diff --git a/.gitattributes b/.gitattributes
index b31ae47a1fa209254335f9f7d8431a23ca45261a..4a2838424e5c1006a6087b7a1d6687faa465e9df 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -116,3 +116,5 @@ data_v7/Town07_Opt/trajectory_1777117052/ORI/trajectory.json filter=lfs diff=lfs
 data_v7/Town07_Opt/trajectory_1777117052/aug_001/trajectory.json filter=lfs diff=lfs merge=lfs -text
 data_v7/Town07_Opt/trajectory_1777274033/ORI/trajectory.json filter=lfs diff=lfs merge=lfs -text
 data_v7/Town07_Opt/trajectory_1777274033/aug_001/trajectory.json filter=lfs diff=lfs merge=lfs -text
+data_v7/Town07_Opt/trajectory_1777093419/ORI/trajectory.json filter=lfs diff=lfs merge=lfs -text
+data_v7/Town07_Opt/trajectory_1777093419/aug_001/trajectory.json filter=lfs diff=lfs merge=lfs -text
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00000/debug.png b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00000/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..e40606f5290f1373da92cdda9132d1e44fd79e4b
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00000/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:42db57f4a8677184483ced7b8a145ed8236cd2ccc586f0d8fa81f2d7020e6559
+size 1877804
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00000/depth.npy b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00000/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..573b22425b54734005f197be03a19a5498d68da8
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00000/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:49db076f5fd0bd776143b17e4e4c85c81e384c1603201c337f45d4c2d0939390
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00000/instance.png b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00000/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..874261d5cbe8af1c4ef1c0b17257eb0032e4e5b5
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00000/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:90a4a3a5b3f5eb19df2edce38c651b49c1253212a2ab523bff1921b890c53d91
+size 149660
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00000/rgb.png b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00000/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..8ae7e94a22e59c450dd5c0bb933107c68ff253d3
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00000/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1425d248773c827a91520cf7c5eee5f1b5753d80f18d5f71ef8c3089bfb92547
+size 1958244
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00007/debug.png b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00007/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..10c45d11125b98d00d5869ef1d14b74c619798e8
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00007/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:38fd4876406c0a64776765fd614ff66865c97aaf125a8ac165b96efff5cf2e79
+size 1939829
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00007/depth.npy b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00007/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..41f3b24c61a930ee5bd9e221db611990f146f5f3
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00007/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f6aaf716359c5c3620da5472757070aa0589a463f5cd2801083672f4f0a34c31
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00007/instance.png b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00007/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..8aa0512f1164091eb34d4b07d6a1b03bfe456740
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00007/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fd02e3c318d2766a16ac4e1d56db94515761504d100883adf861804610948f00
+size 137772
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00007/rgb.png b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00007/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..511c26b2b04264e9a093208bb9460eb5b4e1754a
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00007/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7369bb1912bc8f4212aa4031cff60e4244b504fad891ca4a982be316d695733a
+size 2004095
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00010/debug.png b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00010/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..a54862f692244518e57bdb18eb33a50caf7396f9
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00010/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e39564f3e83d6a60823ed111384caaec0929eff7b9afacf2eb6b106fa3697f6b
+size 1895168
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00010/depth.npy b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00010/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..92145bad2e24b781d159dc47ec8a39c49c393beb
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00010/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:60c3f19ce7bffe444999212bc53d5ed1eb7ef68d976be9d7f8010520a5865edc
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00010/instance.png b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00010/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..0833bb4a0aed8aa6f840fbc94ccdc659e020fb5b
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00010/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d4e818383373408c91980cb04166ee3408fd0c2a465f9c092d33b8eb1f779b2e
+size 145046
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00010/rgb.png b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00010/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..bccefef9d9678a4635b5d7ca5a88c927dbe8453f
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00010/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:df8b5437b0ed2eb45e95fd40d27afc8f0acb35ef92ce72ced35e9a9017005ced
+size 1957582
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00012/debug.png b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00012/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..9a98e183f39030ed8713616450febd74ffcb0384
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00012/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8269d651f979e7ded1b3ed1f05cdf47c1a4cf0745a084359e52c7ff67aafdbba
+size 1871842
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00012/depth.npy b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00012/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..c7ed62ea26b64e26abe6e5f9cb9b8223ebbeb695
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00012/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a7fc988b912581d2dcb8661be955101fb18a07c516f21e56e6b2a6310c35b714
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00012/instance.png b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00012/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..11ec10a00ed393279ffff76206631b0f183435a2
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00012/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0dc391207fcaeaaa05090a0fc7432fb33840cd05887c1b8315245644559a9f78
+size 153985
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00012/rgb.png b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00012/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..6678b6397c2e97c84512fdc641c0b72e684f549f
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00012/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8e8ddfde83b47c7c412cb3202cb50f3d37166f8143e5e64467dadf3d1568923d
+size 1934255
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00015/debug.png b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00015/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..e87bdc2665b4a09611ecf7a4b42a3b77b4d468a2
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00015/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:adcd093717ef3a390ffc6768563a8889f77f39ed1280bb3c15842b71ef4fed54
+size 1899788
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00015/depth.npy b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00015/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..5d3776a061d51c7bf4933e5e6f863cffc06b5c4a
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00015/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:86786d94a077d28086682de2c02b582622ff9bfc66594955c464ab0e2fedd7af
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00015/instance.png b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00015/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..05b8a3824bf4a94583e12908be108822d536a297
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00015/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:be99a4b898d372863cd34ef93692f282c36577e7be828a5de1c6cfe91dd09071
+size 146758
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00015/rgb.png b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00015/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..505302e34c2be0e5809cc601cdb50b19c5695904
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00015/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fdd211df7aeaf0b5c6a79fd59ec71fe5e9e9d32041b13d20d33b3ac73a371885
+size 1953473
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00016/debug.png b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00016/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..48159e830bf474654e9ee2b44250c432751efdcc
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00016/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ad068d34c67d4990deefd0da54b5f09150e3e6999b64951ce0c4531bc783099b
+size 1885661
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00016/depth.npy b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00016/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..6d13850d9725e34062f67b4362a8643647dc7c4e
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00016/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7f362716f055d3f7f39d92dbc5bdb5f079b76f5c16cc0f9b0b926190d1e153e7
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00016/instance.png b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00016/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..de141fa31c0d1f617a3ffb3b64c474699b7bdc11
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00016/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:77ccb874dddc63c9161ef68172485e412c81bf768b50416d02f9ccf21a02d300
+size 144130
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00016/rgb.png b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00016/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..75d11a267ffe5c6fe5fb802475aef3c0bd8d105b
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00016/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:53f091f7b9af0e9c67b5747f9b2e06d787ee9e14bfa5c3efc7ce160be7fd3127
+size 1954087
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00020/debug.png b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00020/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..eba7dc337858a47f48858b6f1aa8b973b7981647
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00020/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ec4fa0fd53078aeefea55770d29b12359ee918a1b66f712474360d44023024e3
+size 1897444
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00020/depth.npy b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00020/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..ed1d6a59a41ff1c421370d63e09bf8ca82060d81
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00020/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3bb8f27ba910969433aaac51cd44b11a4c2c8552cce7dd4d9be228975c27e431
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00020/instance.png b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00020/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..47c2542cca0172c81bab573fee8b61ba9a59acd7
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00020/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0d9fe636e0eb4a2f54e25b893554bde3f5739192f4ce5abfe4b1292f89bc6b5d
+size 134936
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00020/rgb.png b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00020/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..7debdd0ab0e1f67ebaf8ce1bde5df02aaa166ed3
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00020/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c6f0777bf451043e1e678c212f7c8cf6cde0a87bce1fe575f7b5d152785a4d9d
+size 1962445
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00023/debug.png b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00023/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..12876103776f4d05a835a555cf85292467f62d5d
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00023/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e6c7e5363e510145cad7bbc3726df0e54555aa9fad7463c373e64db29cb0bc39
+size 1918358
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00023/depth.npy b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00023/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..cd679c30f03d67bbb5576b5d4aa2ff0b257bfe35
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00023/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:73507f595f9ad8bcbdbc147a5b6d3202aca995c29fbbbd1bf1f02a68f951f5e8
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00023/instance.png b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00023/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..5cb99e2bc81537faf99e1d43dce07df684bc6737
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00023/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:76b5823f182bb6363e95eebde7c252cc0b7ffca198b23915ae53447aadaa5d85
+size 133975
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00023/rgb.png b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00023/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..3a9eb5923775a899913119f622e7eb4be086b758
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00023/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e28fa7b7ebed0e5da6a950b4bc6541440a733c6c6f516a63ad926444bd1e3c2a
+size 1978222
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00026/debug.png b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00026/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..919a128e8d1a0532819a4e5be0188f63f7f2e9de
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00026/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7f80d575f9c9b6fe34e87e6ae81d12b8e968335b593fbadc1148dc205b28e994
+size 1879419
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00026/depth.npy b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00026/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..a43fb97c299a997fb7ea18994e04a5be824bad66
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00026/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f3a9ca812ffa1f011a7083c9856b4d9b29c496a751982ffae68ddb4133b95255
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00026/instance.png b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00026/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..0fa5b16ee0a32f4801566c6ffe2c8fb013cb61c6
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00026/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6788f6e92abbf2401b0fb9f10bd1afb947296299e79d91dd6fde5d43ac8fb0e5
+size 141593
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00026/rgb.png b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00026/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..b707241de85f357b83d3c72312c68cc47a3408f4
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00026/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ed2c7f48b37ab7cbcdb209b76ad0221096cfe4839f85398d2df16e015f6f0219
+size 1943911
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00027/debug.png b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00027/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..c298bb078b3518671f01e2e53640391b76c755e5
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00027/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ce9977fd5f08e7c567b1b9b6db62059d11fd22d7c4a0de0fa57368f1ea773816
+size 1888785
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00027/depth.npy b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00027/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..c5a266f7f453653d1f393182309650a959df78c7
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00027/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6e2f4f10bd3ba705c85de21872d43dc90b4165867e92f4ed10cae9f59fbbace6
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00027/instance.png b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00027/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..0cda1f312d6a5cafd00ea5d35395a36b4cdbbc47
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00027/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:51586dacb867b3bb1e0aa18eae656cfe710e09ff85be3875bad0d205555f35f7
+size 143658
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00027/rgb.png b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00027/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..8731c0867f8904f8a2ba90cdaaabb0ec19f6e0d5
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00027/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:43492c127eacc27b50b8617ca4fd9e5e7f73675853abffb68770e96ddf9c7cf3
+size 1948280
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00028/debug.png b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00028/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..96a6652798d4bfb854fa3daf5e71e6f284f181ab
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00028/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:06d4b607c0c316b66b6bf5d77e306227fba2fa3ad4db69d04959b886182c499b
+size 1889436
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00028/depth.npy b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00028/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..2172128143cbcf82d72d57b6fcf6daff5201035d
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00028/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1bef7355b7abd21396839773e9be21f62097905458dda0ca7b49c2ea506f7f27
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00028/instance.png b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00028/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..7e2b5183e5002244c7d0a9ac30c0621b64e13f18
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00028/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c653101741f158fa428e781812c9e8d2cdfcd5c5fe4d6cac366186e6d08854b7
+size 145750
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00028/rgb.png b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00028/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..7cb74eb2a6267705fddedcf08dbc4c4da6e14c15
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00028/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:95479be1e7ad80b00e9d39a0e1c165a82c8bff9fae5bd0986a83e16678cee5f3
+size 1946637
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00037/debug.png b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00037/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..148b5bd429b0cf5960c538dd5af2c87845ad1a62
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00037/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bd0e9c2f68ccd5f6ba5f665ebe47978053a286b67ad8a428effc0d70447aa9a0
+size 1921516
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00037/depth.npy b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00037/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..c98fd717c76c7f31f5f7f5bd3d00e57a1c495f24
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00037/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:23e126cab4ef0bc6de04305a606adb129572bbf2fcc28acd00753c02873c0eb9
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00037/instance.png b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00037/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..8004372f7ab6074e9c869142f7e6e78de3272f69
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00037/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bfb89e665bd78021d9cbf2e555a47a0543ec2f5224538e1d1bb55329109efade
+size 146146
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00037/rgb.png b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00037/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..a53c3b2833d5c16d3af696be832ade1365b6902d
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00037/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:44654e3e0d50d0251b6bd07aae3f4ac4adfedbf4ad914ffba094107baacaf52b
+size 1977495
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00039/debug.png b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00039/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..a4cdfad751cc5f2008c25ff74dff26f706e683b3
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00039/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a30d46c83951b302ba6ef7ade41db282d6249111180728d7599f9066491bd335
+size 1966875
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00039/depth.npy b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00039/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..9645a0dcdaabe368d735b8fb6be49030111001eb
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00039/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5a6130749c9695b39fe89c312a8d66bd57e2c8e8f9a0cef3777a4a8366a6426e
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00039/instance.png b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00039/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..c15ffa280eba30b1b70e35d5bc0f29e19cd27bb6
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00039/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8550f118342c19d20bfb00989898de31c93b069b210b6a335e9c14f15f0ba323
+size 137175
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00039/rgb.png b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00039/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..ab84e45d3e7f9cb55c71bec2ac1991592c5b449b
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00039/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4dcde3cdb2a6f4eb50fd3bf915319e920fde810230ca835873a344e43f69772f
+size 2010611
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00042/debug.png b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00042/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..266df34059f365b1e10866094fef8be8c82f34fb
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00042/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:675445b665be4aba59879c5ed6a3238b3f4073054d5bd3c82152edeb58ba6dcc
+size 1951099
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00042/depth.npy b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00042/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..032dc5bc48d9c126cafd35bd60b68f6c072b7dba
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00042/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:00375ca274c359183747b848d3af0f35d5f435d38851ebbe6e84ff0cd1acbcd3
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00042/instance.png b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00042/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..d07abb9ceef0606f7c9b0911d800b61b2b606189
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00042/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:07c3a980b8ffdb5c1364ec11a926e821e8b28a200edc3f28e159c77e033b271f
+size 137090
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00042/rgb.png b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00042/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..64936f323d2a954310082c3e37846997268e2833
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00042/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:26f3dcb6a98e1e458b97be9729f8c90f03552634535e3857684f48ec9768ecf7
+size 2008887
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00044/debug.png b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00044/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..ea1131a347717a0af94a45c2b0dbf45c5653a216
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00044/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ef9ec1713e94d6bfeea957b30262aaba2c8e684883a30a9c553a3ae5fcd7706f
+size 1955592
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00044/depth.npy b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00044/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..818e88e621bafc10e85bc81d8212e34e9d7a9298
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00044/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5d277cd9512c2db1a5902940926164f8a47a698c16fb99b2ba526a3402d314a0
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00044/instance.png b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00044/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..cb9dba20fc8802e1223619b5a658c9eacebe97c7
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00044/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ee582bee38e65f63a8f3db586d6dd1d50459865fff5e62c260c348739ed3f3b5
+size 142376
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00044/rgb.png b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00044/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..8f8167130c89ac29773f5316a7e0baad7a67b575
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00044/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:371a6154becbc911590cbb74032e9436230cfd15b8e16325e996af30ea3d2abe
+size 2006351
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00045/debug.png b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00045/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..758df6b1418056b71e6f6d47d2f2bcdf7c1c0c18
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00045/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4406dec58adc4dbc8b7bef81914a7c2ba2209c9deb52970257f55ea855ffd00c
+size 1938602
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00045/depth.npy b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00045/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..73c10d0b13834eff9989ee7db74a3b800f508678
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00045/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2a74dabae3424f0419cb88d1c8cd26af82f3d4bf7255a1d981c4ea569860f255
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00045/instance.png b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00045/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..d3c3750045371f4496ad562679db61bbf5390354
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00045/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:42e0bf707b47c339f89d1bd2e43b3d9946553b3494c73345b6f86afaf556d2d1
+size 143738
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00045/rgb.png b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00045/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..3e95cd5aa61f3356d3e39e38d9825f7da61be2aa
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00045/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f388dee4bc363ccb165efa86ea0981662304151f0d780087aee36b7e19f07da3
+size 1985288
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00048/debug.png b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00048/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..3468f0f15b593f7776619932942967fb33643979
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00048/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:84bba2865fabc4898a2072103c1e1a224dd5a00d0ed0c2d2d02403a2ebcb4167
+size 1936467
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00048/depth.npy b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00048/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..1f8ff7204d23589a2d4db0364eadee21cd758d04
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00048/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:59a8bbf81cae362652c920a33f67106d0ac538fae78a989bc7e3a2c7df2e4659
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00048/instance.png b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00048/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..4cb1550782d00c11d858b7946b561ce1be3d1144
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00048/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1db3d5a756084a72a4ba35cc9b88aafff81b6b4789333bd4e8e6a55d13e011e2
+size 138302
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00048/rgb.png b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00048/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..9f9655356b84a5eface1b01272e3343592a622ce
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00048/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:42176be609ddad423ac69e618580c538af3579f76b63d0786890497837522f5b
+size 1984187
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00049/debug.png b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00049/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..230dbb97bff577cb0703f1f289ad7fc2e0247035
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00049/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b7d7a8a70ef6bbd359b04007598ba6ed0ce7665d747c6699cbfb15b44a96d0a4
+size 1918364
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00049/depth.npy b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00049/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..63930ae032f374c08a6038af943be8e276975eb5
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00049/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:155e11543038aab6891b0313f5e255a4786ed71c664b3225a6c7d2b086df2b7a
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00049/instance.png b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00049/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..1b2ff2b77f8038edcc7e5ecf1c2b0e04ab6b4cd8
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00049/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:db7795b22ce1c6d93b8c649cfe27e37b2ae64ae0ce847f983c2a6bfda69377e7
+size 140930
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00049/rgb.png b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00049/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..eddb1e6d9411625bc95b39fdff10c0a25d60519c
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00049/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0c00f9ca27887305fe9d6423da525a00b9b677ad055141d4265efcac54e01ecc
+size 1959788
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00052/debug.png b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00052/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..a31b35ed3b2bd63992e8b96e03491f63d20e5578
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00052/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:638e97beced8c5be422a12d389568847a51c77cb3aa6e60ae408deb9dcbc2edf
+size 1959294
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00052/depth.npy b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00052/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..d1009ee6d9568fd16a485d09fab7159dc916c5c4
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00052/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1f38831697ede0559f5f4b1ebdb06d1b4a0a10608e23d425051c2bb7c1308988
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00052/instance.png b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00052/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..e82e0c32c48ed29b7fb30cf833f79c5c69c9a61b
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00052/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:91e47333b7b379131735a8b583847a0582c74e5022f200a5f38ede0b5abc2cce
+size 132588
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00052/rgb.png b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00052/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..15c6c9295a3f19152a11f85ded13a53bf6b482d6
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00052/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:810dfdace8a349e33eb662dcb4cdaaf7d4caf6ffc476f942deb3f7617cac1d8b
+size 1999050
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00055/debug.png b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00055/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..7a37538dcca5475f9d5c945b585beeede7948faf
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00055/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d38d1172451b3eb52113270cba638bb8183170e994f27bbe23204300dc523557
+size 1944971
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00055/depth.npy b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00055/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..4e8c205e61c7edaef4238a99a7beca74f756142e
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00055/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:39684f308a60f7e336ba4f3901366e06112aa30f60708361e9fa6d7eb834eefc
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00055/instance.png b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00055/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..2670bc4844f51ab79de6abbb99667f728fbc2215
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00055/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d5981086280c6e3657c381936f3fab18dc20245b6848629e9b7b8436013ecd75
+size 138144
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00055/rgb.png b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00055/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..2642a5a17ff0f61d9ad10436bdf7af68455d86ae
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00055/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7d9edf39969cc72e2e8088010c72c0a2242c2338ce46564efc9f6f2089836df6
+size 1992942
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00060/debug.png b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00060/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..83ab794a9dee21e0b29dc633888d5e6c38d72b31
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00060/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:febd33f32d138d24b8f06d138181d10351328e3be123b08766469a1aa6d46395
+size 1951976
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00060/depth.npy b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00060/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..ffe0ee54420899e3ba4b7b717c5d44595ad4b947
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00060/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9dbb40b1b522d7d17bb1b88914aaaf7f275beac01edd3360b40127fbc789fe5b
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00060/instance.png b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00060/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..3dfe6e253f04c8b8a8f5d3e56d3bebf9a2df669e
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00060/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:45ceb0f598765a0927db31148e5767e4dfe4f82299b2153b451031336e96d2a5
+size 135961
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00060/rgb.png b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00060/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..b31c9802b65e66390a03e4c3850d2a1f47498d93
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00060/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:54e0152cb6c4ca61a327e29bdea62c0b62114da572818c1a69617903d74808c3
+size 1992938
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00069/debug.png b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00069/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..5de7a7667ce4597ed2153fe80ae25cffe2f6e416
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00069/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0f5a2c87e68c1b7815673170ac10a31ccee90a7c5a07431be9cd6f6d7e7d48bc
+size 1968243
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00069/depth.npy b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00069/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..25e09a952a68e4a5fa8d689028625543aa9c612a
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00069/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f44d4164f81b31eeb965687129adb8fd32e2f9ff99368d4f0c082a13965ae6f0
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00069/instance.png b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00069/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..a82709a4568fa0781873ec618e31504a3abb67b3
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00069/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:59c2f696c94e0b7aa8240c3b48b2e23b30ce936f13b6df2d3b727c735de0e5c9
+size 137831
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00069/rgb.png b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00069/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..d6de1256578eb9a940a3ddcccc0decbd08dabfd0
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00069/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4f5ad91291760424e3b766d5e357e9284264ea799167ad0e6b3ff4fe57cad4c1
+size 1994227
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00074/debug.png b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00074/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..a909951ec459cbd09d3100e4c2bf98693261cdac
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00074/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c3289d0ba2d00cee928125b9be4ca3e0cfadc0eb4086fc137dbfd99f13488bc8
+size 1979658
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00074/depth.npy b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00074/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..843f6ca0eb69c82938b630d61dcf11457bf89df9
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00074/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7a177fd8d74b61f85fa57c9b961d17bfcc2edaeeafcfb84c2c3dcca0a1a518e9
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00074/instance.png b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00074/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..13f4a9565a5290ee397d5ac9df51b95f43617b3a
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00074/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b9b2fbb9cd90542c4d8f85c923ca5623ebb29ea9ed400f2a193a9ca40d7c4d40
+size 140242
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00074/rgb.png b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00074/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..e3c7fc9bbb14d569bc1c07482211d58368f4eb42
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00074/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0eb8cc1704805ac0790c1fc934797247a791ec4089f08a8a32d63758f3524f0c
+size 1996731
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00075/debug.png b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00075/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..dd8682737bee7d9f72ee1877c628ecb8e5515538
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00075/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b498646df7f9fa7a20ee0bfb4469caa2d3365e5bbde9be5f5e20a6759731f49a
+size 1992130
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00075/depth.npy b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00075/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..a1558eeaf188f02ad049b82c215b57fe8733846b
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00075/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1fda61c35092538dcdb6b4036611866c642f1471125bf896b69a5a93c4a62140
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00075/instance.png b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00075/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..5a05870f43d242362dcf380968e4de7ac4c23765
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00075/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:45bc148b47cb70d9efc11de3f46f47de0181a67c2f5a875b9e49c3cae144b717
+size 135547
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00075/rgb.png b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00075/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..4a03f8af4db4d3984233e0161163cd80eb9b8a75
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00075/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fa09c74df91108e661717cb4ea52c8293edd6bf2ca1622dc59cfe25aff94d085
+size 1999140
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00076/debug.png b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00076/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..6371ce9a1afd294c072477eb74e7c6326e837d6b
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00076/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c4a512de885ecd2f71796349fc068886226ae5e6b65c139311f1ddf4deeeb282
+size 1983164
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00076/depth.npy b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00076/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..0133b64ca885e10e1166d2abeeb68850c6711de0
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00076/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dcdcfc07d669d69f3c6277be52e9dc5e76f9da6e36e76f9f3e074df394030c98
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00076/instance.png b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00076/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..f1b11794e92b98054d6e5140cd65309f0956f431
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00076/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e22ab9eb2067b608f77e936f78001ee0745ea873ad0442d4d7e7c99cbaa22b49
+size 140733
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00076/rgb.png b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00076/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..0adf4fbd2771b44fc19bac32dcdee612c6609a84
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00076/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:edc5d6f8061d7df85dc1d8c2c904f40f161e5313f87372539912a0b8548fb768
+size 1991485
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00078/debug.png b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00078/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..9c64080d7336c1f1ad9c953b06e7dee3d2317d3f
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00078/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2f5f802cfbb4c2ea75eb47ce4ff79992198b99676d26d01317ffd357833983d9
+size 1991045
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00078/depth.npy b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00078/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..981fda06f287d42657576e394f2c7f051e618ecb
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00078/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:112e72a0e0d45b0918d5ca1c0323a50329d8c98f4e54f030d8ca9d448e59ee52
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00078/instance.png b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00078/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..1e145b742345296f5f1bfe9853502ab13dcf4671
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00078/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:58fef45883dadad35811f6ecc1c0cc93397e50a39f74343d932afb6500cddb52
+size 136047
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00078/rgb.png b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00078/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..e541e1267c3586ebf5c66f8458d42f9deee0f1dc
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00078/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c3a22d7fdc0c85462490582e18f5107c029a866c60c54727895e99f212af0757
+size 1994291
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00086/debug.png b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00086/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..a9222f9fdfde7c0d973849544375081a4335bcb5
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00086/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c650d4c2415351b9dd07612efa75681337951eb67408d4d240657ee33bda67bc
+size 1980487
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00086/depth.npy b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00086/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..009d042266b5b13651bf12eb8c6b4d7e057a2b69
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00086/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6dc50f428614b9182d3a298f80f9ce48fc7eb09f6e8ae202c5284e3beb482819
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00086/instance.png b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00086/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..72f79f1d5b58333ada17de00405baa656b9d4d2c
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00086/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:741d2b106a6394ccdff8d36da7399f0f67fc0d32ad9fd56572f381d76fba4104
+size 140922
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00086/rgb.png b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00086/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..44b18839f3959c6d785bb4ba1816fe4e672c21df
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00086/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:143012ea803b563eac5c95f6f404f43f7685237e799a84edca27b26205bf4b7c
+size 1978051
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00088/debug.png b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00088/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..ec8cdb48e711d7878ebdcaeb1bc00187be0c85ad
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00088/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d8adc982347216627b284b7781de5f554be93f3771170b6d8b654bce4e40e860
+size 1990530
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00088/depth.npy b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00088/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..b922812139ad07f37e000c0d109e7f77dd2f237c
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00088/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3a48a963940259a464b61d233c1350225b27e846020f9fcc3b8cc18803f3884b
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00088/instance.png b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00088/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..5423f7ffe3ad3aecf7649d4a960cf44d09d9db79
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00088/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:560ac018cfb9b0d1ffe51da3e470e1d7fa6ce0cb9fe8dc02473eb893a7ff6d04
+size 142174
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00088/rgb.png b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00088/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..d70581c569d47faa3484754d29259861917891ae
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00088/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:18afdc6ba31948993b6b95d7c33b4f0fb648c9f94b3326d2c4f2ec09e127d0ee
+size 1985083
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00092/debug.png b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00092/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..52f7628000af2462cc196c3c8d65c580320fed6c
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00092/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7857fd5ee5ff4859684e2b977e2236b7b4c98579b534c5956c73037388eebb87
+size 2019890
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00092/depth.npy b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00092/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..7a96841e9c6f02854f0b6297f5b2c4c2633fdf33
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00092/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b9e029e97f603bc7764386b2c41eb16b89c37b41aa5db2a207dace49a4539774
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00092/instance.png b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00092/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..f84ccdc651616d2d4f5a2b4191516613be36f4c5
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00092/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:264c4e4dbe41a806bfdd216d9bcdc6cf3e46d680e91c286f3c27787eb987016c
+size 143970
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00092/rgb.png b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00092/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..c085721aa52a6730864ceb6614d42d42454a68f8
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00092/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:96bf22f29ba084de3dc82215f22b83dfa6ea18de678952c4b28f4c1d84ae0cee
+size 2023735
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00094/debug.png b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00094/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..46ec8f87f571ff426f75df8fd4b63c7d246361ca
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00094/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2cf856eef3b949cdcb1dda5b58089e2e891e02a6ac3536559ed79ea61b564f25
+size 2007646
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00094/depth.npy b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00094/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..e8b082fd4c09b7f94cc0a1d036a552bab7fa68b7
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00094/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:606b8d9e0e624d8ca71ded61f80c3d7cdb7794abd01287e4b80335e614781da7
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00094/instance.png b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00094/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..1882809746e8ae1ae6c0274f840ddebfcbf2a127
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00094/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9b716e9f16393e8759f058309e5965310ff0db6d9e18c798e418d431759b8675
+size 146588
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00094/rgb.png b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00094/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..16f484e987511793083a8965d91a29b7e8d07e95
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00094/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a3d3e4d7e147db15fbb7f99239033843db4da464d8dd260521d56d90bddda00a
+size 2018165
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00095/debug.png b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00095/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..0b9ff447e8d6a6038d4326ee068ff9d8fe4dde17
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00095/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:82fd5525b3bafeb47ec074653b22eb80a8c99508ee365a8f8c6771f03cd45e94
+size 1998494
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00095/depth.npy b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00095/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..edb89131b57cc15d25d035273dc8d935d64f998d
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00095/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d36a94d73c49ced3b8d0c3e98178c7a6a7803d1eb1b5440e4c3f32ebe662e94a
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00095/instance.png b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00095/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..5fe6055299d2c235a680bd3c6e89af1c35d57e71
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00095/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c50f57bcc42939e8a98aa25277d1a486b47c17ab5621003beff7d59ef15bd72d
+size 146442
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00095/rgb.png b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00095/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..0c8408e7740b2fb730275dc20fc47d1f46d7940b
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00095/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2b3f021ee0db84a3e816359b1c85e84cbbe718e27fd52a7e56d76c5336abe9ca
+size 2001641
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00096/debug.png b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00096/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..aefc706d9a2ca61725442fc6dfa3ec0a14bf1ba6
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00096/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9c95df54d3b4643fc51953cdc185420ec7e43f7970f4f8508a6d8f7fe2cf7465
+size 1974831
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00096/depth.npy b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00096/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..32df6f4e99eb17ff2872fff38ead92d510bc3df7
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00096/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e52ff19e167d4c3fb8fe3f5f1a74dd70cde5fa70974538156095d8cf42e9c857
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00096/instance.png b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00096/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..9157aa5b94bc0887cd47d75060b580b041e23765
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00096/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:37243f23ac514d8f039ae3caa2241be508e4a8c05843d79aa8f96fe5e8963271
+size 149784
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00096/rgb.png b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00096/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..b89859723800cabd6ec0bab05625a8f832fbed22
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00096/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f0fce8aeb94ad76bb7090b80c56dc50bde86c0ec10e01c26bb8776cc85ba5cb7
+size 1995191
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00099/debug.png b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00099/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..0ece2210bd8317b26183e18867071ca79d7aca47
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00099/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0635446f1ba92cba609f6ac8d77128ba5ee2adc7fdda7c6a19f190a4f4d26a70
+size 2006044
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00099/depth.npy b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00099/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..c6efef5322338d46846b602dec378854ae0cce44
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00099/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9d818ea389fb4842e89a5108c5e4bfe38059041c850be9d6476cb515915b6c69
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00099/instance.png b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00099/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..bfcbac3fcf705746b26bed1f327d30d531262cab
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00099/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5257c35f4b6d281a7c9cfaedf490f70518fd7cdfedd1d9002564e31102566262
+size 152534
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00099/rgb.png b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00099/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..546ee94f14701c52b9aa8ebbd6ed1b5b50443614
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00099/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:297014ad66c7d8c3ca327eb2d242620e0e75c24d67e44ee5c064cc3264c4e2a0
+size 2019174
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00100/debug.png b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00100/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..afd0dbb0d8fb58073c44b9fed24ed1a0238fea1b
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00100/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b016313278aabd62cec1a02d0fab01545ae248c0220f0a7ba2a17adbe37ee6a4
+size 2023427
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00100/depth.npy b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00100/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..adb970ea430a726f064f70159d4eb4d11c9fd00c
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00100/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2f89027f4a416181f8d9853f32da79e39f1df8a20b5cbe0e688858afa2f702d5
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00100/instance.png b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00100/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..2a02b7c3ae500faa1d60231455dc04e27dbb677f
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00100/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e37f60f19beca1078c41813664b71791092d15b947d526d0fe7827a354d86e94
+size 149070
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00100/rgb.png b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00100/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..9d578a238dd7733db2f4c2414a7585caf96b0fad
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00100/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3425a8a679462b2989f0488e1bf327c9a2cf0ca3cd5602f84c70a90cd2143821
+size 2023281
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00101/debug.png b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00101/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..b6e118cca0a3fe3f0a98a3e2265a622b12c2d50f
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00101/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b3ace0ffd9e1f5900dec792afe5da762adaa141e67547fe3b98922e1bab505d6
+size 2000796
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00101/depth.npy b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00101/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..3be46b94cea5d1247c32db630b4205be0be0604f
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00101/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:79688ebcc7fd8701bf6adc5690b8912cd201b0de2133f604c780ca89f7857a50
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00101/instance.png b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00101/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..ec3b110e66ed5a64fded41dfe7dcaa1fc0844673
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00101/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:520310f8ae5efdbb29043c26f99c28a655f688e3d17bd66ee9ec0051cf13b99e
+size 152666
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00101/rgb.png b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00101/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..10a3697bd360f15ad023eb8790a2fcc65d4f5a87
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00101/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1f18727149420c5d3dc7fb1ea5f435abdec0d94b8fa23a04ac628d8458dc2527
+size 2004341
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00105/debug.png b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00105/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..9d6fb76f716b938d2a1adc9efe93bc0e04eba58c
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00105/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8cb8556f7c100bff1ba7f06b050a6c4e034df8d3b47bb82b1088dfa7e85d2385
+size 2007525
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00105/depth.npy b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00105/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..31a01e949963c6789aac8a96ac7efea7d3282678
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00105/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4f98d4e67e1ab45eccf56088d798ecc0617d4df74d8b908109b93282f4d93bc7
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00105/instance.png b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00105/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..b9cffc624a37a16730dee81b653014a7b153d374
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00105/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f22cd607b31bacbd0be9c5ecc5828cc9972c1b62bc1c5850026d1e0700482eeb
+size 150977
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00105/rgb.png b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00105/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..727561ac272b41e5379c54a0a74d43f4c7961c97
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00105/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:35ec21ef9d362789f8107ca34ecfd63f1f489eab8f27237a52d94b424bf15730
+size 2005038
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00107/debug.png b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00107/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..d8074ca7f847f5bd4cf26f12ca3c07f725aa5f8c
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00107/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6a1153ea95d47ec1e518058034a86b0f29fa73775d0ea9425943197d86435c31
+size 1995944
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00107/depth.npy b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00107/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..35a28938dfd8e6c095e1dd52d33cc150c8b0db2d
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00107/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:079024d97178a2ad50cd9bdfbb24290b768d2c97bb434e6e73a587361b68f64e
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00107/instance.png b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00107/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..6be5f93a862c102eee4df5c0d66bb48151514958
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00107/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:815150ed3b7c8cc7e4c5cae40c253c14dccc229947f5e660c05bdb8c4e52d166
+size 151813
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00107/rgb.png b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00107/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..99388afef4da6ca79cdacaf57948168f35c29f7d
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00107/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:52cec776c6a73d2d456c92a10bb0af022930e68fd85f38bdc6bc9e36e3033e01
+size 2015489
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00113/debug.png b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00113/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..4616fe73d1e194f14446624761575183bbfb89f1
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00113/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0d73a064baab3d702cc7f9905926339a70c4b99018f0a01e77c5817b5a030dd8
+size 1984965
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00113/depth.npy b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00113/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..94fd3160b693b9a288e66e116521936ab357debf
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00113/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4099e69f2474fccb2c9be3508995bdd4e3059077c315b106ee706dd0fa968d09
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00113/instance.png b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00113/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..67a460c45eb85d543129b2ab7cd394cfc970d0e6
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00113/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eb6815d866038ec6a31ed17800c2a5a3d43d3b3978c4b39d679defa3f00af2bf
+size 145958
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00113/rgb.png b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00113/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..546d8cb4b8cc94b9cdd41664056d75ef850d3896
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00113/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:436a1fda1ab9da7274edc2d209f0078724829daff48414a2042f121bd949583a
+size 2014669
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00117/debug.png b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00117/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..31a4b44deecd4848e3281257bfeaacc6f7b09f07
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00117/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b36eb943be8c247c219e6e5e501fded36bf50caa1f1a6a89428b491c699a2dab
+size 1960920
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00117/depth.npy b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00117/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..ad49bc7b4adfe570b93abaaed46faa2b4c405434
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00117/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6b6b04c224c9a6d294ae9d79e75f1f80ccb9ecf46140532106108c15dfab8a91
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00117/instance.png b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00117/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..c5356211491c7cc733b232ec6bdedd35e8f1a560
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00117/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cd47e3fc9440e5ba1e5d9624f34a420ebcef8e2d7336e003f44991abaca7299b
+size 133816
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00117/rgb.png b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00117/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..6008b9007d1854494696f43f33476e8ab9764eb2
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00117/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8e79a1fd28ecb1833f54310c79ba074e0f8948e845b69cd21bf24a0116553c93
+size 2018491
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00121/debug.png b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00121/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..631c891e7b4d9ef720a571ca160c6429df8793c1
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00121/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:873c34e6f182c4e2d61d34921232299e19dc8d9096e50192ef140efe045f5bbf
+size 2014533
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00121/depth.npy b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00121/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..10b4f653ffd98bca570a14ae678b5c798fc96812
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00121/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a4827ff15e15153ce757950cb007925a9faff2ef52256bd13f6b605655ca1d68
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00121/instance.png b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00121/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..eefb0d5f4aaff9a711753cc0659e1f4f587ee2e6
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00121/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2c6085ec642f154a08714a986e9b3dd3a2ff2433432bc8bc07914eac7d510e4a
+size 136036
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00121/rgb.png b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00121/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..10d5a8309944eef4ca6848b013fa54d179a7c420
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00121/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7230dd86f3d1e1810f557f60d38a02eb898b2afd9f045b8be0e5037c4d306fe0
+size 2024411
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00126/debug.png b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00126/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..9010351174ec3f1d84815bd6141c51369cdd941e
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00126/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ad0aa2c9d98f024f73f718de675950b36462f53798aa4ccaed9ab2a289df7f03
+size 1983043
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00126/depth.npy b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00126/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..5a6c85e30e88f532f3f9df03bea5cbf829c1f130
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00126/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c6e62d1902e9d5345730fd9054aaad7b064490acb1e5f23cd49fa588798269ef
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00126/instance.png b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00126/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..03bd83a27dbc798e4ac8f7b35d5756ea4e08257b
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00126/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:36d05b4fbe4936c35ee4539fcb3660b7397808b075e90cc5650d87d5350b98a3
+size 142573
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00126/rgb.png b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00126/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..d98ee13e4f642957c29038929e8cf47eb9b90e8a
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00126/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f871bdd2e269b82728fc05cc5029eb33967bbe98e5f58c255410dbd4b5fa6afd
+size 2029866
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00127/debug.png b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00127/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..7e170736688170d24ebc802db2faefeee63b4c24
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00127/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c11193c9d3ea6b4d77685ff707dfa4c2f940450e69acbeff99716e34238e0af6
+size 1978213
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00127/depth.npy b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00127/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..e1b71f7c64a47740ad45e74b718cb5f2cbc70815
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00127/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:71444b6bf8492e9934ebbcd5b3137dd369fecfa4861b397a909c8810528b6a9e
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00127/instance.png b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00127/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..69a40977b207739ada50d4a9667d0530e056db98
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00127/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4182df98c6c14b107d7498e96613b875406ac199a76c70fa2b24f01adaa14ccf
+size 143379
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00127/rgb.png b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00127/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..0ba4dce665928ec872914dddbb19805d41d6d753
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00127/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ac936e970500e05c90dc3dd519e4054af9491679023930d5e65db3e9f5379be2
+size 2029537
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00128/debug.png b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00128/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..46774158aec8a04f38ac72aa5d55ba13ab380a35
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00128/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a374647f3c61ca37e03d2dfa3dcb8bd8eb3fbad2c034ab1f9812f073b2f3aece
+size 1981003
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00128/depth.npy b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00128/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..9a933c93b6b3bfc89c1b3c10b807cce961d0298a
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00128/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d5a3ac802a54f20f4902b2c9eb569a3c82f21a394e5223175fb4a90028ea710c
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00128/instance.png b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00128/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..f28bbb2fba6cc1fb2f73c3432ebcf81384a331ca
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00128/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f4ba37ea5f4416c1f71c16ddfb5e69794257e89f05f976cba0f9c61d07ba4663
+size 144750
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00128/rgb.png b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00128/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..44c38f205e04b712e8a6b8670d122c48874a348d
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00128/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6ec8bf5b71a865480d8645b65df18c027f96da96af6934bd5139cce4686a2deb
+size 2029015
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00132/debug.png b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00132/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..dfdca528f8bb004a8314b55f939a79ae2a9da19b
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00132/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3f777662bad9729e159085b2bb6eae75b1265ed1bdaf78f9310f3eef3f3a46d4
+size 2009986
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00132/depth.npy b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00132/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..e1fb00ffdf247124f172d02f6d68e833ca87234c
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00132/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:48da907f08caa052a67224126cbc514c40e112c1eba70714256a7d2c357a48d8
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00132/instance.png b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00132/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..482f00c25c43da986fd1ae0ded371c40e789d7da
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00132/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:52d026d477d9af8e43f3cad314c194e9c5b6d4af09e3be5bf8592bd140a4bf4a
+size 149828
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00132/rgb.png b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00132/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..0e59a16938d01e284a6a9b0bfdd24c3d0fbddb53
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00132/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1b42ad830a259b8434ff3e41f160cd000a1ccf40acb9b7534d0a4d3299d18c18
+size 2036945
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00135/debug.png b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00135/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..d771afb5ebb0ad01d2885793d37f3ab9b16760d3
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00135/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:35e6c0975d5448c2f575b1a014dc977c6006b93c7bf1c89a6f45bd76d2ca3c4f
+size 2044283
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00135/depth.npy b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00135/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..f5b730fb7facfe16b11622f5058ac8a326b48bc4
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00135/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fc4c46fadabebe29e4e566ccc62bcaa2757e4887ad48a94c37fe716469929fca
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00135/instance.png b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00135/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..2b1e8cf247057dea7122072c0a79e49229a9dd9a
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00135/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5157faff006995ac8edb31f4085e343e472eaa97ea6d2bb80d80d5907e803986
+size 152028
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00135/rgb.png b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00135/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..cde966fc2393a52692e48e9b8158612785dfbef7
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00135/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b8ff114a5c08a1ecbd81985032b48c912667e22924f67b6b77dad0f644a4ed45
+size 2057243
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00136/debug.png b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00136/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..e6e0a3a019e636920df17a9924398979144b4f53
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00136/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2b2e805da38cfd28ac05838b898f1f7ce76cf15a8d370fdbf96e17091272a031
+size 2037716
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00136/depth.npy b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00136/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..05f92cd0975792319248d84227539c80c02b2924
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00136/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9906d1349708ba4854814d78f8ce98e40e4496a52d746a91d32c6f12aa3b79f7
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00136/instance.png b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00136/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..2b2ed5e6a0c0f63fa640449fa27898e5c968bf66
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00136/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f85a3f58d52f3efa1d2683aed3f5393404a22c0896e7ad6519c8aa172e04c69b
+size 153170
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00136/rgb.png b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00136/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..8c2160bc0a1457c1decb03f545c7e911e0729bdc
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00136/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ee576a11d3a0b8edc177dcc023f81d3869dfc4bde8ef41cb16fec381425b5749
+size 2052843
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00141/debug.png b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00141/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..61d8f8a959ccb9e547367df225c7d30a5ec43d10
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00141/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:31bb8f7ad3fc4a501ad03b38bb37c956b05b6cc03b8041d7b70d851a330fd2c1
+size 2043559
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00141/depth.npy b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00141/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..65073c811b5b57f8daed103e30046726a0a15fce
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00141/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:08ee7adc34620d32b8655cb2e1063f6d3e70c2fe10c1f59608e18e6e637d4c0f
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00141/instance.png b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00141/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..147143923cf9934265788df8e143d672f4b660e7
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00141/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dc305ad5706847445f20e8c5e9adc41422db1acdd303aacfe44d4bbe9528a034
+size 157588
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00141/rgb.png b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00141/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..295c57509358f4c8d75c6c840dba3622ac2ca17a
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00141/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:926e155248ea3bd4accef1b483a66398f4201eab95f78f93735ad4292172391e
+size 2053792
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00142/debug.png b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00142/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..208635cd167915d5b9a2292a9a3b3735cb00b9cc
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00142/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9af3d54a209f5d6d2909c4e83ce798160e3b95fe41b40d9411d8d0a41d757999
+size 2040476
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00142/depth.npy b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00142/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..ad98bd2ff0ad40af3acfd5cfb609ef630057f70b
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00142/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:74b7006fc8a96ed54e19499a9e9c9841829e6b9d9e15d9da28a7c2b108b8c514
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00142/instance.png b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00142/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..3547b1e3061300a80a82bb7153cf4e3f79a835a4
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00142/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d0e11bdd42f3b99152437b8b28adbbf9e2f70d1c4955ed9cf3db802d9c7ddebf
+size 156398
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00142/rgb.png b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00142/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..f345449ac5a792f9067d6303c4f2120dc7e7fa1a
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00142/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2c4cb6ce18ef5c2151e42cc227c8193c3340710b935e5aa0b56014770e041a2b
+size 2046872
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00149/debug.png b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00149/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..e88928528bdcc847e9120be5e677e2f2ebfc8f67
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00149/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9b71258a6c31bf6e0b60696a707285c1286eabbb6ec521b1c8184b35362e2b72
+size 2053580
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00149/depth.npy b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00149/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..aa42df7f9ba784f3179417758338fa6080ec9bf1
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00149/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d027bf85e213d47e66762ae16a24f6cbd18aa7a70f534580e1a7020ef8284cd5
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00149/instance.png b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00149/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..094c0c3d915cd290cc087ef4cbf14394afd745c8
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00149/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:49fae7b174e7429e03f2c31bcc2fb4c565f50a48fd7d384e751a3e4d8bee78ed
+size 164617
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00149/rgb.png b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00149/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..800ee1aee9cb4c6d1c01c8d66528bf38bb9a27af
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00149/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1250c5436cf41aae63733e13f2c400a152cba8d07c5e3e5bc25dc4fa8fb7b3ca
+size 2069628
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00152/debug.png b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00152/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..ab007f219ee38394bb2ac687cb3b0417cbacb061
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00152/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8b0588943b2961d24d9504c334c578f2cb6802b3b64ad6006b444be588b6ad40
+size 2058980
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00152/depth.npy b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00152/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..3656e0a15e775be1363254eb7c9dbad3c9d0890b
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00152/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c55ebacf92ed694d0bbf8593702ced8953cfcc73e15cd79b4cbe058739e58f74
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00152/instance.png b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00152/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..e324dbcb5ecdfc75e958287953573da16c1c5597
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00152/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5e7fc7ed9dbc74636bf4055b9e69269188fd9ce357222df56d8a3d4c21766b47
+size 166665
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00152/rgb.png b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00152/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..c593619cecc70e35a4e88e11fe077f1048e81ee9
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00152/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:245ab77470c28687cb31ce9113767ed48c8b6a2cea669120ffb6d8fac2de06df
+size 2067288
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00153/debug.png b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00153/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..32657b7665af0391999c61f13f7a5220f1bd6336
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00153/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a24fa2992faaeb5fb1a40b3465ced3edef805d1f57ad6aa12ee5318d37e04ecf
+size 2058593
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00153/depth.npy b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00153/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..475dfe72c9fcdc37662a958468527c252a9be99f
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00153/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cc82edd9907effe4a5756e6e3a7771884bfc019f41a9ae2d50e5560181543f45
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00153/instance.png b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00153/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..1c78feb770802d72924f488f7b64edd83a7c3d39
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00153/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4227410334737f35da8f95e832650b8b7a45c259102d7a90fe4b87da02819c1a
+size 165653
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00153/rgb.png b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00153/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..8e4cd6c8c3a5beee635b5740cbea8a0f808d2d6c
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00153/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:df18010431e7341ffc413c0062a82e746470d759d2f47732cca8121780faa5f8
+size 2067468
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00155/debug.png b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00155/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..14e5ba4c0211275416e9ae8f20a4c00eccaa75d6
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00155/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:08b1293589ff6db0d470ab1e82afedfdc0dd515e0d80cb2d5457408413689652
+size 2048911
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00155/depth.npy b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00155/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..a3180f7b07a868a554e29ee724507d0541a7693f
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00155/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:91cddfb70f9d5d956a7c320c8838adb852db255b72fee9c014822397be7185b4
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00155/instance.png b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00155/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..6aa8bd50650a5243d9dfa527e8217101e0da0600
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00155/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b60729ce0d3ddf7c92609746909c1ca79cd2d94b7d29b27843c5e913b9ecd1b5
+size 165792
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00155/rgb.png b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00155/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..3af8da2e48fd22bbb7ccb52127416a2477c157fc
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00155/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7c9573aabcd8f26adc5a86a35a6eb7f47fd155fe250c1ac3ef9d2386436cd5fd
+size 2055964
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00157/debug.png b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00157/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..c151ef270aadc4a430b270960879c25283986c6f
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00157/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:29f754070b171b282b39979cdd2b147dae012020b8c2d349310dad03d100587a
+size 2063405
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00157/depth.npy b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00157/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..e6102649e2af6569521023857b12006dbe488a78
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00157/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:facd426f4ba2fa1759a896f88ae779c2e20d1854aa54b67aaacea0df56462a9d
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00157/instance.png b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00157/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..64aea554b3e9147ce40a8c2ed7d794705259ae8c
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00157/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8dc27f203adfabf319fdedcfbd3fa9384f71ab747e490c0e069a2eb7a1964973
+size 169419
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00157/rgb.png b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00157/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..c005db9f4f6da2d80f62b1bd8326c7d176c944f1
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00157/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:57f9dcad5bcada0432c1fdbf9d12c69ca9b9ceea81b7c2f30f737acaf6d17bcb
+size 2067266
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00159/debug.png b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00159/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..2187fa74fb97b99e5be043291d0bbdfb5577a002
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00159/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f578f9a763b0f592e847e76fe43a01c95f1858fc98d657b4e531a632c7065123
+size 2025937
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00159/depth.npy b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00159/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..a58f60e9b4ec3d253f912c69e2b60b4d7b0f7e79
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00159/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:28742fbc1d898fe599079bc6c692b8c544eddee0513c0e654d4979fccb094a37
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00159/instance.png b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00159/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..7dbbb41ac1dbce7f134c7e0f119b476f40e1c18a
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00159/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:440046a97b8757b3e3c39b0c825894945e01342647532276f48a5aaf3323a127
+size 162321
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00159/rgb.png b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00159/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..ba431b044f26fe36321b1a93eca190203a60aadd
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00159/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b4ea6ff08e9dd0b890ba5198dc1c3f6983076d8ef62dffe901c44470cf808282
+size 2025476
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00160/debug.png b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00160/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..75024c1b09608f26170b6a9bd96a87fd3f62649b
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00160/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:23cfaa59fa7c96a8bcde2069af4b2a7c36bbee83e474f21ad859dbcf3bab86c2
+size 2046747
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00160/depth.npy b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00160/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..d691ab4939f1642ae9c7dabcf970719b6f614365
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00160/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:44bc43466329df500d982637922087858ffa6112a6c81eabb6e2f35c7a3ff337
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00160/instance.png b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00160/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..709f0e580567d2259085ca4caec0a16ba4f72da4
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00160/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e78e2e52a393a37e80ec6991480ef560537172d1ff87e3a448d943865dbd7564
+size 170788
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00160/rgb.png b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00160/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..994318bcf17d8579870d83b7ebaac598a20aa846
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00160/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:95ed09d79040c49d777c8a5d37391c48f77031fef0f72003febca0cfc5ecce5c
+size 2052981
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00161/debug.png b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00161/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..4813ea7dcc9792c1c422354eb5c03b6d36c836ab
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00161/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fe5835f2d3ee43b254c14d7fd750c520b26ede686cfb3274ebd1229867ecffde
+size 1989227
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00161/depth.npy b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00161/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..e0852705c68a67b83f0571ad96c747e46bd161ce
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00161/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:518f189044fd7ad1224aef92f66e9e2618217362a6feeb0d47ccde6e732925eb
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00161/instance.png b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00161/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..d76a113eb452302924326acab9f041a42f53304e
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00161/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:000372bae723aa7af92132cf08ee298ee868591eccacaed92475b101bc9296d3
+size 151520
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00161/rgb.png b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00161/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..ee70630c2e3d10072b7acbcee03e88c9b99a1607
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00161/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:487aa04c01a8981af0bc536bca63c9cc71f0531a06e08075d5aff961ce27d840
+size 2001372
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00164/debug.png b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00164/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..bb643651106dea1f0fdd462b72022e00ec4caddf
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00164/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0dc823de9266c1c01a90256e110fef1d4ca16e3784b05113a03783ff02c70977
+size 1998115
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00164/depth.npy b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00164/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..e011e0462f14e41c723c40db26d1150ce209f32c
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00164/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f98b6d543d0ba12c479b4382d11c24882b02fe1cb2eb081e625d7042e076efb2
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00164/instance.png b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00164/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..4797453717cece7681e16e5af074abac117e5525
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00164/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c7f2e6da4c8c2cbc3f5611eb553779a85d17adc74f829825d30e52bf924b30c6
+size 160727
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00164/rgb.png b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00164/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..24ea703d96411e1a3bffcd39fd149374b23cd660
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00164/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7d2b4ce7689598e133d65a728d4d915d6d00759cabd03230f7d98168e9096c45
+size 1979037
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00166/debug.png b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00166/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..061f89ffb7de8ab49a9929fcb1813b3d818eafaf
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00166/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:002e6a0afa6caba3b172245c0f251baeb865f7d4c5ae718b7c228dc114ebe898
+size 1978563
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00166/depth.npy b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00166/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..8e74a2c2402ce5b8e071d53ad18712161b6a6d8f
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00166/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:63f266d4824cf74511b5b01f30d2a4de56f0333cb9d02c24dcfeacdae364dd37
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00166/instance.png b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00166/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..3ebfe5dd40480e55b9861932390199fce6fcf251
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00166/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a0ab71a7fcc19ae1f25ddfb464dca1ad6715b48b05eeb5e237b1e6a8f2e47a6f
+size 153855
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00166/rgb.png b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00166/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..02c0e243578d0cac80e24a1abc3ad7d06391a744
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00166/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e7a1d473dce5028c3540920fff4ccb83ca140fdff6dad37a2603dc419d218cc2
+size 1966751
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00167/debug.png b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00167/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..805f068adb27f849e3599ae2f2df757435f5df32
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00167/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a84258788a24ecb6d2b3641dd5b46033c8b4fec33c84a740472ce46f4465e076
+size 1959850
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00167/depth.npy b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00167/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..8a2c699f5f24c23e6a7470af238be35e3c34ab41
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00167/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3f53248fcf8e658a14fbea15aadb57c0255dbb9a73e4f17fe7a04898da7859e7
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00167/instance.png b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00167/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..bc1a6d8d31ccdd57f2fe29170feff7736f8e7432
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00167/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:efcae670e1f64f88c567ddcfa254e7500e60cb6737c7efc2da6cb9b38b3775ea
+size 147655
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00167/rgb.png b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00167/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..8f88239e619eb0337a1658c3a7fd661b7d9dc24c
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00167/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b98bd335fde0d54ceb21bfda40fdd3be293f17097f13612ed6b4d47cf934fcc9
+size 1962797
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00169/debug.png b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00169/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..380229db415eea7940b2fd612c2eb723bc5fa0a7
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00169/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c765ffb9589387141f19b6dd6b67d4713959618e3a9fed0d7e6cd63793b596a5
+size 1921837
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00169/depth.npy b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00169/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..58dc380e0c217cfdeef339f3fc6160a583cab8e2
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00169/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a55a90d73b0e9910cc0235e3181ec6644a40d1048c991a06708938c5b22b071a
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00169/instance.png b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00169/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..f92b5335a9f00f95ef4135a809e952782487b157
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00169/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fcbfaa269cec5fa4bc28500a4024eeb7a779aa57b58f42d78965af27614962cf
+size 136010
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00169/rgb.png b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00169/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..15b606b8a994e4f0f755ca46c93855d8cce92631
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00169/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:af709c11dbf7270daf71bc4b19ea697f55f3a4468c36237bd75f4b571a48c9e2
+size 1895527
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00171/debug.png b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00171/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..653f509e69187080b1dd84abbaaacaebb2255a33
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00171/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9e40a578084e46bad9b27f5362bf81e09736b8f96b82f1fdf8bdecb219ef21f6
+size 1945451
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00171/depth.npy b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00171/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..16dfa05a2d4c0a7ed38749d852603abf777f4d1b
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00171/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b84c20792c0c9983c075606ea7c15053881fbd156d1d5d5140cc0c924c8ef8cf
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00171/instance.png b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00171/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..e6707214653f0fb9119901accdfcfab1512124aa
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00171/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f8c6f2275bf5d222e301fb23b9a22b17d5f5e8b5410e5a8813c04d1c28fa92df
+size 146609
diff --git a/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00171/rgb.png b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00171/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..d9fe30115b8abd4b9b01857aec983903af715057
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777071452/aug_001/frames_playback/frame_00171/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:230c4f37202e7084a2307f40f988762700cf03c6926ed3ec07f7ef9d6c44fea3
+size 1930872
diff --git a/data_v7/Town07_Opt/trajectory_1777093419/ORI/frames_playback/frame_00062/debug.png b/data_v7/Town07_Opt/trajectory_1777093419/ORI/frames_playback/frame_00062/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..a7cdfcffb078f0e5c472b3896342f25ad72c154d
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777093419/ORI/frames_playback/frame_00062/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:63d3290b3ba656e9d3325858cd5a42c74100f7225873586ee587f8a8bfc2ee04
+size 1894980
diff --git a/data_v7/Town07_Opt/trajectory_1777093419/ORI/frames_playback/frame_00062/depth.npy b/data_v7/Town07_Opt/trajectory_1777093419/ORI/frames_playback/frame_00062/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..48b0c4a3bfc7b9018b0b0e337a3fb42b54585918
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777093419/ORI/frames_playback/frame_00062/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9a457e40201b465eeb5be87b3e224a5fcfd13ec61d1fe506a4f4e40d0826d48b
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777093419/ORI/frames_playback/frame_00062/instance.png b/data_v7/Town07_Opt/trajectory_1777093419/ORI/frames_playback/frame_00062/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..2cd48a6b4ed89360399810660e5adebfc4e72656
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777093419/ORI/frames_playback/frame_00062/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d87b3665aefe2913ba575c41901ebb13d6d4f7d17d3f1a63edad4f5cd81df439
+size 141659
diff --git a/data_v7/Town07_Opt/trajectory_1777093419/ORI/frames_playback/frame_00062/rgb.png b/data_v7/Town07_Opt/trajectory_1777093419/ORI/frames_playback/frame_00062/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..bd0cead44c56770f768a6cfb72d801c35b0f8043
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777093419/ORI/frames_playback/frame_00062/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4d900a0af20e5e774dde534348f469116930ea3db0452d765e514809f4e0bc25
+size 1894749
diff --git a/data_v7/Town07_Opt/trajectory_1777093419/ORI/frames_playback/frame_00156/debug.png b/data_v7/Town07_Opt/trajectory_1777093419/ORI/frames_playback/frame_00156/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..fc6a2bca39e61e8d503913616757ca27183a72f9
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777093419/ORI/frames_playback/frame_00156/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e3aabc1af1311328db87d7f84beccdbe72e9326b47b4e26b6056c5e16f515b26
+size 1880225
diff --git a/data_v7/Town07_Opt/trajectory_1777093419/ORI/frames_playback/frame_00156/depth.npy b/data_v7/Town07_Opt/trajectory_1777093419/ORI/frames_playback/frame_00156/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..1505260ba4c34cc7f5a69f6a2007da602613e3da
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777093419/ORI/frames_playback/frame_00156/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:32cb4d78193af917f399196b6d6a1b2a20b724f500ed2d1c9e7aea1fd6ad9656
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777093419/ORI/frames_playback/frame_00156/instance.png b/data_v7/Town07_Opt/trajectory_1777093419/ORI/frames_playback/frame_00156/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..1564786c4829639162f10c858895f0b4ac3a81c4
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777093419/ORI/frames_playback/frame_00156/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:68af8ce15cebf539d4b9830f416da381ab4e5ee6cdbf29f87fa0f30c285b308d
+size 179580
diff --git a/data_v7/Town07_Opt/trajectory_1777093419/ORI/frames_playback/frame_00156/rgb.png b/data_v7/Town07_Opt/trajectory_1777093419/ORI/frames_playback/frame_00156/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..c06b3ef5eaf790fe1f9dd125fff28cc669ce45fd
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777093419/ORI/frames_playback/frame_00156/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eb5f50e26f2f645bed8104cbe8fdcc7d337a75ca179012a2d07dac6f0349de23
+size 1898663
diff --git a/data_v7/Town07_Opt/trajectory_1777093419/ORI/perturbation_visualization.png b/data_v7/Town07_Opt/trajectory_1777093419/ORI/perturbation_visualization.png
new file mode 100644
index 0000000000000000000000000000000000000000..dfaa46112796b87f2e44f7fb782e3df1a0b4aa26
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777093419/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/Town07_Opt/trajectory_1777093419/ORI/trajectory.json b/data_v7/Town07_Opt/trajectory_1777093419/ORI/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..02f12a23b29c823ccb0e7d10931f891138803f6d
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777093419/ORI/trajectory.json
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fa1e41c93f5afc64647d090a69670d09f26c72d3fcc23ec714b9e89be35a1dad
+size 11158859
diff --git a/data_v7/Town07_Opt/trajectory_1777093419/aug_001/perturbation_visualization.png b/data_v7/Town07_Opt/trajectory_1777093419/aug_001/perturbation_visualization.png
new file mode 100644
index 0000000000000000000000000000000000000000..22e47e7986a96157ad27d034f9bf7258f4fdd2fb
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777093419/aug_001/perturbation_visualization.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0a23aab4007f72a8a4a9d0d7ab9d4526d222319142602a5caeff4950dd839508
+size 205294
diff --git a/data_v7/Town07_Opt/trajectory_1777093419/aug_001/trajectory.json b/data_v7/Town07_Opt/trajectory_1777093419/aug_001/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..a1519332ce8791ddae4147daac454d8e24b94103
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777093419/aug_001/trajectory.json
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f7a69a751dd1029d83c6628dd41c3f918b08ea063c027a88009e02aec0bdf8e2
+size 11554640