diff --git a/.gitattributes b/.gitattributes
index c9b2d92b6e84f96f70ac84d1d070c3c7aa502749..52489a479f15c4b4d27dfbb436702c97d7fc8e85 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -374,3 +374,5 @@ data_v7/Town05/trajectory_1777052871/ORI/trajectory.json filter=lfs diff=lfs mer
 data_v7/Town05/trajectory_1777052871/aug_001/trajectory.json filter=lfs diff=lfs merge=lfs -text
 data_v7/Town05/trajectory_1777201680/ORI/trajectory.json filter=lfs diff=lfs merge=lfs -text
 data_v7/Town05/trajectory_1777201680/aug_001/trajectory.json filter=lfs diff=lfs merge=lfs -text
+data_v7/Town05/trajectory_1777277687/ORI/trajectory.json filter=lfs diff=lfs merge=lfs -text
+data_v7/Town05/trajectory_1777277687/aug_001/trajectory.json filter=lfs diff=lfs merge=lfs -text
diff --git a/data_v7/Town05/trajectory_1777277687/ORI/frames_playback/frame_00034/debug.png b/data_v7/Town05/trajectory_1777277687/ORI/frames_playback/frame_00034/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..1526d06ce3a6f78e9e743332557e8202e13f9e76
--- /dev/null
+++ b/data_v7/Town05/trajectory_1777277687/ORI/frames_playback/frame_00034/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aafde0b9fe4e44aa1b090e380b1a05ba50aa3c054c5ae8ddbe61f1f6a05041ee
+size 1695795
diff --git a/data_v7/Town05/trajectory_1777277687/ORI/frames_playback/frame_00034/depth.npy b/data_v7/Town05/trajectory_1777277687/ORI/frames_playback/frame_00034/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..8b312ea4a8185e946227ddecf405a631f0098561
--- /dev/null
+++ b/data_v7/Town05/trajectory_1777277687/ORI/frames_playback/frame_00034/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d825bfbb4f77de3218fbfa5cf019274b90bd6c83af76e1d00f1427518f6eb9ec
+size 3686528
diff --git a/data_v7/Town05/trajectory_1777277687/ORI/frames_playback/frame_00034/instance.png b/data_v7/Town05/trajectory_1777277687/ORI/frames_playback/frame_00034/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..8767ef828dc7053bb007667bf6fb3482538992a5
--- /dev/null
+++ b/data_v7/Town05/trajectory_1777277687/ORI/frames_playback/frame_00034/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b4ccb5d7583e1a14ade6ac1fb872407f0faae51280daa6581d638e5fdf33a65c
+size 107620
diff --git a/data_v7/Town05/trajectory_1777277687/ORI/frames_playback/frame_00034/rgb.png b/data_v7/Town05/trajectory_1777277687/ORI/frames_playback/frame_00034/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..ce4930eedc8ef3e1064f6b45b9b00ecca34b7385
--- /dev/null
+++ b/data_v7/Town05/trajectory_1777277687/ORI/frames_playback/frame_00034/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:40f9941575dd3aa80128a16645c154153a64beb52dc5375b0521ef110b4ca5cd
+size 1691375
diff --git a/data_v7/Town05/trajectory_1777277687/ORI/frames_playback/frame_00062/debug.png b/data_v7/Town05/trajectory_1777277687/ORI/frames_playback/frame_00062/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..71fe1963166c9d5c624a1e3ebebbfdda9d4a6838
--- /dev/null
+++ b/data_v7/Town05/trajectory_1777277687/ORI/frames_playback/frame_00062/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:63204b03f9598986e0207f63d2de4395a967286769fa669fdc8f62fbc48961f2
+size 1649968
diff --git a/data_v7/Town05/trajectory_1777277687/ORI/frames_playback/frame_00062/depth.npy b/data_v7/Town05/trajectory_1777277687/ORI/frames_playback/frame_00062/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..991fe32cdfdfa4ed7ce6a427d4dce6b034daf4ab
--- /dev/null
+++ b/data_v7/Town05/trajectory_1777277687/ORI/frames_playback/frame_00062/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:460ed225f9819003bb37ff174b2c4625c1f2c3605520ae4667f48eb030ffc4f2
+size 3686528
diff --git a/data_v7/Town05/trajectory_1777277687/ORI/frames_playback/frame_00062/instance.png b/data_v7/Town05/trajectory_1777277687/ORI/frames_playback/frame_00062/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..32c3658bb93f2bdff2fc8021d7cedd6164ed9796
--- /dev/null
+++ b/data_v7/Town05/trajectory_1777277687/ORI/frames_playback/frame_00062/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d9537892f7238a7c57789bdd33309fb0d06ac0a42cc772870dbdaa63bab2caf9
+size 109656
diff --git a/data_v7/Town05/trajectory_1777277687/ORI/frames_playback/frame_00062/rgb.png b/data_v7/Town05/trajectory_1777277687/ORI/frames_playback/frame_00062/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..0c34f8faa3034de0399115e3ccc2012c721fd23e
--- /dev/null
+++ b/data_v7/Town05/trajectory_1777277687/ORI/frames_playback/frame_00062/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:375af9fbe55a9068aa2db8c9c8e65524c0c2ab257622e7982e23b0ec057c3522
+size 1644678
diff --git a/data_v7/Town05/trajectory_1777277687/ORI/frames_playback/frame_00090/debug.png b/data_v7/Town05/trajectory_1777277687/ORI/frames_playback/frame_00090/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..4d362b30baa990ca08b225f8e5db432eeec3fbb4
--- /dev/null
+++ b/data_v7/Town05/trajectory_1777277687/ORI/frames_playback/frame_00090/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:531f9d8280cec2d8963e72b1a037dd15bd9e3269e44b2547198a52465675d6e6
+size 1692580
diff --git a/data_v7/Town05/trajectory_1777277687/ORI/frames_playback/frame_00090/depth.npy b/data_v7/Town05/trajectory_1777277687/ORI/frames_playback/frame_00090/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..8103b381b3b253496c4d847738f3cb2b986dc3e1
--- /dev/null
+++ b/data_v7/Town05/trajectory_1777277687/ORI/frames_playback/frame_00090/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:168ee2efe322149420c285127b440e8f05da9a71013417adda9eacea4150d8eb
+size 3686528
diff --git a/data_v7/Town05/trajectory_1777277687/ORI/frames_playback/frame_00090/instance.png b/data_v7/Town05/trajectory_1777277687/ORI/frames_playback/frame_00090/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..d4d76d847741520283e3f2d0a2439062c2a03df1
--- /dev/null
+++ b/data_v7/Town05/trajectory_1777277687/ORI/frames_playback/frame_00090/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cdab2debf2a4cd59a44c0d74981c039f7a86932185add17da93c7aa1dce8ad98
+size 74093
diff --git a/data_v7/Town05/trajectory_1777277687/ORI/frames_playback/frame_00090/rgb.png b/data_v7/Town05/trajectory_1777277687/ORI/frames_playback/frame_00090/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..fe7a477249c795b833737d1898cb427c375fa8eb
--- /dev/null
+++ b/data_v7/Town05/trajectory_1777277687/ORI/frames_playback/frame_00090/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6d58f75d3e47d5d2fa9a1b7401d6dbe60ad4af6569bf28350433dc359172d302
+size 1659906
diff --git a/data_v7/Town05/trajectory_1777277687/ORI/frames_playback/frame_00111/debug.png b/data_v7/Town05/trajectory_1777277687/ORI/frames_playback/frame_00111/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..0aa68592ec31a38cd46d32cc6b47e707d0772b83
--- /dev/null
+++ b/data_v7/Town05/trajectory_1777277687/ORI/frames_playback/frame_00111/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:881d4371970fcf0c289b1dedffb3c50015f571d56566b053e3e3e81c42665c59
+size 1647922
diff --git a/data_v7/Town05/trajectory_1777277687/ORI/frames_playback/frame_00111/depth.npy b/data_v7/Town05/trajectory_1777277687/ORI/frames_playback/frame_00111/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..fb1e41a2fd22648b923ce9f3234c49b23617a89d
--- /dev/null
+++ b/data_v7/Town05/trajectory_1777277687/ORI/frames_playback/frame_00111/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0a65a36480d5db3f16258ae06f9269f4217f0beadb5552bd14ce8da9fe2ab711
+size 3686528
diff --git a/data_v7/Town05/trajectory_1777277687/ORI/frames_playback/frame_00111/instance.png b/data_v7/Town05/trajectory_1777277687/ORI/frames_playback/frame_00111/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..5fd68a2c628f9cf07b626145a69f570da7876ceb
--- /dev/null
+++ b/data_v7/Town05/trajectory_1777277687/ORI/frames_playback/frame_00111/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fa386918ff071bb1efc6de5b05d1c26ca4965ec9e7bd18e97dde7a8790c27d37
+size 71691
diff --git a/data_v7/Town05/trajectory_1777277687/ORI/frames_playback/frame_00111/rgb.png b/data_v7/Town05/trajectory_1777277687/ORI/frames_playback/frame_00111/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..514ebc040c0d4cf6737d615b691a7ab75291cf58
--- /dev/null
+++ b/data_v7/Town05/trajectory_1777277687/ORI/frames_playback/frame_00111/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5676807ce569fb01d9710f41a0481ab785b5319822b5a65b58c8941ae6d82257
+size 1615682
diff --git a/data_v7/Town05/trajectory_1777277687/ORI/frames_playback/frame_00130/debug.png b/data_v7/Town05/trajectory_1777277687/ORI/frames_playback/frame_00130/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..5579ac436797f4ccdc4aaf8abc2de9fdeba5a3ee
--- /dev/null
+++ b/data_v7/Town05/trajectory_1777277687/ORI/frames_playback/frame_00130/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:51be5a1f68cfd8597150cdbd61c28d88654a9e2f5673c05c7b65f86054c79052
+size 1723121
diff --git a/data_v7/Town05/trajectory_1777277687/ORI/frames_playback/frame_00130/depth.npy b/data_v7/Town05/trajectory_1777277687/ORI/frames_playback/frame_00130/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..abd229976b9ecea19d5ce85f8e4a2257c4de2277
--- /dev/null
+++ b/data_v7/Town05/trajectory_1777277687/ORI/frames_playback/frame_00130/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:20528756217a6f336b064b8cf3bf2e1c46f9f106c3d966a263349bb2561dcab2
+size 3686528
diff --git a/data_v7/Town05/trajectory_1777277687/ORI/frames_playback/frame_00130/instance.png b/data_v7/Town05/trajectory_1777277687/ORI/frames_playback/frame_00130/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..d75e3ddcc284cef8f23705c1b5f271c00aefba7f
--- /dev/null
+++ b/data_v7/Town05/trajectory_1777277687/ORI/frames_playback/frame_00130/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:00c982d330feab4f5e81ec9be323835e69a97056f6b8e1c9edb236771564ec0b
+size 97612
diff --git a/data_v7/Town05/trajectory_1777277687/ORI/frames_playback/frame_00130/rgb.png b/data_v7/Town05/trajectory_1777277687/ORI/frames_playback/frame_00130/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..dd98d86bd952595af4566a63dfa092242a09e529
--- /dev/null
+++ b/data_v7/Town05/trajectory_1777277687/ORI/frames_playback/frame_00130/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:32a987f97d1dcb3804c17389293e32425058d4ee44e65b951b369e670bb7117e
+size 1697748
diff --git a/data_v7/Town05/trajectory_1777277687/ORI/frames_playback/frame_00133/debug.png b/data_v7/Town05/trajectory_1777277687/ORI/frames_playback/frame_00133/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..a213fdbce4dda4ac5839fa7d3e9c9b52eecfbfa3
--- /dev/null
+++ b/data_v7/Town05/trajectory_1777277687/ORI/frames_playback/frame_00133/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:04f424109251ac2585aad3eea2f1686d02e07800f1b891a37d81b86c1d677439
+size 1743650
diff --git a/data_v7/Town05/trajectory_1777277687/ORI/frames_playback/frame_00133/depth.npy b/data_v7/Town05/trajectory_1777277687/ORI/frames_playback/frame_00133/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..943a6ffb05e7902ba61fc5e3b10c914b40c569be
--- /dev/null
+++ b/data_v7/Town05/trajectory_1777277687/ORI/frames_playback/frame_00133/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:40bd99aff066dfe554ec3f043457cdeed7453d8bf74bbbeae50e225e827ffa74
+size 3686528
diff --git a/data_v7/Town05/trajectory_1777277687/ORI/frames_playback/frame_00133/instance.png b/data_v7/Town05/trajectory_1777277687/ORI/frames_playback/frame_00133/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..7d986ee6e3495fe7b15a018332efd1b0f802ee5b
--- /dev/null
+++ b/data_v7/Town05/trajectory_1777277687/ORI/frames_playback/frame_00133/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d19db9a73486495f37da22815ea2995ceece098a6996b31ca7daacd864afbf3c
+size 98477
diff --git a/data_v7/Town05/trajectory_1777277687/ORI/frames_playback/frame_00133/rgb.png b/data_v7/Town05/trajectory_1777277687/ORI/frames_playback/frame_00133/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..9729b3b115c8ba908ed50ae79e17593ffce05b1a
--- /dev/null
+++ b/data_v7/Town05/trajectory_1777277687/ORI/frames_playback/frame_00133/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5e3f2eb1b175a9e3586f37238373bc1d44d6062c5bf24ac3d8a179a6f6f232a6
+size 1709848
diff --git a/data_v7/Town05/trajectory_1777277687/ORI/frames_playback/frame_00156/debug.png b/data_v7/Town05/trajectory_1777277687/ORI/frames_playback/frame_00156/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..12bd2804a756954c73f342e579394ca9d820f29d
--- /dev/null
+++ b/data_v7/Town05/trajectory_1777277687/ORI/frames_playback/frame_00156/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:40f1e52221d3b201974c5525febc29d367af8f9dfc5521ee36a651f5039dce84
+size 1788985
diff --git a/data_v7/Town05/trajectory_1777277687/ORI/frames_playback/frame_00156/depth.npy b/data_v7/Town05/trajectory_1777277687/ORI/frames_playback/frame_00156/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..2ee53ea1cc23098eb896f82ed010e0ed260a0fb9
--- /dev/null
+++ b/data_v7/Town05/trajectory_1777277687/ORI/frames_playback/frame_00156/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e9862727ee0acde00e9bf1c3d06c96dabada9eac8771d79948707f71fafe4ca2
+size 3686528
diff --git a/data_v7/Town05/trajectory_1777277687/ORI/frames_playback/frame_00156/instance.png b/data_v7/Town05/trajectory_1777277687/ORI/frames_playback/frame_00156/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..10d15177838dc1f7b075b2d1ff2c763a0ec8a3e2
--- /dev/null
+++ b/data_v7/Town05/trajectory_1777277687/ORI/frames_playback/frame_00156/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:802e70c46bfe4fa703de259e464105c2484beadce6cf1adc4f90b99601bf8474
+size 74164
diff --git a/data_v7/Town05/trajectory_1777277687/ORI/frames_playback/frame_00156/rgb.png b/data_v7/Town05/trajectory_1777277687/ORI/frames_playback/frame_00156/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..2dd5ed7064ab6e3ee1f60d74c85e44093586f189
--- /dev/null
+++ b/data_v7/Town05/trajectory_1777277687/ORI/frames_playback/frame_00156/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cdbec2f6d46661d0522fbb9db5d1b1b7deaf6db7c78addb6ebdb1dfa84a117dc
+size 1690325
diff --git a/data_v7/Town05/trajectory_1777277687/ORI/frames_playback/frame_00158/debug.png b/data_v7/Town05/trajectory_1777277687/ORI/frames_playback/frame_00158/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..bec182ce4f86ff624d09b17e22fecfd6eb05484d
--- /dev/null
+++ b/data_v7/Town05/trajectory_1777277687/ORI/frames_playback/frame_00158/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e343c7496f76154be88b269a0e00da2b7daa02c11d953913653aeafb035d6d55
+size 1778085
diff --git a/data_v7/Town05/trajectory_1777277687/ORI/frames_playback/frame_00158/depth.npy b/data_v7/Town05/trajectory_1777277687/ORI/frames_playback/frame_00158/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..92e15cdbf92ec9b82089af3eced723db4e6809bd
--- /dev/null
+++ b/data_v7/Town05/trajectory_1777277687/ORI/frames_playback/frame_00158/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6b564a06e5e94ddac983e0d2168ed5d727580ea9278d3b2e9676a63877c33709
+size 3686528
diff --git a/data_v7/Town05/trajectory_1777277687/ORI/frames_playback/frame_00158/instance.png b/data_v7/Town05/trajectory_1777277687/ORI/frames_playback/frame_00158/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..2e1a006d0e15b3d0eef7258a5380a13a7f2bd1b0
--- /dev/null
+++ b/data_v7/Town05/trajectory_1777277687/ORI/frames_playback/frame_00158/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e45e2574af35963683952a0f7a7ef582584f1832841cb8b2f949a21f8e5f02df
+size 76808
diff --git a/data_v7/Town05/trajectory_1777277687/ORI/frames_playback/frame_00158/rgb.png b/data_v7/Town05/trajectory_1777277687/ORI/frames_playback/frame_00158/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..36aeaea1a92f30a7519fd7741c494034c0feb3d6
--- /dev/null
+++ b/data_v7/Town05/trajectory_1777277687/ORI/frames_playback/frame_00158/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7ceb33fd22a5a1af3005d5d57b1535f0bf61ea13d5b88586ff0a66adac6950fc
+size 1676836
diff --git a/data_v7/Town05/trajectory_1777277687/ORI/perturbation_visualization.png b/data_v7/Town05/trajectory_1777277687/ORI/perturbation_visualization.png
new file mode 100644
index 0000000000000000000000000000000000000000..dfaa46112796b87f2e44f7fb782e3df1a0b4aa26
--- /dev/null
+++ b/data_v7/Town05/trajectory_1777277687/ORI/perturbation_visualization.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d75fc16e77b27b339794a2ec4beb5c4d8655bc98a33f8095bf6871066655e68c
+size 8627
diff --git a/data_v7/Town05/trajectory_1777277687/ORI/trajectory.json b/data_v7/Town05/trajectory_1777277687/ORI/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..3f259e74aaad59cb99d23c0d8d14563ce994dd3f
--- /dev/null
+++ b/data_v7/Town05/trajectory_1777277687/ORI/trajectory.json
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0c8e3043ab6bfcf1146d05f53219311b7df5b9cc102e3b95331508d15d648944
+size 14459483
diff --git a/data_v7/Town05/trajectory_1777277687/aug_001/perturbation_visualization.png b/data_v7/Town05/trajectory_1777277687/aug_001/perturbation_visualization.png
new file mode 100644
index 0000000000000000000000000000000000000000..c6eeae0cb5eaea494a1adea2ca52f43cbeacbd7c
--- /dev/null
+++ b/data_v7/Town05/trajectory_1777277687/aug_001/perturbation_visualization.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6ce1517079299d454a88f024d332c02bac32ed33862eed8d4c92b3a00d3ada1b
+size 210723
diff --git a/data_v7/Town05/trajectory_1777277687/aug_001/trajectory.json b/data_v7/Town05/trajectory_1777277687/aug_001/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..55fae5c7417587e3f0f4539e30a86a9eac53ce13
--- /dev/null
+++ b/data_v7/Town05/trajectory_1777277687/aug_001/trajectory.json
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ff4123959ae8e5416affe3e499c99c41c799af4727a0540d4e6bce39b9b4d935
+size 14958610
diff --git a/data_v7/Town05/trajectory_1777299116/aug_001/frames_playback/frame_00020/debug.png b/data_v7/Town05/trajectory_1777299116/aug_001/frames_playback/frame_00020/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..c8469b12ce85cac724f21005fc67f1e5990d0b67
--- /dev/null
+++ b/data_v7/Town05/trajectory_1777299116/aug_001/frames_playback/frame_00020/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4a2590691e89f57cdf6e2f3790e064d01dfe9cae8ea0178a9ab7ce9a1b201279
+size 1625395
diff --git a/data_v7/Town05/trajectory_1777299116/aug_001/frames_playback/frame_00020/depth.npy b/data_v7/Town05/trajectory_1777299116/aug_001/frames_playback/frame_00020/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..8a25353a4ef0551e031098097c4e2cd3c064ff68
--- /dev/null
+++ b/data_v7/Town05/trajectory_1777299116/aug_001/frames_playback/frame_00020/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:97d4e6cfe4a88eb21b33b3a8e21e4f3846733c7a8a422aada58d2e8e4b8d503b
+size 3686528
diff --git a/data_v7/Town05/trajectory_1777299116/aug_001/frames_playback/frame_00020/instance.png b/data_v7/Town05/trajectory_1777299116/aug_001/frames_playback/frame_00020/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..f9fc7ca3222cd9ff3a96eaa0e1308aa61d42a3ac
--- /dev/null
+++ b/data_v7/Town05/trajectory_1777299116/aug_001/frames_playback/frame_00020/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:89fde3967689516d2eea430fbcaf94ba4f441f8a2f319094ae104b1a5341f515
+size 52897
diff --git a/data_v7/Town05/trajectory_1777299116/aug_001/frames_playback/frame_00020/rgb.png b/data_v7/Town05/trajectory_1777299116/aug_001/frames_playback/frame_00020/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..dce1c58380c34b2621be9722479849b1fd61bf21
--- /dev/null
+++ b/data_v7/Town05/trajectory_1777299116/aug_001/frames_playback/frame_00020/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:41861a51b2f7f33a781043f006aad9c8e6a5702bda8667a0b7657ad028808bca
+size 1554926
diff --git a/data_v7/Town05/trajectory_1777299116/aug_001/frames_playback/frame_00045/depth.npy b/data_v7/Town05/trajectory_1777299116/aug_001/frames_playback/frame_00045/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..8d9f3d0cc8fdaec123937f08421cc0ad22ba8890
--- /dev/null
+++ b/data_v7/Town05/trajectory_1777299116/aug_001/frames_playback/frame_00045/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5e5c8b2a2e372ba77ee8c873fd754635bf9b8829939f682db37f1511e4f9c024
+size 3686528
diff --git a/data_v7/Town05/trajectory_1777299116/aug_001/frames_playback/frame_00045/instance.png b/data_v7/Town05/trajectory_1777299116/aug_001/frames_playback/frame_00045/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..93d8b355f40ae8ce76191bb9659300f5dfee437e
--- /dev/null
+++ b/data_v7/Town05/trajectory_1777299116/aug_001/frames_playback/frame_00045/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3c5b2ec8c22169a2ebbfb5c5efba126eddabd8ba0b27678cf1180ccaba360034
+size 52145
diff --git a/data_v7/Town05/trajectory_1777299116/aug_001/frames_playback/frame_00052/debug.png b/data_v7/Town05/trajectory_1777299116/aug_001/frames_playback/frame_00052/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..b3068d96c77b49c63f891a4f97a2e4708265f160
--- /dev/null
+++ b/data_v7/Town05/trajectory_1777299116/aug_001/frames_playback/frame_00052/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dc6c7d17fc9b8883281670cdc4703b07ca2e108dc75b6d34d17d8624a6cfa0ed
+size 1493773
diff --git a/data_v7/Town05/trajectory_1777299116/aug_001/frames_playback/frame_00052/depth.npy b/data_v7/Town05/trajectory_1777299116/aug_001/frames_playback/frame_00052/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..ac9453887216f099acdad5d7b1994601257ee1c8
--- /dev/null
+++ b/data_v7/Town05/trajectory_1777299116/aug_001/frames_playback/frame_00052/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8ec2921662ede5f5824a20effdf3529299c30833a9cb388414be9051a96e4b64
+size 3686528
diff --git a/data_v7/Town05/trajectory_1777299116/aug_001/frames_playback/frame_00052/instance.png b/data_v7/Town05/trajectory_1777299116/aug_001/frames_playback/frame_00052/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..cfcc77734649d4df75ccfe3ca326cfe9db2ddc40
--- /dev/null
+++ b/data_v7/Town05/trajectory_1777299116/aug_001/frames_playback/frame_00052/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6fb50fd7510fda052b18be7a30453577d076d589c81a4ff02f68d50be4aee2cc
+size 49361
diff --git a/data_v7/Town05/trajectory_1777299116/aug_001/frames_playback/frame_00052/rgb.png b/data_v7/Town05/trajectory_1777299116/aug_001/frames_playback/frame_00052/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..630f1f07bd5ef23fa37c63a168a403f28a4b336d
--- /dev/null
+++ b/data_v7/Town05/trajectory_1777299116/aug_001/frames_playback/frame_00052/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:15b3175b942369f0773e5616747b110c18f3daeb987dd6b3439caaae78f113fc
+size 1445145
diff --git a/data_v7/Town05/trajectory_1777299116/aug_001/frames_playback/frame_00117/debug.png b/data_v7/Town05/trajectory_1777299116/aug_001/frames_playback/frame_00117/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..293edf1c518377d489d16b39de458c174453685c
--- /dev/null
+++ b/data_v7/Town05/trajectory_1777299116/aug_001/frames_playback/frame_00117/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:32ff8f4f8cf4c936eba26df1ab515593d60e05ff48fad656371a51b9f57df75e
+size 1477401
diff --git a/data_v7/Town05/trajectory_1777299116/aug_001/frames_playback/frame_00117/depth.npy b/data_v7/Town05/trajectory_1777299116/aug_001/frames_playback/frame_00117/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..c232cd1b64bb052a557d249d483ff38727c92c6a
--- /dev/null
+++ b/data_v7/Town05/trajectory_1777299116/aug_001/frames_playback/frame_00117/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:af9b8686260913148e5cf42e3417445dba1cfe40b989a15c99f1285a1cf8c102
+size 3686528
diff --git a/data_v7/Town05/trajectory_1777299116/aug_001/frames_playback/frame_00117/instance.png b/data_v7/Town05/trajectory_1777299116/aug_001/frames_playback/frame_00117/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..9eb4f03810cd900e5870fc09f01c63929ebe2baf
--- /dev/null
+++ b/data_v7/Town05/trajectory_1777299116/aug_001/frames_playback/frame_00117/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4e106caecdaa384323758f2fec806a07dae935ad4955d03508064771018d299f
+size 46479
diff --git a/data_v7/Town05/trajectory_1777299116/aug_001/frames_playback/frame_00117/rgb.png b/data_v7/Town05/trajectory_1777299116/aug_001/frames_playback/frame_00117/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..b7282a3930f3a9f6191b364299366b314d4d5470
--- /dev/null
+++ b/data_v7/Town05/trajectory_1777299116/aug_001/frames_playback/frame_00117/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bcaaf977275040979ce32e77b7526c0f92b6a93495fa4ad787c776f853aa7d6a
+size 1452408