c45b493da06cea77a196e4413
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00118/instance.png b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00118/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..f3f51bb1022891052c1909989237186ee34b3df9
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00118/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:965a32f75f2b146b3783c3021ee434faed0bb509d820695e8e17f575c5aeb62c
+size 145438
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00118/rgb.png b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00118/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..be3d8dd1dd30b330cd3b3dcb6320ba74dcaf90b0
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00118/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a512d31d3ad447c0c60f16b7375fc3edf26ae5ae69bce96bd8e283e9c97f957b
+size 1875177
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00119/debug.png b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00119/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..dea8bbc8ad4a3a480e3695302203db8a49bdf57f
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00119/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ba8c86c04695531d211e2bdf25ee06daf4c84e97ebd6421a2e335046dc3ed4c5
+size 1827024
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00119/depth.npy b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00119/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..620de16739ccfac74d38668c70619bbf969418ec
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00119/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:721af5be5ddf903399822129f2fad1eb206fb66e909462eee0f7ce5026f7cbae
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00119/instance.png b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00119/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..8fc37fae74c15e836eae350fb3e5b7edad81070a
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00119/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b4988bec52463c286539f73a1241ea2aab2ce3142d7f7e4b57ce7a2ff97054b7
+size 136699
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00119/rgb.png b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00119/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..26bda42738c98dc436fa8ab9760a28dd6eec243e
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00119/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1d2a9158ccd19307c2ef61114f3011f51df6c5f7cac5a51f59a8994f61fe8382
+size 1860021
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00126/debug.png b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00126/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..aeb657269548121918b7248a9db7f36555d68db9
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00126/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c973ecf0db7688c957fade3645c8252d5eaf61786928051992cb27f0059e70d7
+size 1865580
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00126/depth.npy b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00126/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..27cd5b5db4cc3dcfb7741c72802490243e5f87d3
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00126/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:918cf1a9c22c1bc348ca9710c790932446f8a45d4c48404958c3e832a9fe7873
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00126/instance.png b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00126/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..5ec8fa2032c3b47a17abf848c3ab7ba4efbfece9
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00126/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f0f351348b87f8637d8f063da4014177db9a492957d4e19584f3445ff1a13cfc
+size 146731
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00126/rgb.png b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00126/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..aa45dbd58d14c0fd90667d811986ee79b0a11626
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00126/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d18683421997faca70d0ea239f7cee22912c1194af572aea5b8501b5e37854dd
+size 1906792
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00127/debug.png b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00127/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..ce5dfbe42e8a0dfb4ef1b055f8ae0eefebffa307
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00127/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b0f7e8c77d26c1bb07384a59ad2d385dcfd30bdfd43932511daa2adcfb97a616
+size 1864352
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00127/depth.npy b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00127/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..9fe611ffe9682726407d6964c18200f00ee17665
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00127/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6cc944bb774c3174303f957f5470224f6b3745d0cd041be05d98e1e869cb46ac
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00127/instance.png b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00127/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..8929f4355e08784de0f71b52bbfa1d92c00e1979
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00127/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:faceb3de0d10a02cf8b7d566c7372578e48f419a8c68e7ff052bbba01dffb8bf
+size 142778
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00127/rgb.png b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00127/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..ae5e9472a113cd3e182e7633f504788b66cb3dee
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00127/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e96fbc0872eea1e57b7d1982d5f3eec44605c3a6d2978d5f81cf66b48f351d3b
+size 1890993
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00128/debug.png b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00128/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..cd38495219462a4bfaebed56577c0c5996e9413e
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00128/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bd764bec00dac0a594577c9d0c6be703a83b1e3c8c3f623239ffb1976605b779
+size 1860797
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00128/depth.npy b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00128/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..506f8d4b2002fd9010ff7be2b59fb8aed236be6d
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00128/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e07c6b02c3d52e10f70c42550fbf239c135921849df86c6c28f9b977569ab3e0
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00128/instance.png b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00128/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..54803d9fd1cc2fa64b5b13c4e3281d9e57fae38d
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00128/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e4f1d6a9c16d91a0a1c6128d37bfb258b555a84b62dc9dbcb619ba4cb6585731
+size 142610
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00128/rgb.png b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00128/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..167e6895335a6f9113e8660f29f5e46da6eb836b
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00128/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a2848751de127a17863cacaa2f86d02281983813200a6f3d790683015a9dad0a
+size 1891670
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00132/debug.png b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00132/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..4bf35877887e6187d3c03e7f8d54640bdc952482
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00132/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:93cead339c463cd558943e6888387245b39d8f2a89eeddc41530b16862b31e9e
+size 1888408
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00132/depth.npy b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00132/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..c31c79626ffef478c7ec3c61fbe2de81e4b87132
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00132/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5eac668ee4dda400b45c3f73cfab6a9d722975f71bd1731a88bff56d142c6f6e
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00132/instance.png b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00132/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..939d2e6ddd7047ff5800c57cdbac01ac9528d178
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00132/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b97aa4ee2691ec4821a0a77559e4e73bd90827a37d2f2354e6a6603fdd7babdf
+size 157464
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00132/rgb.png b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00132/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..9180898ad16dfa6e99332c691b9cb88b5550514f
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00132/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5b5df76e391232b1ffa42bb0496e4e0254e6f87c81ea367e0b21b68ffaf09fbf
+size 1912219
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00134/debug.png b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00134/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..cb729ead2b4782eb77e1bf00b2643658c1df0550
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00134/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8c1f877055787be27c7620729d3b51f50d5590a6c234a1fcaffcd9820915a9eb
+size 1862861
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00134/depth.npy b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00134/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..499541a1f8f7990cca06645f7ae58e824402133f
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00134/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3ad1ee34633320034e0bde9a49428d5aa31be107675d4c85fb750d73786775bf
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00134/instance.png b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00134/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..718fa02fa8306c88864b0f3dcd5a607a37a437e1
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00134/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dd7ff8581e8390982380297056f6ead4968970cba1050c5110a1663ede1e0e1a
+size 150688
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00134/rgb.png b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00134/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..a6ba528718d2935f5a6c61f2ce53403a4f925495
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00134/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ae1303f96009e04458850f36e6c014ee13cfaa9485d92dfd37e77c34aab3702c
+size 1902313
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00136/debug.png b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00136/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..81d4233698604ee39c36de8f956c45c6b26a2ddb
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00136/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:af64a527c1ec92e10cd91becd9271021934984218a0875394d700dcdce32cffa
+size 1869156
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00136/depth.npy b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00136/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..01c3c352feb241389edce607df35d4aa0ab69c32
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00136/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6a2d0c54bec40f8e244095090224c28b28d7f56bab725bcd3d292b8d6b265db0
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00136/instance.png b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00136/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..19ffd9b3a8d4c6b90ca7cde4557131558dfe8d95
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00136/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4530f0b76d140506c84ffe073f8f884f4a2ad50710995d72168bcd08b6dea9e6
+size 149584
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00136/rgb.png b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00136/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..fcc9cb87fd59fdeb538eed97f508440e9ab22979
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00136/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f2d809a4ef22f52e567bd06fc88b5d95c4da25528f1e8417050a62ee0fa8aba6
+size 1908620
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00138/debug.png b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00138/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..644eadae7191fd9037f73da199ea42bf18645265
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00138/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:60e8fa4f89632486eaea913e91a51e5f2222458ec40d697ebebb5a92408cb16c
+size 1905975
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00138/depth.npy b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00138/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..e9f90a781a046c0ef45da78a37f256ccc8300824
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00138/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e3d0b722116d6796ce86352967c2a1a3a1f80564e8d7ed46b7db08d528492461
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00138/instance.png b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00138/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..cc992c6890e49b90ca6cb62e43a649154b8d9cf8
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00138/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:82a539d221a1ede515bb4d952d52320d40d237e72d1cda4c26031fb003cd68e7
+size 150260
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00138/rgb.png b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00138/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..605da45075a0e59379f15c23a80966e11edda348
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00138/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3730918b9b17f97ce7982f04b47dac3ceac0ac37505a449ca09f0c7b748547c3
+size 1922449
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00141/debug.png b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00141/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..20a0b93283ed5b788147d51a6d576a95e6e35194
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00141/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2e2cb7aece6ebf89594368459a060288a819fd8813c6cd47b682899411124275
+size 1918995
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00141/depth.npy b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00141/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..25df51befe12fabb005cde872c182932379f5e79
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00141/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:10302a8b2baeafc6de54d7c0e81933de64e000613aab169d5e35ece794b1bd94
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00141/rgb.png b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00141/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..1ab22803a87f65058ce8a7eed65595153fd51952
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00141/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:355c3ee9c0bf668761aacab1d3bb86897bbb757acc6debb49e49dec539e57d42
+size 1947029
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00145/debug.png b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00145/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..de4b300c5a0809aaad227353b0f31a061dea0df2
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00145/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1658eb1a2f78c3f7bdd11aca9db1a997f7eec5ced7c802327f6b2c29ba93a614
+size 1947222
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00145/depth.npy b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00145/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..58ec854ff93b7379557290de7bc26efab064a06a
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00145/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:040d9b145853fd5b064d949c73cfea58cbcdb471463716de7667c01643452dec
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00145/instance.png b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00145/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..8d90aa7a18e7585f443849c021ffe2d77ee15181
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00145/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d41f9ff1ccef09993741569a1536b0bed520ea341624e109a74fb0bf3880323b
+size 140700
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00145/rgb.png b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00145/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..215393dc431b32a0986a5a1947453a487b4ef358
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00145/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c0a7b3f33a7fb422cef1755c3390c75c5d059fd3009d0e475e296cc7da5931e2
+size 1963434
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00146/debug.png b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00146/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..eb8ec65e4694e9fe72a47759fa21c1011276078a
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00146/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a5ff0d87772fda0b6d2532f4b669b9133677161f5fc50a8aa6f5aeee7c0913f5
+size 1954757
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00146/depth.npy b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00146/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..ae01453095e97dff173f4e59382883476d5f28b3
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00146/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b60088cea118467b89446f2a63b61d5c8622b05a8bc73a5b595c3c5960c951fb
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00146/instance.png b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00146/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..05c5007e045a7d5084f26d1de452417e2c2ef7e0
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00146/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:93231e08d138320150225fb502a490db36ebfb0b47a89e501e420d3832195783
+size 145032
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00146/rgb.png b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00146/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..730e606bb139840824f37506f3bee3e807909eff
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00146/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2b2cc537dca9d961ebe374283324c8ff8596c9d71afec024075ab62b217d83fb
+size 1970442
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00149/debug.png b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00149/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..84c1c827380ee6ea32c30b8d745d145f7d2f0067
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00149/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ce96ce3e7ca6292e70209432e174905707cdf8aa84e43324c02f4fefca638449
+size 1976075
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00149/depth.npy b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00149/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..4252f6d42f0e74b7f9d996384e1b79b63abfae09
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00149/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:db9fbb1188e7f003dc5f2d171098629360fabd6d1c7bc0916140178f10a0ddfe
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00149/instance.png b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00149/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..a605b0dfe01f58de54c9fda0971e6c8d445f2dcc
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00149/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c6756a3e05f73438508a3f858ab5c5d56406167e61455f4a1555b4f03feae33b
+size 128981
diff --git a/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00149/rgb.png b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00149/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..e0a9d7ddb9f0f97c0f8aa9e2491b1eb9f2b70601
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777252836/aug_001/frames_playback/frame_00149/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:37be44ef5e37fae4892f52912b6f12f7b851b4f5bd703033e305797838f9003b
+size 1986276