diff --git a/run08/2377287_facing_north.png b/run08/2377287_facing_north.png
new file mode 100644
index 0000000000000000000000000000000000000000..3a255f1be0a1e71608435ac61548e65e724356b9
--- /dev/null
+++ b/run08/2377287_facing_north.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a2309e4446e1df6676debaca58e598c4a5f85ece89e19760a4027100b77a43bc
+size 725546
diff --git a/run08/4607442_facing_west.png b/run08/4607442_facing_west.png
new file mode 100644
index 0000000000000000000000000000000000000000..6eed6db5af06c57d5ac44cd2eebb8a5d249b0839
--- /dev/null
+++ b/run08/4607442_facing_west.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:76a6f1106aad1c0171bb8c9ffc808dac9092d12861a10275603a89c4ceb6b0e3
+size 730593
diff --git a/run08/8819066_facing_north.png b/run08/8819066_facing_north.png
new file mode 100644
index 0000000000000000000000000000000000000000..020a0e04ddb69176011f293b154190d1dde41a7a
--- /dev/null
+++ b/run08/8819066_facing_north.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:90d715b28a740bdf8c09e11bf93036f98e85ca13b47e05deab1e0b8eeb7565f2
+size 855195
diff --git a/run08/8819066_facing_west.png b/run08/8819066_facing_west.png
new file mode 100644
index 0000000000000000000000000000000000000000..4c23c19001b69ea812fdd01dbbeab404252bbcb0
--- /dev/null
+++ b/run08/8819066_facing_west.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bacabf6195f4679875d826c7a0516f9e113e57782a7e8ff0503c5a114469ad67
+size 872421
diff --git a/run08/main_cam/img_0000.png b/run08/main_cam/img_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..27426011a5773ab64039199b85f47ca6103d9c43
--- /dev/null
+++ b/run08/main_cam/img_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:317db9df504d9ec9050f2477950605fbf038a84928bd2970a4500e9ac63deeac
+size 1005145
diff --git a/run08/top_down/img_0000.png b/run08/top_down/img_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..325fdfc509037fb0331c47e1515611ecdbcdf83c
--- /dev/null
+++ b/run08/top_down/img_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6069179f1c404e18397a60913bfbe3e07a75ef6e6117d2e8a24b218e6beda7dc
+size 1052653
diff --git a/run09/1227849_facing_north.png b/run09/1227849_facing_north.png
new file mode 100644
index 0000000000000000000000000000000000000000..149c19b191c4ab4c024c88c7cd9bfc4aa053961e
--- /dev/null
+++ b/run09/1227849_facing_north.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:966358bcd403b00e0d5dbc83196cf855f06ad1692a3bc14fa6f010de3067a844
+size 851821
diff --git a/run09/1227849_facing_south.png b/run09/1227849_facing_south.png
new file mode 100644
index 0000000000000000000000000000000000000000..8216bb3ed5b45258769a25d553d79a8708f8f3a8
--- /dev/null
+++ b/run09/1227849_facing_south.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6240140317f1097c451930960f298fd1c83da430c860fab0c36a7ce83e195f29
+size 824719
diff --git a/run09/1227849_facing_west.png b/run09/1227849_facing_west.png
new file mode 100644
index 0000000000000000000000000000000000000000..162c7b2b60b09c401b9888a53ddafd5bdccab9d6
--- /dev/null
+++ b/run09/1227849_facing_west.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:918d29464f6850a9f8ae79ea91304c3020d9642ddfbd510c1f53751af7ef9d93
+size 821693
diff --git a/run09/1921692_facing_north.png b/run09/1921692_facing_north.png
new file mode 100644
index 0000000000000000000000000000000000000000..73a9ebc494fb0cf04bb819b985719905e76477c8
--- /dev/null
+++ b/run09/1921692_facing_north.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3a738f3d6c3420654ed5ecbcaaff0ebcb30c21db57b7792e5de28e1eb94352ad
+size 873639
diff --git a/run09/20135_facing_north.png b/run09/20135_facing_north.png
new file mode 100644
index 0000000000000000000000000000000000000000..b535f7b403b8a36a016f266f22d074f9d1f9d230
--- /dev/null
+++ b/run09/20135_facing_north.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f330fe2638a702d23606b80610e7478fb050c54fb2da2cd5bbd79b039ed23858
+size 867789
diff --git a/run09/20135_facing_south.png b/run09/20135_facing_south.png
new file mode 100644
index 0000000000000000000000000000000000000000..364b3d3e21aa16c9c806e8f24593e21366c7a54a
--- /dev/null
+++ b/run09/20135_facing_south.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0c53f3059d9f5210c4ab47c9d7e5dc980fd9d3ccb2a09d0ab6d3b592032e26f5
+size 874325
diff --git a/run09/2020512_facing_south.png b/run09/2020512_facing_south.png
new file mode 100644
index 0000000000000000000000000000000000000000..d43c3d6a11790a5d159b091450ac5e10e9b9e209
--- /dev/null
+++ b/run09/2020512_facing_south.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f4119a452825b476cc647a00f2155f9577c4d108bfd015c1fe403b540987f6b4
+size 730162
diff --git a/run09/4673442_facing_east.png b/run09/4673442_facing_east.png
new file mode 100644
index 0000000000000000000000000000000000000000..bbd43b3271a78f519035223e605a81c28abe1dd3
--- /dev/null
+++ b/run09/4673442_facing_east.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:95ce9cd9b71fb69a1d69243f61b5f11175e0ff3dcb65690160a35a7b9f6d487b
+size 841801
diff --git a/run09/7697911_facing_north.png b/run09/7697911_facing_north.png
new file mode 100644
index 0000000000000000000000000000000000000000..2e2393ac9fe14e80c646ce828ecd647b2dc2f3c9
--- /dev/null
+++ b/run09/7697911_facing_north.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:37acca0e202d0b0f4d787a921b213f9c3cd40be0112293158ad26d8d840c8ba5
+size 733017
diff --git a/run09/7697911_facing_west.png b/run09/7697911_facing_west.png
new file mode 100644
index 0000000000000000000000000000000000000000..6d9a353a637349e53e9cdef328cea8566867e34e
--- /dev/null
+++ b/run09/7697911_facing_west.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:52ddaf6ecaafee30720254c5c74fac90c7d8edef43cbbebf68beb17c26dbac60
+size 919891
diff --git a/run09/7898820_facing_west.png b/run09/7898820_facing_west.png
new file mode 100644
index 0000000000000000000000000000000000000000..7efd99f6caf1d0da5c64f6ad112387c0f3108287
--- /dev/null
+++ b/run09/7898820_facing_west.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1573fe6dbe5e54e9ecd34a81c7400ece93feed9c9486a5f452e7292af95b012a
+size 908143
diff --git a/run09/agent_seg_debug.png b/run09/agent_seg_debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..811cbf09105666d6dab2568c4fd06a183a23655c
--- /dev/null
+++ b/run09/agent_seg_debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6d645a5762e8cf2faced41465ff4d3cd43f1d6bace320cff9f29cd3fe15240a3
+size 1132
diff --git a/run12/1204959_facing_east.png b/run12/1204959_facing_east.png
new file mode 100644
index 0000000000000000000000000000000000000000..90f8050848206f4fc87fb6147c4f34fba946638e
--- /dev/null
+++ b/run12/1204959_facing_east.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:584f978dd32968b496ff89fb207591b6a92929228313d65854067a559e1d032e
+size 865248
diff --git a/run12/1204959_facing_north.png b/run12/1204959_facing_north.png
new file mode 100644
index 0000000000000000000000000000000000000000..f67dbae38ecbecf8c9db09f01d32a5e05420508d
--- /dev/null
+++ b/run12/1204959_facing_north.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7830ac646c9b59667dd1374a6abc3083f56bec8b941e4218d52601de61ef34c6
+size 848833
diff --git a/run12/1204959_facing_south.png b/run12/1204959_facing_south.png
new file mode 100644
index 0000000000000000000000000000000000000000..3d7c5b438dcba4f60849679db512194aa49f58d3
--- /dev/null
+++ b/run12/1204959_facing_south.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2bd920b7a7ed56b2eba9d430dc1777ad3965d53b713f7be0a0273a771c63473d
+size 848663
diff --git a/run12/1204959_facing_west.png b/run12/1204959_facing_west.png
new file mode 100644
index 0000000000000000000000000000000000000000..7fc4b47582f1099573eb18a52307f39b1492b992
--- /dev/null
+++ b/run12/1204959_facing_west.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7904978ceb81ae418dfade6a93ca6a98eb93f8494572697b7af49141b8fc93ad
+size 732746
diff --git a/run12/1501315_facing_north.png b/run12/1501315_facing_north.png
new file mode 100644
index 0000000000000000000000000000000000000000..0a0d899e4c70e18d50a0c06409a1913950bc36e8
--- /dev/null
+++ b/run12/1501315_facing_north.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f24c5d76547217e7782a7dedefc656c9730a5d73b213cd6debef048d298bb3aa
+size 860762
diff --git a/run12/1623936_facing_east.png b/run12/1623936_facing_east.png
new file mode 100644
index 0000000000000000000000000000000000000000..dd9ac19a767e641702075ef5c47cb09e45b07881
--- /dev/null
+++ b/run12/1623936_facing_east.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2fa3d9ca8ea86f06c140d66fa95e0d48f40b2378f3cf4a28eb687e0b96e1dd49
+size 727827
diff --git a/run12/1623936_facing_north.png b/run12/1623936_facing_north.png
new file mode 100644
index 0000000000000000000000000000000000000000..6da1af5abf515ff5fa47a9ea2b1ef2a9ebc609d9
--- /dev/null
+++ b/run12/1623936_facing_north.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:840cc7e3eb4fc205bcd8384c1ce796dc62b686f8fdfda9efd98bf78a9e78bd03
+size 720984
diff --git a/run12/1623936_facing_west.png b/run12/1623936_facing_west.png
new file mode 100644
index 0000000000000000000000000000000000000000..ea284f3256c4ad5f27122037dde4466b0aaa4b0d
--- /dev/null
+++ b/run12/1623936_facing_west.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4c8e0cd9cab05b903881e03bb32865d838ea4bff87c40d728e42cbb8bf894be6
+size 915727
diff --git a/run12/20022_facing_north.png b/run12/20022_facing_north.png
new file mode 100644
index 0000000000000000000000000000000000000000..6c5d45b97ecd7e6f42ff38c6e1a62166c58ef930
--- /dev/null
+++ b/run12/20022_facing_north.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:24d7b805b3ab8fcbfe3c4fcb2e7cc941aa63c7c6d52477bf315a7b165433b016
+size 905926
diff --git a/run12/20022_facing_south.png b/run12/20022_facing_south.png
new file mode 100644
index 0000000000000000000000000000000000000000..1b58274bff1b5336fe3e970993da7777f5bf1acd
--- /dev/null
+++ b/run12/20022_facing_south.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a7433e233440a3251614b36ce8b98b36ca2b25b80a7b8b0123ac259c2163f631
+size 840454
diff --git a/run12/20022_facing_west.png b/run12/20022_facing_west.png
new file mode 100644
index 0000000000000000000000000000000000000000..f46ed7ea0aab7e17a5b6b1ac9580b5eee6561eac
--- /dev/null
+++ b/run12/20022_facing_west.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:82bbacaac45d8c7cda1f0b803fe92a4737d37e21dd9a9ddfc184ae14706c9644
+size 907834
diff --git a/run12/2345009_facing_east.png b/run12/2345009_facing_east.png
new file mode 100644
index 0000000000000000000000000000000000000000..2b9037d3caa9d4413b9b0e222a5dc65b109b9649
--- /dev/null
+++ b/run12/2345009_facing_east.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8000199061a0820c4a56859c746f08b88bfbcd33a846ca43c753fa2aec961ada
+size 852845
diff --git a/run12/2345009_facing_north.png b/run12/2345009_facing_north.png
new file mode 100644
index 0000000000000000000000000000000000000000..48a8d4192e8e948545877c1816c8b1eed8d428f6
--- /dev/null
+++ b/run12/2345009_facing_north.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:849dc0150df54c0777e1746e89e0abb277783438f0b9534f21c3dc70fe2a333b
+size 841481
diff --git a/run12/2345009_facing_south.png b/run12/2345009_facing_south.png
new file mode 100644
index 0000000000000000000000000000000000000000..e7a4ab9a3ad0467443e52d777e5d32c56dddf29d
--- /dev/null
+++ b/run12/2345009_facing_south.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4799851dbcc15c08d63ef23c10152b0833fb1e96bab9079dcb3da8654286da27
+size 837984
diff --git a/run12/3262878_facing_east.png b/run12/3262878_facing_east.png
new file mode 100644
index 0000000000000000000000000000000000000000..501ae02634daae00571f36ebcf89a4eb80c71eef
--- /dev/null
+++ b/run12/3262878_facing_east.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a78f1291d7f1b6b8469b98f480ba9e4f798e5779a0945e52463effe663e6c4c8
+size 853290
diff --git a/run12/3262878_facing_north.png b/run12/3262878_facing_north.png
new file mode 100644
index 0000000000000000000000000000000000000000..676d9c81b3743768367dd16a1d178bfcc2592ade
--- /dev/null
+++ b/run12/3262878_facing_north.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1ca682ce73d68c84d252f950cc5425f52115ac1d5e1c33cb0fff2d3bd3bd7916
+size 876616
diff --git a/run12/3262878_facing_south.png b/run12/3262878_facing_south.png
new file mode 100644
index 0000000000000000000000000000000000000000..85484b155fafb3e640e9b97b8c635ad616c59852
--- /dev/null
+++ b/run12/3262878_facing_south.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3aeae51651b7d8b86083907a96518bb8f21a8da56892693784c8c09f5191ba7a
+size 806176
diff --git a/run12/4202674_facing_east.png b/run12/4202674_facing_east.png
new file mode 100644
index 0000000000000000000000000000000000000000..4add49959f35ac1b57e5af855a6cf5c77ec9993b
--- /dev/null
+++ b/run12/4202674_facing_east.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:169904b05b68409f21cccacc6468e0c6b3e2fe009437b4495c3dc2e77b9be48c
+size 846461
diff --git a/run12/4202674_facing_north.png b/run12/4202674_facing_north.png
new file mode 100644
index 0000000000000000000000000000000000000000..df246ad1f5e6a0c9ab912f748d22b0e1094b9d53
--- /dev/null
+++ b/run12/4202674_facing_north.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e8e93ca7f05f0de4a5045ecdcc02fef8fabef543abbc4bed6703d5df4c18aa72
+size 700095
diff --git a/run12/4202674_facing_south.png b/run12/4202674_facing_south.png
new file mode 100644
index 0000000000000000000000000000000000000000..7806104aab399eab4ebdb8468683b26ffe022893
--- /dev/null
+++ b/run12/4202674_facing_south.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e9ef30410325e5a9439adbe3970b8f63df26f731fbc7bf8147c6304c9025172c
+size 855618
diff --git a/run12/4202674_facing_west.png b/run12/4202674_facing_west.png
new file mode 100644
index 0000000000000000000000000000000000000000..e6c6d58c7a06c311b91ab4fce6f257eaca8a1543
--- /dev/null
+++ b/run12/4202674_facing_west.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2e04c20f70a751fa2f74b0c1c0d0ef6bff7e3c48cc2450ebe85835fd67b6af79
+size 830675
diff --git a/run12/5461109_facing_east.png b/run12/5461109_facing_east.png
new file mode 100644
index 0000000000000000000000000000000000000000..6f5451f8b3a3ddfd66fd0ad9d80189578c8f5a58
--- /dev/null
+++ b/run12/5461109_facing_east.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bffa779cf6f20cdbf9b6c28ee9d3c678db20932d093cdf54e5988bd03d52622d
+size 728511
diff --git a/run12/5461109_facing_west.png b/run12/5461109_facing_west.png
new file mode 100644
index 0000000000000000000000000000000000000000..61ce6b8e9c1fac64e65da14a0ccffe264e842e08
--- /dev/null
+++ b/run12/5461109_facing_west.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3de30dcd38fa45188ede87bb112c84e71757c422ec95fcd969d199e6081cfa52
+size 874317
diff --git a/run12/9050414_facing_east.png b/run12/9050414_facing_east.png
new file mode 100644
index 0000000000000000000000000000000000000000..1a3f021168981f240d690dc24de71aa85448584a
--- /dev/null
+++ b/run12/9050414_facing_east.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9cd12663778eff25c08ffc6c2f2522ee93ca3033abbc3ebd885d591a544b230a
+size 708184
diff --git a/run12/9050414_facing_south.png b/run12/9050414_facing_south.png
new file mode 100644
index 0000000000000000000000000000000000000000..89ad0027652dc929a9c8d436d5d3cc3724113806
--- /dev/null
+++ b/run12/9050414_facing_south.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8ec5dd4ed98c366ccbc4dc49a8e509444f33419a56b1e6dad5fb575e1488b0ed
+size 868009
diff --git a/run12/9050414_facing_west.png b/run12/9050414_facing_west.png
new file mode 100644
index 0000000000000000000000000000000000000000..aa64c17f10399a8a175f54e579b98e770822c7f9
--- /dev/null
+++ b/run12/9050414_facing_west.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a897232490a389fb8b10c2c16c264395b3b30b9988a502a1bef24755cad22938
+size 930180
diff --git a/run12/9416994_facing_east.png b/run12/9416994_facing_east.png
new file mode 100644
index 0000000000000000000000000000000000000000..7888a32a107e2fc01996a7cf2107a9950dfd1379
--- /dev/null
+++ b/run12/9416994_facing_east.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:04a3061f8ce3e1fe468b09d2f0d7edd468dac78bb8a44e8711356992c0a032b0
+size 854537
diff --git a/run12/9416994_facing_north.png b/run12/9416994_facing_north.png
new file mode 100644
index 0000000000000000000000000000000000000000..a5eeff4cbea0d460fe4f88f9556d4426eeb65391
--- /dev/null
+++ b/run12/9416994_facing_north.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:90c2ba69fc3ae90ac7479350e7dbddcec818fdf28fe58102af95120bf3338579
+size 710196
diff --git a/run12/9416994_facing_south.png b/run12/9416994_facing_south.png
new file mode 100644
index 0000000000000000000000000000000000000000..b587d8e14780d969eaf2af02652ffc1bca97ff59
--- /dev/null
+++ b/run12/9416994_facing_south.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b671832cf3e4d66d32dd6c450c08b44b324ebce79a930aa1f5d5749ac50d9cc1
+size 868370
diff --git a/run12/9416994_facing_west.png b/run12/9416994_facing_west.png
new file mode 100644
index 0000000000000000000000000000000000000000..d7e9e637c3040ef5756974386afb229ad21441d3
--- /dev/null
+++ b/run12/9416994_facing_west.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:75be2519e5392fbed01e4dbca5586ad5b20a180c571b7fe1a519223b745b94b6
+size 879740
diff --git a/run12/agent_facing_north.png b/run12/agent_facing_north.png
new file mode 100644
index 0000000000000000000000000000000000000000..94da5b6cdc953d206101278995769bb1615b5f52
--- /dev/null
+++ b/run12/agent_facing_north.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:14ec701a298df05b63de7a967bf280a0f43622280f6dad6064ea2b1cb70319e2
+size 860716
diff --git a/run12/agent_seg_debug.png b/run12/agent_seg_debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..f46fe51196b9ed81e9c93e96da1687eb6bb41827
--- /dev/null
+++ b/run12/agent_seg_debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b3a99d184ece2bd7e94415b28c1ec292aa587556766dc521c09dbc62d464ef75
+size 1134
diff --git a/run13/20113_facing_east.png b/run13/20113_facing_east.png
new file mode 100644
index 0000000000000000000000000000000000000000..124fc652e46b8a4b93e383b98680305e8241151e
--- /dev/null
+++ b/run13/20113_facing_east.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:48928306ce492dadec95a4108ffaaa78bfcc15b96d316deebfec6947d47f9692
+size 856731
diff --git a/run13/20113_facing_north.png b/run13/20113_facing_north.png
new file mode 100644
index 0000000000000000000000000000000000000000..2302dd8783d7db5b25e3428e4ea6809c75442388
--- /dev/null
+++ b/run13/20113_facing_north.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:db2cd7611e80baaede2475c558329a6adb568f3bdfa3d965050e622c20066724
+size 865577
diff --git a/run13/20113_facing_south.png b/run13/20113_facing_south.png
new file mode 100644
index 0000000000000000000000000000000000000000..006e6431d5d70a72d5ea065e209c29cca936e33d
--- /dev/null
+++ b/run13/20113_facing_south.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:341dfc3ca208ad990f199a5054bf3b5ce404155d13312326d2792962cc3082a7
+size 849388
diff --git a/run13/20113_facing_west.png b/run13/20113_facing_west.png
new file mode 100644
index 0000000000000000000000000000000000000000..cdfc8f8aa10381152f342b1390a2f6ed0d8f24c4
--- /dev/null
+++ b/run13/20113_facing_west.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:998f02dd67239d0e70d283298f534c9df8d6fc889fa5fff15095b6eb7d2c3218
+size 866093
diff --git a/run13/2078123_facing_east.png b/run13/2078123_facing_east.png
new file mode 100644
index 0000000000000000000000000000000000000000..7e03c3d4ec959f2bf3c3df99dd52ba4210d0015d
--- /dev/null
+++ b/run13/2078123_facing_east.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:74a9aa9de61e6b1d0696df2b5b6d94554324907982a8764b3a7104dd6a2a0d27
+size 842537
diff --git a/run13/2078123_facing_north.png b/run13/2078123_facing_north.png
new file mode 100644
index 0000000000000000000000000000000000000000..6b8f520626023716631dc892a5b938d1907c2ac3
--- /dev/null
+++ b/run13/2078123_facing_north.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e3de7dc695ff799f5b9c04c178a04d0c34f10ec9113352eb5de54f689bed9d01
+size 815652
diff --git a/run13/2078123_facing_south.png b/run13/2078123_facing_south.png
new file mode 100644
index 0000000000000000000000000000000000000000..f63cccf76569c665094af700aac1b758567b824b
--- /dev/null
+++ b/run13/2078123_facing_south.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6d9744c8b73ef67aba405b9de96306707379286a88f6ed267a7d771596022426
+size 835702
diff --git a/run13/2078123_facing_west.png b/run13/2078123_facing_west.png
new file mode 100644
index 0000000000000000000000000000000000000000..24654618a5c10bfcb997ed4f3b634915b77d9dd9
--- /dev/null
+++ b/run13/2078123_facing_west.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2b7c7b9c20570850e127c19c9e70adb7e81a86f50e8f8203ae49640121bab0d0
+size 850094
diff --git a/run13/2480632_facing_east.png b/run13/2480632_facing_east.png
new file mode 100644
index 0000000000000000000000000000000000000000..3eb4d2c5f651be2ee06c0ba65da93da7014e5967
--- /dev/null
+++ b/run13/2480632_facing_east.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8e9768b5f2a17c794641f8a9e85da2ad621685256aec538597e4fa8b1e0eb143
+size 843595
diff --git a/run13/2480632_facing_north.png b/run13/2480632_facing_north.png
new file mode 100644
index 0000000000000000000000000000000000000000..30307a46626f35dc5cabbbbeea888d625169e48a
--- /dev/null
+++ b/run13/2480632_facing_north.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2b6efef1ca1420db83134e4eb190d28638f05565ecf79420535027083115a19d
+size 828435
diff --git a/run13/2480632_facing_south.png b/run13/2480632_facing_south.png
new file mode 100644
index 0000000000000000000000000000000000000000..8acbc0bf3ba31b6dd3620f30eae12520ae1f63d3
--- /dev/null
+++ b/run13/2480632_facing_south.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cb0eb5253373e92a144c7b59024696599c84019bbd2c40a1a5d0bc39d371572f
+size 839033
diff --git a/run13/2480632_facing_west.png b/run13/2480632_facing_west.png
new file mode 100644
index 0000000000000000000000000000000000000000..7e6b29deeb1b4a9f20b5b90e0c7575f3bb2bd92f
--- /dev/null
+++ b/run13/2480632_facing_west.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:10f566bca9596aed3f843cf17f172ac19cfd3079ca635bd3f00feb015c37dd5c
+size 738105
diff --git a/run13/3867636_facing_east.png b/run13/3867636_facing_east.png
new file mode 100644
index 0000000000000000000000000000000000000000..467a4020475accf474af0ee303e98ac8e8c4f0bf
--- /dev/null
+++ b/run13/3867636_facing_east.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9f2b6f4c1313483c2f721d35cae71dada5c7234f18c197b663a9b9f2750fc6e0
+size 845469
diff --git a/run13/3867636_facing_north.png b/run13/3867636_facing_north.png
new file mode 100644
index 0000000000000000000000000000000000000000..0721d1b5d772a4abb227f00d80f3710c0a5b42b1
--- /dev/null
+++ b/run13/3867636_facing_north.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a0d4e4cecb84203838722f7c87454cb7aecf95af26e9b90bc8dcc3e2402b673c
+size 720263
diff --git a/run13/3867636_facing_south.png b/run13/3867636_facing_south.png
new file mode 100644
index 0000000000000000000000000000000000000000..da458240d3df7690e728ad83b316f24bab623720
--- /dev/null
+++ b/run13/3867636_facing_south.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:099090443f9f39612491b4c2c504543e1e3318462e0de4e8806f9c0acf821b80
+size 850483
diff --git a/run13/3867636_facing_west.png b/run13/3867636_facing_west.png
new file mode 100644
index 0000000000000000000000000000000000000000..9aaa98e951b310f17076fe1857f6ca57c8c51c64
--- /dev/null
+++ b/run13/3867636_facing_west.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d54df5c65e8aa3e093c623667761d8189f1886ce10aa98d96455b390e8fa6083
+size 860302
diff --git a/run13/5370912_facing_east.png b/run13/5370912_facing_east.png
new file mode 100644
index 0000000000000000000000000000000000000000..b6287357013e50f0ec788cf6beac6eb92c50353c
--- /dev/null
+++ b/run13/5370912_facing_east.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1e854b947a75c3c82350758cf2c42824ef1002075fdac72fc67981480cdf3c00
+size 876504
diff --git a/run13/5370912_facing_north.png b/run13/5370912_facing_north.png
new file mode 100644
index 0000000000000000000000000000000000000000..b976cc65078083b55c467391a5c0ac49c6429980
--- /dev/null
+++ b/run13/5370912_facing_north.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6da395def0461e294724ce30e5b984a4f26997eee1c70f7bdac528768f4feb49
+size 853845
diff --git a/run13/5370912_facing_south.png b/run13/5370912_facing_south.png
new file mode 100644
index 0000000000000000000000000000000000000000..dae6fe142716c336804ce292a7ef06814e95732f
--- /dev/null
+++ b/run13/5370912_facing_south.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c1c128a249a41db048680d9dac12cff8b8da5cc0d4e560f2ccb7888f2254472f
+size 817446
diff --git a/run13/5370912_facing_west.png b/run13/5370912_facing_west.png
new file mode 100644
index 0000000000000000000000000000000000000000..9aab95dd49e128a0977c4c932c2c519bc8bf607d
--- /dev/null
+++ b/run13/5370912_facing_west.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:85ba80ed6fb62c848a3f708c12a0cb8261f18a0d1b5f21fff4fca6a8d7d5149f
+size 736397
diff --git a/run13/5752593_facing_east.png b/run13/5752593_facing_east.png
new file mode 100644
index 0000000000000000000000000000000000000000..c973a7db8a6ad43d837a114b7e27802e4e2feb00
--- /dev/null
+++ b/run13/5752593_facing_east.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4bfdfb513646e5eac0a21dd26af2e3b8379214e769cdd8722a1e7d2d90af6af1
+size 711758
diff --git a/run13/5752593_facing_north.png b/run13/5752593_facing_north.png
new file mode 100644
index 0000000000000000000000000000000000000000..bf914760b04dceb8237498fe5ea1821aaf2ee30f
--- /dev/null
+++ b/run13/5752593_facing_north.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c19410ab92da84fdc1a17308ffcaf0ed8e0716bdd1af7bf4394d47f1569d8465
+size 875132
diff --git a/run13/5752593_facing_south.png b/run13/5752593_facing_south.png
new file mode 100644
index 0000000000000000000000000000000000000000..e398bd15b1df7349b7e6e42fda3d92076faa1c01
--- /dev/null
+++ b/run13/5752593_facing_south.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d0e9bfa232839e816a89b48f8fcafa4f13dfe41783cfb47f9b39dd271ff53b7b
+size 825043
diff --git a/run13/5752593_facing_west.png b/run13/5752593_facing_west.png
new file mode 100644
index 0000000000000000000000000000000000000000..c65d0129bdd0952ef94a627c1bc09506b1b18bd1
--- /dev/null
+++ b/run13/5752593_facing_west.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9b148a2df3433374a07a8ab9d5078ffb94233483653874d11abbf7afff2b1f17
+size 907562
diff --git a/run13/6024099_facing_east.png b/run13/6024099_facing_east.png
new file mode 100644
index 0000000000000000000000000000000000000000..3bacfac1d9e43f1538f957fca6d094eb8660aa10
--- /dev/null
+++ b/run13/6024099_facing_east.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c0d16ff6f662718611b44e93d91f4649e02e6760764109c11aede000af7ab6f2
+size 843452
diff --git a/run13/6024099_facing_north.png b/run13/6024099_facing_north.png
new file mode 100644
index 0000000000000000000000000000000000000000..01cf254ae7562019ed963f34df68476523d9ac61
--- /dev/null
+++ b/run13/6024099_facing_north.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:747eee249c86adf02f2df6844f91c482271940ede2b6c2a690b048d681ff93fd
+size 855349
diff --git a/run13/6024099_facing_south.png b/run13/6024099_facing_south.png
new file mode 100644
index 0000000000000000000000000000000000000000..242360dfc979cc8accb2ebbcf486b7fc38487334
--- /dev/null
+++ b/run13/6024099_facing_south.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2b0dcd904f025a40342313903a219a7b54782424b1dc8e7b5ef55b81cfc4cf7f
+size 833979
diff --git a/run13/6024099_facing_west.png b/run13/6024099_facing_west.png
new file mode 100644
index 0000000000000000000000000000000000000000..e92caccfb5a10f7c24183d99e556a021572bc33b
--- /dev/null
+++ b/run13/6024099_facing_west.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ce20e66f82f8b3de6a1df33e3c525d0bd49db43612989ae591b09032c1c96811
+size 862435
diff --git a/run13/6830299_facing_east.png b/run13/6830299_facing_east.png
new file mode 100644
index 0000000000000000000000000000000000000000..8a7c350408bdd37d982de7eec5c1d75f4f55e027
--- /dev/null
+++ b/run13/6830299_facing_east.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a70d0633254475cce73b05d3de7546a20319df7ede24d1d5ac5a55debc910797
+size 817561
diff --git a/run13/6830299_facing_north.png b/run13/6830299_facing_north.png
new file mode 100644
index 0000000000000000000000000000000000000000..a8204517adb23a35e37acc5fe99e70a535bb9523
--- /dev/null
+++ b/run13/6830299_facing_north.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:218916071081a16256ded57d3df57e1c7a7f919980dc336be8b57693d4eec2aa
+size 856667
diff --git a/run13/6830299_facing_south.png b/run13/6830299_facing_south.png
new file mode 100644
index 0000000000000000000000000000000000000000..906ea1ffa7250ef4bc5565cf45bc20ed248f92be
--- /dev/null
+++ b/run13/6830299_facing_south.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0d55207d9fc09b5bf05ff6917c0befc6be5730f8d123d60dab536d14c8fd3125
+size 731972
diff --git a/run13/6830299_facing_west.png b/run13/6830299_facing_west.png
new file mode 100644
index 0000000000000000000000000000000000000000..eaab5f77ed7dce7534258a6f1a2565bb8823f9e8
--- /dev/null
+++ b/run13/6830299_facing_west.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1d5ba6c69d7bcc2688d4825dafc852c10e60413419fcd83eb7d592600f65f22f
+size 872508
diff --git a/run13/8500855_facing_east.png b/run13/8500855_facing_east.png
new file mode 100644
index 0000000000000000000000000000000000000000..1a3b7ffcf170be2613d6b6000c2fa02980c2c2cc
--- /dev/null
+++ b/run13/8500855_facing_east.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4722e6d61d86eb7deab1acb22fcbfcc531f50b0127021e7b5cb8d537db8c286f
+size 838967
diff --git a/run13/8500855_facing_north.png b/run13/8500855_facing_north.png
new file mode 100644
index 0000000000000000000000000000000000000000..9eb23c062f6c94e215112af0ef9ef170009adea7
--- /dev/null
+++ b/run13/8500855_facing_north.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c734e21c4cb099f9b00677966dacc3680ecbc3ab3c8cf1dfedab96787f20f63e
+size 858513
diff --git a/run13/8500855_facing_south.png b/run13/8500855_facing_south.png
new file mode 100644
index 0000000000000000000000000000000000000000..23b08355504b72e7cffaeed0b1212f415126dcf0
--- /dev/null
+++ b/run13/8500855_facing_south.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:53d91752e889a4e58e895160ddceb8ccd77600b3ab86d3ff3848186c554a0393
+size 738551
diff --git a/run13/8500855_facing_west.png b/run13/8500855_facing_west.png
new file mode 100644
index 0000000000000000000000000000000000000000..6869d6d4757214949956c90b39d2db9bfb76488d
--- /dev/null
+++ b/run13/8500855_facing_west.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c9d3a58d86c7fcaae6ee2e678e082528e7078c69c953e7289c963068be35940d
+size 848892
diff --git a/run13/8787965_facing_east.png b/run13/8787965_facing_east.png
new file mode 100644
index 0000000000000000000000000000000000000000..7bf38f2daf12e1b11ffbfa0ec4b1366bb2583451
--- /dev/null
+++ b/run13/8787965_facing_east.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b6dc03711d74ab6d7348732a71fc1e97cd15d5e82a2e8c1b1f1499b819a7f7c4
+size 835211
diff --git a/run13/8787965_facing_north.png b/run13/8787965_facing_north.png
new file mode 100644
index 0000000000000000000000000000000000000000..0f2e98170d2b457d3fbfc9f77ebdc280ba53dbf2
--- /dev/null
+++ b/run13/8787965_facing_north.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fbc4079c5283898fdbfc10d9b6fbf55815fe6f4a6beba0941f7bef12a307e151
+size 714638
diff --git a/run13/8787965_facing_south.png b/run13/8787965_facing_south.png
new file mode 100644
index 0000000000000000000000000000000000000000..3fa9aa9118afcbed7e116927a2fc53ec09a3a1b7
--- /dev/null
+++ b/run13/8787965_facing_south.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:15fe356e83256aa5384efd5fd94320f31482883ab5f1cbe08161637064645509
+size 872872
diff --git a/run13/8787965_facing_west.png b/run13/8787965_facing_west.png
new file mode 100644
index 0000000000000000000000000000000000000000..47c0dd54a341959a0840bae52a88b3bfff042d38
--- /dev/null
+++ b/run13/8787965_facing_west.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c01d23eb8bd612ed39d5722c664fba1eaa2b288bd030347bed24c6b25ef166a7
+size 882123
diff --git a/run13/agent_facing_east.png b/run13/agent_facing_east.png
new file mode 100644
index 0000000000000000000000000000000000000000..41f9fcd2818d821e2c6bb42f4687bc17b01d8291
--- /dev/null
+++ b/run13/agent_facing_east.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a184b91fb596f74014d74cfcf85f215e9868c23db087dab74f08f10b8bd9dbcd
+size 847787
diff --git a/run13/agent_facing_north.png b/run13/agent_facing_north.png
new file mode 100644
index 0000000000000000000000000000000000000000..1ceb28654ff64fd3174c0ea3ff9daa9ac0146183
--- /dev/null
+++ b/run13/agent_facing_north.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c8f5951647648bc3f299f69813a68252043a60f227edc578ebecabf412fed8eb
+size 858529
diff --git a/run13/agent_facing_south.png b/run13/agent_facing_south.png
new file mode 100644
index 0000000000000000000000000000000000000000..b9d14f0f40f388fc78dd1d6cac67f978dc9f34b0
--- /dev/null
+++ b/run13/agent_facing_south.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4d0799192bef14c5732883255b176aaf4164ba2e583c89bf0f47cf604b26e126
+size 740684
diff --git a/run13/agent_facing_west.png b/run13/agent_facing_west.png
new file mode 100644
index 0000000000000000000000000000000000000000..4312518c60d0f243b88c726ff8e55ac6c0193562
--- /dev/null
+++ b/run13/agent_facing_west.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:194f07811620c57fafc6caac6f7625469ccb44aa25d519266d217f8db8ceb015
+size 736185
diff --git a/run13/agent_seg_debug.png b/run13/agent_seg_debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..220776576a7db8b7d95924907258be4935d165b0
--- /dev/null
+++ b/run13/agent_seg_debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4d29cd77c114b08b7783a3f747d8d3333d60c3bf40c1d9caa0c239beaed3fb05
+size 1129
diff --git a/run13/main_cam/img_0000.png b/run13/main_cam/img_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..27426011a5773ab64039199b85f47ca6103d9c43
--- /dev/null
+++ b/run13/main_cam/img_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:317db9df504d9ec9050f2477950605fbf038a84928bd2970a4500e9ac63deeac
+size 1005145
diff --git a/run13/orientation_instruction.png b/run13/orientation_instruction.png
new file mode 100644
index 0000000000000000000000000000000000000000..f465e89a822aa569f8e9ba244b6d77a37ed5c37f
--- /dev/null
+++ b/run13/orientation_instruction.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4d8d7be475c69b01a670b7579f3b27d34435f7c8a5f9895e7e13099ae2c7f317
+size 1968866
diff --git a/run13/top_down.png b/run13/top_down.png
new file mode 100644
index 0000000000000000000000000000000000000000..cc72ded380246d82cd29dbf43411cfaae56f33ea
--- /dev/null
+++ b/run13/top_down.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d15e0a614a4f520faded5cf2a50fb60fd66719e4a9d28bd0fb47fa81dc5a723a
+size 843001
diff --git a/run13/top_down/img_0000.png b/run13/top_down/img_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..325fdfc509037fb0331c47e1515611ecdbcdf83c
--- /dev/null
+++ b/run13/top_down/img_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6069179f1c404e18397a60913bfbe3e07a75ef6e6117d2e8a24b218e6beda7dc
+size 1052653
diff --git a/run13/top_down_annotated.png b/run13/top_down_annotated.png
new file mode 100644
index 0000000000000000000000000000000000000000..7da5e776bafd09ee038cd34b823e7e3afbfc13ba
--- /dev/null
+++ b/run13/top_down_annotated.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1fc4b9467ff6c213b2e114be039079dd8f5eb180870776e14ab7b0919e71f56e
+size 934798
diff --git a/run14/1396780_facing_east.png b/run14/1396780_facing_east.png
new file mode 100644
index 0000000000000000000000000000000000000000..54a0f48eda6d5ec34cae2deb08836163733b4f05
--- /dev/null
+++ b/run14/1396780_facing_east.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d889427ad9cdfd8eab94d9699ffbf337c7e527011f30069be5347f8a4a9fa82d
+size 860008
diff --git a/run14/1396780_facing_north.png b/run14/1396780_facing_north.png
new file mode 100644
index 0000000000000000000000000000000000000000..07ac146f21e15418b5f7e32596b20e7fc31f2c9f
--- /dev/null
+++ b/run14/1396780_facing_north.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fefd6630b0fd15a6a31d42bf0dbf6ee802305ab8761272b335bd2e4dfba2f7e7
+size 808623
diff --git a/run14/1396780_facing_south.png b/run14/1396780_facing_south.png
new file mode 100644
index 0000000000000000000000000000000000000000..a34b5c33a5c768fed274c6f34a956bc6a111c2c2
--- /dev/null
+++ b/run14/1396780_facing_south.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d5f68fbeeaeb9ae65f0de42d7e0aa24504b2cb66e2ba2ac847bf561e5cf77421
+size 853818
diff --git a/run14/1396780_facing_west.png b/run14/1396780_facing_west.png
new file mode 100644
index 0000000000000000000000000000000000000000..2b516aee0beffc4578d186eea494be8a19d35312
--- /dev/null
+++ b/run14/1396780_facing_west.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:836660ff653641808472e245c150c231c0f5e3a397eeedb4df10bdf04f9f4bcc
+size 827229
diff --git a/run14/20013_facing_east.png b/run14/20013_facing_east.png
new file mode 100644
index 0000000000000000000000000000000000000000..825f04536bf8323c6253d66935c72cee317d5f83
--- /dev/null
+++ b/run14/20013_facing_east.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:98384cc2165833c96994d4d442cb3c8f161a43dd86d61f59fd5d0d528aef96df
+size 862914
diff --git a/run14/20013_facing_north.png b/run14/20013_facing_north.png
new file mode 100644
index 0000000000000000000000000000000000000000..d7f4b4ac0a64e4e8f81dd57e3eb280c998885eb1
--- /dev/null
+++ b/run14/20013_facing_north.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f2b0e8dc688de507cd6ad21bbe615b513fc36f0ffb8730358c8edc10b3a1a5cc
+size 830241
diff --git a/run14/20013_facing_south.png b/run14/20013_facing_south.png
new file mode 100644
index 0000000000000000000000000000000000000000..a481fbc658cc656f4b9bd20c99933ad3b23a8164
--- /dev/null
+++ b/run14/20013_facing_south.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d8b2540f8e983efc1b15fce5354f4667bf380b27a4b4de425ef8e0461d01deeb
+size 863559
diff --git a/run14/20013_facing_west.png b/run14/20013_facing_west.png
new file mode 100644
index 0000000000000000000000000000000000000000..64f2b35d161009ae5c2e409f3f5633b95bc79d6d
--- /dev/null
+++ b/run14/20013_facing_west.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:751bcd38a0fefc86c492ae927be3591a30824fc0951f2789eaaee1b0620f3bb5
+size 937339
diff --git a/run14/3673512_facing_east.png b/run14/3673512_facing_east.png
new file mode 100644
index 0000000000000000000000000000000000000000..2fdf019666d2f181ba1e20a94f38833abd5cc7db
--- /dev/null
+++ b/run14/3673512_facing_east.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9597c241164676aa85100f2fe2e4a8cc107fb9d629c31dd517d81735d98932d9
+size 849473
diff --git a/run14/3673512_facing_north.png b/run14/3673512_facing_north.png
new file mode 100644
index 0000000000000000000000000000000000000000..2e66926ebf3827c567df104dab7d1619ddf7052d
--- /dev/null
+++ b/run14/3673512_facing_north.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:840d177672ff55c419064d1504ccf9cb832a48cbedfeca3c8f504fe0e40f569f
+size 706567
diff --git a/run14/3673512_facing_south.png b/run14/3673512_facing_south.png
new file mode 100644
index 0000000000000000000000000000000000000000..6897bba7fc86679cdc7e39abbe99639134eca507
--- /dev/null
+++ b/run14/3673512_facing_south.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f815d386562e06b99410fa987837df8eff1edf1f3aa53e37e7d6c671bdfc87da
+size 860802
diff --git a/run14/3673512_facing_west.png b/run14/3673512_facing_west.png
new file mode 100644
index 0000000000000000000000000000000000000000..30a300d08d7102caa5674a64f6460d1685f3a479
--- /dev/null
+++ b/run14/3673512_facing_west.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0558dc5ac22f6678b76c84fc2679e3a2fcbe8d099e73db3c0a6da581fe4d5838
+size 857365
diff --git a/run14/4759249_facing_east.png b/run14/4759249_facing_east.png
new file mode 100644
index 0000000000000000000000000000000000000000..b6a26fc6349f025bba08ca5d6215c0223ecbd812
--- /dev/null
+++ b/run14/4759249_facing_east.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d4d7672b6f75e83fa34adb72882be93d58a0abc4c61bd5e2aeb82d2380737724
+size 857038
diff --git a/run14/4759249_facing_north.png b/run14/4759249_facing_north.png
new file mode 100644
index 0000000000000000000000000000000000000000..df8a72fd5a198cb9fa97ced55e2c6390d2ffb2c5
--- /dev/null
+++ b/run14/4759249_facing_north.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bab7d4f669507f6194793216bc7228157fd65f3fe00e51c5b598ecb72d645cf5
+size 809958
diff --git a/run14/4759249_facing_south.png b/run14/4759249_facing_south.png
new file mode 100644
index 0000000000000000000000000000000000000000..69e42770799f25a345d1288ed6b8e27e29e226cd
--- /dev/null
+++ b/run14/4759249_facing_south.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6801f4093a187306bff11be3e09ddc68ef335d95acba7049520fd3cb6312d9bc
+size 838359
diff --git a/run14/4759249_facing_west.png b/run14/4759249_facing_west.png
new file mode 100644
index 0000000000000000000000000000000000000000..d15ec7dd9af8099e64dda057a4c2ad6395051ca5
--- /dev/null
+++ b/run14/4759249_facing_west.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e52486f6803bfb4d157966074ded17cdc762ed84e00f615ea50937a3c8a8183f
+size 727561
diff --git a/run14/8352370_facing_east.png b/run14/8352370_facing_east.png
new file mode 100644
index 0000000000000000000000000000000000000000..e7308b2e609c7b59efd99141e6edf9bd6c56428d
--- /dev/null
+++ b/run14/8352370_facing_east.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9116f0130aa730ec60520e37d83081d90888debf735654c3a32e579164fff3f0
+size 852658
diff --git a/run14/8352370_facing_north.png b/run14/8352370_facing_north.png
new file mode 100644
index 0000000000000000000000000000000000000000..538c7b5757d181618a3aeea29de810ce0b12a7c3
--- /dev/null
+++ b/run14/8352370_facing_north.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b6e45ed3033356886004f9c7919146920df987b07ad4fa03909233c7e608de7a
+size 860716
diff --git a/run14/8352370_facing_south.png b/run14/8352370_facing_south.png
new file mode 100644
index 0000000000000000000000000000000000000000..c0eec5cc4215b89ac22e98ed2ff31c769478ac1a
--- /dev/null
+++ b/run14/8352370_facing_south.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7e585cdc242fa90f50dff23ea746359b474746a5c29ef3fc99a3be6c1d52bd43
+size 829497
diff --git a/run14/8352370_facing_west.png b/run14/8352370_facing_west.png
new file mode 100644
index 0000000000000000000000000000000000000000..85acfb586a17622df5f6fcb50eaf614230ff6847
--- /dev/null
+++ b/run14/8352370_facing_west.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:35444af8b4f48282d57542be105b421770c171aac0aca31945a692438cb50cb3
+size 859848
diff --git a/run14/9051096_facing_east.png b/run14/9051096_facing_east.png
new file mode 100644
index 0000000000000000000000000000000000000000..c2d9bcbc96ee64be87f1e0c8ee6aa4f43cfec498
--- /dev/null
+++ b/run14/9051096_facing_east.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d6453a9a9d5d4b720df6dae50228fee141d6499bbac843814b488d6c9cef6b09
+size 815517
diff --git a/run14/9051096_facing_north.png b/run14/9051096_facing_north.png
new file mode 100644
index 0000000000000000000000000000000000000000..875fa103c8218cd9a3110400637298885617a037
--- /dev/null
+++ b/run14/9051096_facing_north.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5d8c4d85b7149ef08de7c2a63c41fe47b951ccca592a65e5015296f80eeaa21e
+size 867282
diff --git a/run14/9051096_facing_south.png b/run14/9051096_facing_south.png
new file mode 100644
index 0000000000000000000000000000000000000000..85075cabe8fd9cdc4fe2e92fec85e7edfad0c172
--- /dev/null
+++ b/run14/9051096_facing_south.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f6bd2e1db3a3f5710e05958ccca1f47ffdda364856013eaae99876910156c606
+size 739638
diff --git a/run14/9051096_facing_west.png b/run14/9051096_facing_west.png
new file mode 100644
index 0000000000000000000000000000000000000000..4a9a4017785f1b3bb0466e3062e4229453c2e290
--- /dev/null
+++ b/run14/9051096_facing_west.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ceac0fa235a9852e1d9cfefec6ea1a7999db0ae316f0383171622caaff51e249
+size 868278
diff --git a/run14/9552970_facing_east.png b/run14/9552970_facing_east.png
new file mode 100644
index 0000000000000000000000000000000000000000..190327b7ce701a915f407ffff3ee43df86c632a2
--- /dev/null
+++ b/run14/9552970_facing_east.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:09576e38fc567e523273212eab91b6d0ccd72bf1a484df13b04dd2a34fd4b4a2
+size 857318
diff --git a/run14/9552970_facing_north.png b/run14/9552970_facing_north.png
new file mode 100644
index 0000000000000000000000000000000000000000..ad663b72f18d85a249b7ba423de2641bd3de3ff5
--- /dev/null
+++ b/run14/9552970_facing_north.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ea59d86fe28f2a5414aa7bffb655a93bcd26e55b890e302c6ff69ee89eb0e542
+size 821680
diff --git a/run14/9552970_facing_south.png b/run14/9552970_facing_south.png
new file mode 100644
index 0000000000000000000000000000000000000000..3715c1b3ae41f082d02d0c728071f25956abcb2d
--- /dev/null
+++ b/run14/9552970_facing_south.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ee154713971ee0c8eed7ba05d6ffd9a155876f6c0d519af985398225b5427d9b
+size 870851
diff --git a/run14/9552970_facing_west.png b/run14/9552970_facing_west.png
new file mode 100644
index 0000000000000000000000000000000000000000..8c6b4306c2e7f2ca24fe22fb14c9e07e026e589c
--- /dev/null
+++ b/run14/9552970_facing_west.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d591d58056959b64a928c7e29b9a0da67df887437f740731d4b9643278141618
+size 866722
diff --git a/run14/9604704_facing_east.png b/run14/9604704_facing_east.png
new file mode 100644
index 0000000000000000000000000000000000000000..e1fe521b5ab44b08368945527a65d0b706c7f0fa
--- /dev/null
+++ b/run14/9604704_facing_east.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:628a2adbb6e585da591a98f09244a1b030eb3097d75bbdcb85c3147f200ae569
+size 857128
diff --git a/run14/9604704_facing_north.png b/run14/9604704_facing_north.png
new file mode 100644
index 0000000000000000000000000000000000000000..c54938bd757d3faf5a7944cdf01ed7f36889d5bf
--- /dev/null
+++ b/run14/9604704_facing_north.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c2b9d99db9716b41b3c53df39af66a2897a323dce39c5bffa5142d932acc4c06
+size 856959
diff --git a/run14/9604704_facing_south.png b/run14/9604704_facing_south.png
new file mode 100644
index 0000000000000000000000000000000000000000..54f95fd3c021029717ae94ff0c5677836c81e62d
--- /dev/null
+++ b/run14/9604704_facing_south.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:954ff224f2272e1e27ae7e798342044c5c4748246c51a5f2b33c3d1577c65320
+size 824318
diff --git a/run14/9604704_facing_west.png b/run14/9604704_facing_west.png
new file mode 100644
index 0000000000000000000000000000000000000000..e15172ea09eaf5d871a6075d431806cfd3a6f3fc
--- /dev/null
+++ b/run14/9604704_facing_west.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d0fa4922994cf9ba5ea5793a4b1590ba71ae47f22da487a6c6db7b652ee17947
+size 821956
diff --git a/run14/9833568_facing_east.png b/run14/9833568_facing_east.png
new file mode 100644
index 0000000000000000000000000000000000000000..7c315e99c19ea2f04792dd6db44d80ba0bd7a312
--- /dev/null
+++ b/run14/9833568_facing_east.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:65fefc4fe9a634f3849ea2ae96a8d6ea257b1684e15f36b36c25e56c916cf28e
+size 818569
diff --git a/run14/9833568_facing_north.png b/run14/9833568_facing_north.png
new file mode 100644
index 0000000000000000000000000000000000000000..5b6972aaff84e5634695ab1f6fead9f7f02a757d
--- /dev/null
+++ b/run14/9833568_facing_north.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d35c9bf33bbd5eccb04ac3eee6186961b8761bb5901b748c75eb632f2561339b
+size 877781
diff --git a/run14/9833568_facing_south.png b/run14/9833568_facing_south.png
new file mode 100644
index 0000000000000000000000000000000000000000..05ab2ce56697a4b402d9f01bf785d61a72212da2
--- /dev/null
+++ b/run14/9833568_facing_south.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3f845ab6aee3721446c2be15a1281c85eee7c6e4e6dfec5c36671521fea6a427
+size 819259
diff --git a/run14/9833568_facing_west.png b/run14/9833568_facing_west.png
new file mode 100644
index 0000000000000000000000000000000000000000..a4b0b1476a7443a8d315baa69000c70e8e622dba
--- /dev/null
+++ b/run14/9833568_facing_west.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:74b00b4ee57bff56b1a0136b4c635571f341d0d1598bff7355795484299de242
+size 882236
diff --git a/run14/9906935_facing_east.png b/run14/9906935_facing_east.png
new file mode 100644
index 0000000000000000000000000000000000000000..d1e537d491ec9c07c5e25001176f6c7a6c82acc7
--- /dev/null
+++ b/run14/9906935_facing_east.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4977a8fb519072ea5808498e0e19622c8ebe219ad89620ba8d7f3601adc1ee95
+size 843569
diff --git a/run14/9906935_facing_north.png b/run14/9906935_facing_north.png
new file mode 100644
index 0000000000000000000000000000000000000000..5f1ac641be47d8a1c3be5fc0256ddc2e0bc384c0
--- /dev/null
+++ b/run14/9906935_facing_north.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a4f49e7bfb6cf2358505d8ffb685579701c2dc16585a45dafe88cafb5140ea17
+size 879478
diff --git a/run14/9906935_facing_south.png b/run14/9906935_facing_south.png
new file mode 100644
index 0000000000000000000000000000000000000000..0f80980f341d5d724c0c0471fbcae4ddbaa02f88
--- /dev/null
+++ b/run14/9906935_facing_south.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:703c64baabc782bc8412d076d4eb591e226f4dd264d134fd0ffaa2ce6721214b
+size 849799
diff --git a/run14/9906935_facing_west.png b/run14/9906935_facing_west.png
new file mode 100644
index 0000000000000000000000000000000000000000..8d940fe6bfe5e98d9c9b8d8d1522bbaf48fae7ac
--- /dev/null
+++ b/run14/9906935_facing_west.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5651757fe3aae0eb87e587f511120fb6e0a0879252e186376ba514485add1848
+size 887904
diff --git a/run14/agent_facing_east.png b/run14/agent_facing_east.png
new file mode 100644
index 0000000000000000000000000000000000000000..3af5d74335e599580c3d76859783fb4fa00d38f3
--- /dev/null
+++ b/run14/agent_facing_east.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e9f366e2208809d9366d5ece4615e5aae9b35b22eb5e8411f93e8d7baf812003
+size 728357
diff --git a/run14/agent_facing_north.png b/run14/agent_facing_north.png
new file mode 100644
index 0000000000000000000000000000000000000000..a1d018e50603616f215e640671a307383806cea9
--- /dev/null
+++ b/run14/agent_facing_north.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1f2455946e76dbda69ab74c05346fe25c247b2110ff8c6c47dcd3c2e2ea47693
+size 864680
diff --git a/run14/agent_facing_south.png b/run14/agent_facing_south.png
new file mode 100644
index 0000000000000000000000000000000000000000..8e3c2ac4cae560c372cb3b892468991d8efe43f7
--- /dev/null
+++ b/run14/agent_facing_south.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1d6461d1eff0ee228829d8d7e28bad1a75ca494fef111e853efb1e832df8a3df
+size 742776
diff --git a/run14/agent_facing_west.png b/run14/agent_facing_west.png
new file mode 100644
index 0000000000000000000000000000000000000000..54011e48ec8248239ed610df5e509ccc8c54821d
--- /dev/null
+++ b/run14/agent_facing_west.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7b8c5d15d5136eabd52b84051d05d062311c01815600fcc6622941c9d6b11ba3
+size 874868
diff --git a/run14/agent_seg_debug.png b/run14/agent_seg_debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..d91dd2db7a732e001983bbade3c309e315f2cb2a
--- /dev/null
+++ b/run14/agent_seg_debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e445a3c03731f3537c8d91b7352db42968bc23e245c9725e4690c42f59f8135b
+size 1127
diff --git a/run14/main_cam/img_0000.png b/run14/main_cam/img_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..27426011a5773ab64039199b85f47ca6103d9c43
--- /dev/null
+++ b/run14/main_cam/img_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:317db9df504d9ec9050f2477950605fbf038a84928bd2970a4500e9ac63deeac
+size 1005145
diff --git a/run14/orientation_instruction.png b/run14/orientation_instruction.png
new file mode 100644
index 0000000000000000000000000000000000000000..38da2f847f79c2d0141acb0d6b0364d95d5b4599
--- /dev/null
+++ b/run14/orientation_instruction.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a504450028070014c3e594440dd1de07e407ea80aa14570f2a3cf6a602cd303a
+size 2033939
diff --git a/run14/top_down.png b/run14/top_down.png
new file mode 100644
index 0000000000000000000000000000000000000000..5186fa8f1a31bdfdb45b3b1a08ab097a15f89ad7
--- /dev/null
+++ b/run14/top_down.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:00cd824315e569338c8781b8265bbafec7070f9406b7f70f9730893091ee16b7
+size 839802
diff --git a/run14/top_down/img_0000.png b/run14/top_down/img_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..325fdfc509037fb0331c47e1515611ecdbcdf83c
--- /dev/null
+++ b/run14/top_down/img_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6069179f1c404e18397a60913bfbe3e07a75ef6e6117d2e8a24b218e6beda7dc
+size 1052653
diff --git a/run14/top_down_annotated.png b/run14/top_down_annotated.png
new file mode 100644
index 0000000000000000000000000000000000000000..05a91f1306315769f49af522a09fefe4644360c5
--- /dev/null
+++ b/run14/top_down_annotated.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:96211abc0e4a422f5c41578c881be8af4c015414b50c7f39790892228abbf83c
+size 928342
diff --git a/run15/20172_facing_east.png b/run15/20172_facing_east.png
new file mode 100644
index 0000000000000000000000000000000000000000..027fe47692cef5cc0446bb566ebe6bf16b0cf8fb
--- /dev/null
+++ b/run15/20172_facing_east.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:19ef248c05bc4530b608a6713c372dcd257ef5e430241ed54d1143d825289997
+size 873566
diff --git a/run15/20172_facing_north.png b/run15/20172_facing_north.png
new file mode 100644
index 0000000000000000000000000000000000000000..07c58e8c14e569484dcb681ebf93335c05ac10cf
--- /dev/null
+++ b/run15/20172_facing_north.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b1ae4e8297fface4d8777d305d27bba12f77a88b75a083f5f36614e882127a51
+size 854716
diff --git a/run15/20172_facing_south.png b/run15/20172_facing_south.png
new file mode 100644
index 0000000000000000000000000000000000000000..14b7586310d07a0aa14386def5f2ec34e01b5743
--- /dev/null
+++ b/run15/20172_facing_south.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a386710aad7db8a5c5df3c5947d6287137442e11b29ec04ded10e4e7e9651b94
+size 871221
diff --git a/run15/20172_facing_west.png b/run15/20172_facing_west.png
new file mode 100644
index 0000000000000000000000000000000000000000..efbd55615ba8b48927b97c4ee2c4202d01881b10
--- /dev/null
+++ b/run15/20172_facing_west.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ae0f39f4ace6e59ddc7f1f693cb589aeb7f5716fc667ff467e33270f71ebd181
+size 896091
diff --git a/run15/2580245_facing_east.png b/run15/2580245_facing_east.png
new file mode 100644
index 0000000000000000000000000000000000000000..1d9aae65b54280bb5be9dafd112ab4777b52dc52
--- /dev/null
+++ b/run15/2580245_facing_east.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9124962b6fc7b985c750105b3e3841f95c4748e2da08185692656a062c0b477d
+size 714059
diff --git a/run15/2580245_facing_north.png b/run15/2580245_facing_north.png
new file mode 100644
index 0000000000000000000000000000000000000000..540a89004283bbd472abd6d98b48b094f19c7f41
--- /dev/null
+++ b/run15/2580245_facing_north.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0c45e03230c0cda3d6d515760a0b06bc54eece8876c29eead500de8bf33b995d
+size 856937
diff --git a/run15/2580245_facing_south.png b/run15/2580245_facing_south.png
new file mode 100644
index 0000000000000000000000000000000000000000..f7ad7ac41e3a45ad37ef12081ec0ddb49f90b0d0
--- /dev/null
+++ b/run15/2580245_facing_south.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:03a6845ab4c4ea034b0717faa0c8588a76266109a52640422ad7d6e47405afb9
+size 886029
diff --git a/run15/2580245_facing_west.png b/run15/2580245_facing_west.png
new file mode 100644
index 0000000000000000000000000000000000000000..5f3534c98b9ffb5b174256d5db8821fcb5b2f934
--- /dev/null
+++ b/run15/2580245_facing_west.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:153cff2c7b2d854837966998084fba2d3ade27b7ee894fc9acb23cb27e549317
+size 929831
diff --git a/run15/2701493_facing_east.png b/run15/2701493_facing_east.png
new file mode 100644
index 0000000000000000000000000000000000000000..139f6fbef5940ec9c1c054cc040a97c8f5b9bd1c
--- /dev/null
+++ b/run15/2701493_facing_east.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f91cfc2cd86f087c2f9626d6a37c34dbbee89d801456b99e0917452ac8f96b52
+size 853344
diff --git a/run15/2701493_facing_north.png b/run15/2701493_facing_north.png
new file mode 100644
index 0000000000000000000000000000000000000000..e6f3bc067535b0e86afa538998ca031dae5e7b85
--- /dev/null
+++ b/run15/2701493_facing_north.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:88d4fb5667aa9362e7f069d412bc71779443820a562bf8caf79a2b7698aeede1
+size 715141
diff --git a/run15/2701493_facing_south.png b/run15/2701493_facing_south.png
new file mode 100644
index 0000000000000000000000000000000000000000..4b49e03466e2293992ca252b752f0109ce915826
--- /dev/null
+++ b/run15/2701493_facing_south.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b28f190db2a795d8d3b0306a4427681ce12ee918356770885c6511f040b8a585
+size 846477
diff --git a/run15/2701493_facing_west.png b/run15/2701493_facing_west.png
new file mode 100644
index 0000000000000000000000000000000000000000..027348f9a0f7e2b66f823954068fa3262f09ad36
--- /dev/null
+++ b/run15/2701493_facing_west.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7554a09a6939ef7e0039d0405ff4e4befa15c6e96288138b3e9f6110afe577b2
+size 837655
diff --git a/run15/2937238_facing_east.png b/run15/2937238_facing_east.png
new file mode 100644
index 0000000000000000000000000000000000000000..36bf6bce48d0a852c14b3fba765a99522b5d2f8a
--- /dev/null
+++ b/run15/2937238_facing_east.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a6c388325ba6406574a5c7ccba7a0e7b0aeec5790459619e00fad00a8cdd10cf
+size 857069
diff --git a/run15/2937238_facing_north.png b/run15/2937238_facing_north.png
new file mode 100644
index 0000000000000000000000000000000000000000..80a2882cd7e883da3c110ada64496a38f4b62f55
--- /dev/null
+++ b/run15/2937238_facing_north.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:26807fc2711b2b68706cf1bf7a1218e6d27cf9c508e55ad16afa987058facbb8
+size 862657
diff --git a/run15/2937238_facing_south.png b/run15/2937238_facing_south.png
new file mode 100644
index 0000000000000000000000000000000000000000..b1b24465dca26c54c6b7f09c0263e01a67106a33
--- /dev/null
+++ b/run15/2937238_facing_south.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a38aeb51591d76bcf1dae87b5cdbfceae39e64c0491ef5839b03b87324c79a82
+size 843673
diff --git a/run15/2937238_facing_west.png b/run15/2937238_facing_west.png
new file mode 100644
index 0000000000000000000000000000000000000000..e12ab9430ecf933caa7683ece791de0b50ecd033
--- /dev/null
+++ b/run15/2937238_facing_west.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:02806145cc45aa7879ecb1eea191b1f7465f0b947a576f2a1c012efc067d307b
+size 861944
diff --git a/run15/3401079_facing_east.png b/run15/3401079_facing_east.png
new file mode 100644
index 0000000000000000000000000000000000000000..add6e6950bfb7f6713d48df7e50e5ad2397f19e3
--- /dev/null
+++ b/run15/3401079_facing_east.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5cb7813285e0f609573059c2c448554c4d0e23f016ced1691f5aec06b2ba4a45
+size 842396
diff --git a/run15/3401079_facing_north.png b/run15/3401079_facing_north.png
new file mode 100644
index 0000000000000000000000000000000000000000..6acdff4b21fe1d441d4cf716cec2e7162f375157
--- /dev/null
+++ b/run15/3401079_facing_north.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b9fab17e1674c34c346f409de34b11aec50455c20eabe968d012db561fb632e4
+size 860971
diff --git a/run15/3401079_facing_south.png b/run15/3401079_facing_south.png
new file mode 100644
index 0000000000000000000000000000000000000000..4a50230fa98caa5a9e77bf8686bfd1a95232a91e
--- /dev/null
+++ b/run15/3401079_facing_south.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8d66f43a2996f00f2cd5f6bef36abcdb9c04e59172fedca88cb6d5a199254f09
+size 726238
diff --git a/run15/3401079_facing_west.png b/run15/3401079_facing_west.png
new file mode 100644
index 0000000000000000000000000000000000000000..f9fb3a2309ce9d4ef0786e10c3ae750d4221de44
--- /dev/null
+++ b/run15/3401079_facing_west.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:730bab3a3689ada7a39a7a042c860d5fa9a5792816128bf4d6be76cebba4b10a
+size 847661
diff --git a/run15/3863821_facing_east.png b/run15/3863821_facing_east.png
new file mode 100644
index 0000000000000000000000000000000000000000..1fe0fc095a5b31ec2c4d606ad4d65efd33ebcad4
--- /dev/null
+++ b/run15/3863821_facing_east.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ba9527bc50e6f52d1abb880607d21fd4edfb7d64d2c2077b78ef9ecff2717b84
+size 818779
diff --git a/run15/3863821_facing_north.png b/run15/3863821_facing_north.png
new file mode 100644
index 0000000000000000000000000000000000000000..650ae387991d278ba013c3cd1f895ce40e588356
--- /dev/null
+++ b/run15/3863821_facing_north.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6808ae5863bf0de1b62e200e04cce2e01063eefa9f175483acea29cd0d91ea2a
+size 892855
diff --git a/run15/3863821_facing_south.png b/run15/3863821_facing_south.png
new file mode 100644
index 0000000000000000000000000000000000000000..93ff17bd7204f545063ddddbb64e364e88d95dfb
--- /dev/null
+++ b/run15/3863821_facing_south.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4201bd4d00931329e87098b033361b589cd7b744b39b4e9802c60da371378ddd
+size 820213
diff --git a/run15/3863821_facing_west.png b/run15/3863821_facing_west.png
new file mode 100644
index 0000000000000000000000000000000000000000..0251ac5eb3c8089547be2850c7e7056239a1387e
--- /dev/null
+++ b/run15/3863821_facing_west.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ea47303581c9cd1efc6c7d3680151cd93808560fc8d78daaa309e4c10ca55d5c
+size 881236
diff --git a/run15/5301093_facing_east.png b/run15/5301093_facing_east.png
new file mode 100644
index 0000000000000000000000000000000000000000..89bfc26ac2be3ee1dcbf2dceb7c798f314bbe4d7
--- /dev/null
+++ b/run15/5301093_facing_east.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e7b15d21b2c2e9aaa3cb7418064e9a329731e8e5a27ce47a365b51270dd14d6d
+size 861336
diff --git a/run15/5301093_facing_north.png b/run15/5301093_facing_north.png
new file mode 100644
index 0000000000000000000000000000000000000000..03fbf7cb0914f0d97500975c3a60c3fba3465edd
--- /dev/null
+++ b/run15/5301093_facing_north.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d69bd8884efc34fed50cc491f4d9b0fe6f0cc5a54c8547bc9d8e1d0d38cce3a2
+size 719987
diff --git a/run15/5301093_facing_south.png b/run15/5301093_facing_south.png
new file mode 100644
index 0000000000000000000000000000000000000000..4cb1ff5a251e6d758f34a79607e8f28035c1275f
--- /dev/null
+++ b/run15/5301093_facing_south.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4d92c7a791861b3ab6cdcb2627eba4ab9fb8abed6d4cad8653dae16885a69e64
+size 853263
diff --git a/run15/5301093_facing_west.png b/run15/5301093_facing_west.png
new file mode 100644
index 0000000000000000000000000000000000000000..afbbb8c35044c70c3e369e0d16c21481d2a10dc3
--- /dev/null
+++ b/run15/5301093_facing_west.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f90bfc3e7775afe44a8873d18ba39d8c5d85e6015cd281e9b2b95a680ada01b9
+size 870671
diff --git a/run15/5398004_facing_east.png b/run15/5398004_facing_east.png
new file mode 100644
index 0000000000000000000000000000000000000000..dd9e9f8dfbe070ff3f31f72d07798af10a88f60d
--- /dev/null
+++ b/run15/5398004_facing_east.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cda6647e3e37acdda47c2cf3fc707a6e38093a5b55d739f997a1178f552ef685
+size 716194
diff --git a/run15/5398004_facing_north.png b/run15/5398004_facing_north.png
new file mode 100644
index 0000000000000000000000000000000000000000..ccb18c0a513bac917fa0addc260f7637a2961dc4
--- /dev/null
+++ b/run15/5398004_facing_north.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7dcc6d1a80aaf42a09a72dc961cd087b696c3c68701c10ec5787ea0643c23b0d
+size 845712
diff --git a/run15/5398004_facing_south.png b/run15/5398004_facing_south.png
new file mode 100644
index 0000000000000000000000000000000000000000..0d5365f18e99a5f0d34e980800921077a21f19ea
--- /dev/null
+++ b/run15/5398004_facing_south.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f0574d03326e7b4c2eefad7b8f8b73773dd3039ec38a10d4dfa08face5680e56
+size 884267
diff --git a/run15/5398004_facing_west.png b/run15/5398004_facing_west.png
new file mode 100644
index 0000000000000000000000000000000000000000..80430933106b79622d1fb0d9206f309ec2b65b3e
--- /dev/null
+++ b/run15/5398004_facing_west.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:561187b96fac60cfc44019ca35a7d153b839768d0f5a068928d41a4fafb1c753
+size 914554
diff --git a/run15/5817051_facing_east.png b/run15/5817051_facing_east.png
new file mode 100644
index 0000000000000000000000000000000000000000..896bfe53dc34b18bf5e17e0a71b58f1bfcfc67d1
--- /dev/null
+++ b/run15/5817051_facing_east.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:99cb44f112d4c121ac9e3a32e79cd8b6117d4b7975b10e776865a0d2a3149e2f
+size 858043
diff --git a/run15/5817051_facing_north.png b/run15/5817051_facing_north.png
new file mode 100644
index 0000000000000000000000000000000000000000..0965595aa6c7db455c5b56a3e5590240178d5130
--- /dev/null
+++ b/run15/5817051_facing_north.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9e15475df922a6f78f8d0ac676ae6adbecb0eece4e000078da29d2679a74ee9b
+size 840400
diff --git a/run15/5817051_facing_south.png b/run15/5817051_facing_south.png
new file mode 100644
index 0000000000000000000000000000000000000000..f711e90e558c59702bea0a6a05a37988bef1d1fe
--- /dev/null
+++ b/run15/5817051_facing_south.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a19ab5360dbbed8f58393b06d76e9d6db310c635a676c4a181437af76390b393
+size 834533
diff --git a/run15/5817051_facing_west.png b/run15/5817051_facing_west.png
new file mode 100644
index 0000000000000000000000000000000000000000..5e0904a489fa35478ea5c9691c9490ad06b02729
--- /dev/null
+++ b/run15/5817051_facing_west.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3fe0bb4fd4873aa9a8d8f8a81546ef036c6bb5953e0bef196230db728168cd5d
+size 732068
diff --git a/run15/8757078_facing_east.png b/run15/8757078_facing_east.png
new file mode 100644
index 0000000000000000000000000000000000000000..7abfc1c6987e6562aae1312f9ce7da2267f48289
--- /dev/null
+++ b/run15/8757078_facing_east.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3dc5d32b2fec1d27486af6927b031558fd9ff52eb9a64ee8c463db15f14b6866
+size 850515
diff --git a/run15/8757078_facing_north.png b/run15/8757078_facing_north.png
new file mode 100644
index 0000000000000000000000000000000000000000..06f0be221b95bcbcb9e5fcc184bfd96ca6e8494e
--- /dev/null
+++ b/run15/8757078_facing_north.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4c2bc2ccd1834363d4e0c2f9e2aaed7df7284b8e9a063277b02d28b8985dced9
+size 852615
diff --git a/run15/8757078_facing_south.png b/run15/8757078_facing_south.png
new file mode 100644
index 0000000000000000000000000000000000000000..cc20001249a4c5b48f95b27b77e1ba0d52b0d689
--- /dev/null
+++ b/run15/8757078_facing_south.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bd9dd5f26279a95dcb38b5b44655d8e5a248eca6e6a840f51dba0a8db1f4f99d
+size 813277
diff --git a/run15/8757078_facing_west.png b/run15/8757078_facing_west.png
new file mode 100644
index 0000000000000000000000000000000000000000..6d2b9b90693e03fcec72c7d186ceb8003cd9a9bc
--- /dev/null
+++ b/run15/8757078_facing_west.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7927ca33aef958fb20244251a0922b08f9ff59ee80b364d34cbe37e4635dd030
+size 732982
diff --git a/run15/agent_facing_east.png b/run15/agent_facing_east.png
new file mode 100644
index 0000000000000000000000000000000000000000..f4dbade9508e772a4a4c51b27812a6e38c0d69ca
--- /dev/null
+++ b/run15/agent_facing_east.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:98e3d2ed4fddef47941a9dec3d25be051b251008b63afba3c2fe5d3a8d3ba5fd
+size 843541
diff --git a/run15/agent_facing_north.png b/run15/agent_facing_north.png
new file mode 100644
index 0000000000000000000000000000000000000000..d388cb496606b18524d2a974a433544d1f369a51
--- /dev/null
+++ b/run15/agent_facing_north.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:23db15377e228217d5094d44020bf7836980d604acabf2b80957b748ff720217
+size 859834
diff --git a/run15/agent_facing_south.png b/run15/agent_facing_south.png
new file mode 100644
index 0000000000000000000000000000000000000000..3162cbef04c1198eaa710be5462b047980c1effc
--- /dev/null
+++ b/run15/agent_facing_south.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:71c2af43f552ae0b4bcaa92eb8d2abe9490c0f5c14768a9742d01455265291a1
+size 737329
diff --git a/run15/agent_facing_west.png b/run15/agent_facing_west.png
new file mode 100644
index 0000000000000000000000000000000000000000..d2c39566419a1abd700347267e3b755ac3aa1c5c
--- /dev/null
+++ b/run15/agent_facing_west.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d595df3aaee04c49de6416a3cdd8f38f66a4f11fcded2b0e7acb5d67dda8b21d
+size 737542
diff --git a/run15/agent_seg_debug.png b/run15/agent_seg_debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..7470f31201b72d3406f43cabac2494aa0cd876d8
--- /dev/null
+++ b/run15/agent_seg_debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4da43e98cb126f30a0a8f961b2eadb87820583db6a117c90dfb659f26b48d3bf
+size 1119
diff --git a/run15/main_cam/img_0000.png b/run15/main_cam/img_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..27426011a5773ab64039199b85f47ca6103d9c43
--- /dev/null
+++ b/run15/main_cam/img_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:317db9df504d9ec9050f2477950605fbf038a84928bd2970a4500e9ac63deeac
+size 1005145
diff --git a/run15/orientation_instruction.png b/run15/orientation_instruction.png
new file mode 100644
index 0000000000000000000000000000000000000000..18196b9d239aae9d7b52411572dcde6171e66786
--- /dev/null
+++ b/run15/orientation_instruction.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ebfa8ef406748d9f5b49345325591cf702f7d70bb4751f22e34a5f22759527f6
+size 2024407
diff --git a/run15/top_down.png b/run15/top_down.png
new file mode 100644
index 0000000000000000000000000000000000000000..e8f2815930e2a62807ec369dc64b2bd8512ff25a
--- /dev/null
+++ b/run15/top_down.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:de34f0c990a1bd6f1080ea3469203e4551ed0395c1f8d55894e3d66d55899283
+size 852403
diff --git a/run15/top_down/img_0000.png b/run15/top_down/img_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..325fdfc509037fb0331c47e1515611ecdbcdf83c
--- /dev/null
+++ b/run15/top_down/img_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6069179f1c404e18397a60913bfbe3e07a75ef6e6117d2e8a24b218e6beda7dc
+size 1052653
diff --git a/run15/top_down_annotated.png b/run15/top_down_annotated.png
new file mode 100644
index 0000000000000000000000000000000000000000..2e5df3e979de33f348e2aae069f925967da42ba4
--- /dev/null
+++ b/run15/top_down_annotated.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9841ac2e23c0c68bfdf8bb0a4c86c42e2ddc32abbb0743a1bbbbdb2a6c3982a7
+size 944103
diff --git a/run22/1340811_facing_east.png b/run22/1340811_facing_east.png
new file mode 100644
index 0000000000000000000000000000000000000000..c22cd65f49f91595bb8e1ebf23a4e12add47d3af
--- /dev/null
+++ b/run22/1340811_facing_east.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c46a51d6c85d4f5bf1b79a3d6c800a7f0e22ef06ff3c56b0606b9b514db8e2c9
+size 836663
diff --git a/run22/1340811_facing_north.png b/run22/1340811_facing_north.png
new file mode 100644
index 0000000000000000000000000000000000000000..76a50c56a4fb31cbd7bf2638d02ad9f20020108e
--- /dev/null
+++ b/run22/1340811_facing_north.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:abb437509a0e99066b05ffb3bad77beadae646493875d867ea5995ad5b8f4b96
+size 864974
diff --git a/run22/1340811_facing_south.png b/run22/1340811_facing_south.png
new file mode 100644
index 0000000000000000000000000000000000000000..60bd1a64a717ecd38850f22ba2677a23ec10a184
--- /dev/null
+++ b/run22/1340811_facing_south.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:97240d8760de2c8ebdaeaae5bf9a7eb65450a85a102a6465867cb072499400b0
+size 730919
diff --git a/run22/1340811_facing_west.png b/run22/1340811_facing_west.png
new file mode 100644
index 0000000000000000000000000000000000000000..7f1c9b70f6a721fa48c13f3911699b790a0cc4a7
--- /dev/null
+++ b/run22/1340811_facing_west.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2822c984ce97de3686602ddcb96118cb1a38c65f01cae4decac216360d25431a
+size 862326
diff --git a/run22/1863193_facing_east.png b/run22/1863193_facing_east.png
new file mode 100644
index 0000000000000000000000000000000000000000..9a7ec236330f06a2bd3f5ea38319998813c7b5b4
--- /dev/null
+++ b/run22/1863193_facing_east.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1dc1b845b925d2383f73d270085e44ffa0c097cabc5cf002cac0621387a616a6
+size 699494
diff --git a/run22/1863193_facing_north.png b/run22/1863193_facing_north.png
new file mode 100644
index 0000000000000000000000000000000000000000..69abd15130e4f06d3a92d167382cf57c424c7c5e
--- /dev/null
+++ b/run22/1863193_facing_north.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eced3cba15e4a7f45c6c64fcf2f3a07ae217578ff1c92664d3f2f702d6a7df34
+size 881150
diff --git a/run22/1863193_facing_south.png b/run22/1863193_facing_south.png
new file mode 100644
index 0000000000000000000000000000000000000000..84a5d2cbc815935e52c29fd2bbf2fc379b0ba9f7
--- /dev/null
+++ b/run22/1863193_facing_south.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e5e30bf796d2cfb326b4d0b227937a0b73b3bdc2278aad1edb48c34456391dd8
+size 807343
diff --git a/run22/1863193_facing_west.png b/run22/1863193_facing_west.png
new file mode 100644
index 0000000000000000000000000000000000000000..36af360445496e208c366b1cd65e18eff5736176
--- /dev/null
+++ b/run22/1863193_facing_west.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:44994f9be60b4959039b9fd474dc8826f65d743fd1da500f304cb2bdb812b4a9
+size 885170
diff --git a/run22/20039_facing_east.png b/run22/20039_facing_east.png
new file mode 100644
index 0000000000000000000000000000000000000000..7777bf36adf971b379226120568c163f27d7dce3
--- /dev/null
+++ b/run22/20039_facing_east.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7a83a379c96f9a30a5759e3ccc9725e70cc4e51361c4f8bdd744d125427af838
+size 864010
diff --git a/run22/20039_facing_north.png b/run22/20039_facing_north.png
new file mode 100644
index 0000000000000000000000000000000000000000..bff62db0458b01184b3ff9f8e7d513e0c9af13ab
--- /dev/null
+++ b/run22/20039_facing_north.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f4468264af47c06323c16813c62511ea510efe57f2371b4aa7098985eb93c081
+size 844754
diff --git a/run22/20039_facing_south.png b/run22/20039_facing_south.png
new file mode 100644
index 0000000000000000000000000000000000000000..285e99abb180674665170b2ad4b4d1608becc27a
--- /dev/null
+++ b/run22/20039_facing_south.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:612a346ac3438fe2813f1e6c210ca514d1421be49a0601ab86c479dcca3a4753
+size 897586
diff --git a/run22/20039_facing_west.png b/run22/20039_facing_west.png
new file mode 100644
index 0000000000000000000000000000000000000000..0d433475daf4d2f8158659f57ed8fb873cbdd5dc
--- /dev/null
+++ b/run22/20039_facing_west.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:76836f74976582dcc29e3c905637b7a7e48542db488f881821254e4a44faf584
+size 919785
diff --git a/run22/2408911_facing_east.png b/run22/2408911_facing_east.png
new file mode 100644
index 0000000000000000000000000000000000000000..f6e463b9394738dea3f30f4661719324c6c8e0ed
--- /dev/null
+++ b/run22/2408911_facing_east.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1fb219c789497136d39fb66e0f20f3844677f2353b47fc1cf8133a9f15c44120
+size 855667
diff --git a/run22/2408911_facing_north.png b/run22/2408911_facing_north.png
new file mode 100644
index 0000000000000000000000000000000000000000..188c525bf8a3c1f3922609281eac8e0c2a019630
--- /dev/null
+++ b/run22/2408911_facing_north.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9a30b31a5041046832f418d16c115dc11fa62d82f44227112a6e85fbdf29c188
+size 702583
diff --git a/run22/2408911_facing_south.png b/run22/2408911_facing_south.png
new file mode 100644
index 0000000000000000000000000000000000000000..4495c5adf12d549638da5b8c50e84d89a72fe687
--- /dev/null
+++ b/run22/2408911_facing_south.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e884565c4e9fedc1c5402c1e58497809bdb422fb0750bf132c9e36e044f4eab8
+size 861415
diff --git a/run22/2408911_facing_west.png b/run22/2408911_facing_west.png
new file mode 100644
index 0000000000000000000000000000000000000000..d6721c7a26785a638e6393120854b350f31678a5
--- /dev/null
+++ b/run22/2408911_facing_west.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:142c14dad16bc420da379a9a4b2e54bfa89dd7e0df6003e785f3508f8f1e1b9d
+size 868961
diff --git a/run22/5208578_facing_east.png b/run22/5208578_facing_east.png
new file mode 100644
index 0000000000000000000000000000000000000000..34eb2e1a14e53968be883f318e37a1c467b29e49
--- /dev/null
+++ b/run22/5208578_facing_east.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c699bc9da01f4f91fb30371e11fada21c136d7b5ae03778650f4f05da0e0af66
+size 842896
diff --git a/run22/5208578_facing_north.png b/run22/5208578_facing_north.png
new file mode 100644
index 0000000000000000000000000000000000000000..216da413cb6ba5beaa831719226fb076ed8d6c0a
--- /dev/null
+++ b/run22/5208578_facing_north.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f7b9aa9ecb53894f244933d12900a79b3af1dd1b74a195454e70bb9c5c38d5f7
+size 811488
diff --git a/run22/5208578_facing_south.png b/run22/5208578_facing_south.png
new file mode 100644
index 0000000000000000000000000000000000000000..cf9fc1342d5f0c0b04f05a74e3a6f11775e4ccfa
--- /dev/null
+++ b/run22/5208578_facing_south.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:81641ba4d2f37946e0c9a4b760c83de4b11823494b6372e5a80d0c68fc85a97c
+size 840142
diff --git a/run22/5208578_facing_west.png b/run22/5208578_facing_west.png
new file mode 100644
index 0000000000000000000000000000000000000000..8b4457be56a2cbb568b937e2de827f2e3482f07f
--- /dev/null
+++ b/run22/5208578_facing_west.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f4b15cec8851e612d75906683835f750f04a08ba5a9cb4c54c082f00a9b75f47
+size 833286
diff --git a/run22/5860679_facing_east.png b/run22/5860679_facing_east.png
new file mode 100644
index 0000000000000000000000000000000000000000..528f6e615af922457bd4936284588a01598b5d00
--- /dev/null
+++ b/run22/5860679_facing_east.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:59af0a6e7ffb4fc9d9a0de5923f36bf47bb781717e8d20a7a6c1ca0d8b3d8993
+size 851976
diff --git a/run22/5860679_facing_north.png b/run22/5860679_facing_north.png
new file mode 100644
index 0000000000000000000000000000000000000000..5457dfa3fa6f15aa0e118cbf2dd701e9e197d227
--- /dev/null
+++ b/run22/5860679_facing_north.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:115fcc574d42eb22762590c0eca02ff7c6c1bf2497395e80e31d5da2de34a691
+size 805448
diff --git a/run22/5860679_facing_south.png b/run22/5860679_facing_south.png
new file mode 100644
index 0000000000000000000000000000000000000000..919e48e6ba423340ed0b306a988ef15e09ecdaba
--- /dev/null
+++ b/run22/5860679_facing_south.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6fbed21cea8e886fe62ec5d266b4b3cea32d5747b5ddc4b29c37bc2c44e42f3d
+size 840380
diff --git a/run22/5860679_facing_west.png b/run22/5860679_facing_west.png
new file mode 100644
index 0000000000000000000000000000000000000000..75d2cbd50a11727e01f17ea59436618e2dc4e1e8
--- /dev/null
+++ b/run22/5860679_facing_west.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7a7c0ad749a813c86017bc1122e571f90aeaad0697c514e127aa2611cd99fad0
+size 823417
diff --git a/run22/6403202_facing_east.png b/run22/6403202_facing_east.png
new file mode 100644
index 0000000000000000000000000000000000000000..192d35e88c8f5e23bbd1fdd418ffce13a7c678c0
--- /dev/null
+++ b/run22/6403202_facing_east.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f7962068b82434a79ea11e15a33ca9a1b1c7529c1511e63c152e1b596c263384
+size 852023
diff --git a/run22/6403202_facing_north.png b/run22/6403202_facing_north.png
new file mode 100644
index 0000000000000000000000000000000000000000..049ba1c15b37e92a7f70a3c70eba8effe7bd7ddb
--- /dev/null
+++ b/run22/6403202_facing_north.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:230706433fd5dec1375c5c8690d68f55b8d35f4b2013ab9f793d42337880293f
+size 853958
diff --git a/run22/6403202_facing_south.png b/run22/6403202_facing_south.png
new file mode 100644
index 0000000000000000000000000000000000000000..6809315c822eb8bf48f203e707b53ec75cda320b
--- /dev/null
+++ b/run22/6403202_facing_south.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c53aa2670ba2208b49f7db001649b58c69a2ae7478bad5c9dff9ecb8e65c2955
+size 804062
diff --git a/run22/6403202_facing_west.png b/run22/6403202_facing_west.png
new file mode 100644
index 0000000000000000000000000000000000000000..1d34ef82fea2c8d4c73d330fbd7c0f0214837283
--- /dev/null
+++ b/run22/6403202_facing_west.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d725905bf73687f1e8350218c09e1bfb8d8be3e6b01598ed65659d5e119d1fec
+size 824407
diff --git a/run22/8184021_facing_east.png b/run22/8184021_facing_east.png
new file mode 100644
index 0000000000000000000000000000000000000000..d384b629c1c126a566781900006ff9acfd257a82
--- /dev/null
+++ b/run22/8184021_facing_east.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2ad380cb3acd0d20386f7306015182f50686aa081469986aa64141d720c5acbf
+size 852739
diff --git a/run22/8184021_facing_north.png b/run22/8184021_facing_north.png
new file mode 100644
index 0000000000000000000000000000000000000000..ce73cf2cd9f643db1dfc74ec9ee57fc2f8c73034
--- /dev/null
+++ b/run22/8184021_facing_north.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e619591e576b1cc13ce42f3346d2b525caaa2c486bfed738ac27d2b36da128aa
+size 842011
diff --git a/run22/8184021_facing_south.png b/run22/8184021_facing_south.png
new file mode 100644
index 0000000000000000000000000000000000000000..6e55855316a7d71afe62ace66d317df98617e993
--- /dev/null
+++ b/run22/8184021_facing_south.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7a9f72a356e2391cec08cd82379a063071caf473ffe0c42b8acfcb9a8f0d090a
+size 827058
diff --git a/run22/8184021_facing_west.png b/run22/8184021_facing_west.png
new file mode 100644
index 0000000000000000000000000000000000000000..1c0e7079d28acb84c3df9e7e6f69126fc52d329b
--- /dev/null
+++ b/run22/8184021_facing_west.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7fb9b2357cf2fa2e0396f9793afd343a9b858f1461d1776825da67f76daa5f5d
+size 821440
diff --git a/run22/8703928_facing_east.png b/run22/8703928_facing_east.png
new file mode 100644
index 0000000000000000000000000000000000000000..4042d9d0445c566d032c83c2608dd35c0d1a030b
--- /dev/null
+++ b/run22/8703928_facing_east.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:30f1c97be35299fdc1b7d9ad4f2adae574867e610a2ca3690750590a40b4f3e8
+size 840244
diff --git a/run22/8703928_facing_north.png b/run22/8703928_facing_north.png
new file mode 100644
index 0000000000000000000000000000000000000000..281663f310747f40b3b5f5b5ca2bff7b0f748eed
--- /dev/null
+++ b/run22/8703928_facing_north.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d33e14168575ba3979b6bb83932e1e705172bbd6ecbe8c0aafbe6f9ebd156fd8
+size 868877
diff --git a/run22/8703928_facing_south.png b/run22/8703928_facing_south.png
new file mode 100644
index 0000000000000000000000000000000000000000..dda5ed9a87c14183365852113c96d20d4f793965
--- /dev/null
+++ b/run22/8703928_facing_south.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:873fbd59ed0bc6ad71830b1fbc2edc68e1dc6fc7fe971208d1e7ff6541635f8c
+size 804756
diff --git a/run22/8703928_facing_west.png b/run22/8703928_facing_west.png
new file mode 100644
index 0000000000000000000000000000000000000000..b98f0656d54cb0b38622b9c5bb3ac2ae7f50f38b
--- /dev/null
+++ b/run22/8703928_facing_west.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b2edfaa0e35142cfb5f9e4e415c7252e6b8e50411cb03b8eaa677da126072315
+size 871350
diff --git a/run22/9152545_facing_east.png b/run22/9152545_facing_east.png
new file mode 100644
index 0000000000000000000000000000000000000000..9f3dc50201b6e905a95885df838c6674d514a901
--- /dev/null
+++ b/run22/9152545_facing_east.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eab7c073f0c5e6bf5d95fc4c9482615b229b6420a38b922ace86a6f79344697e
+size 827863
diff --git a/run22/9152545_facing_north.png b/run22/9152545_facing_north.png
new file mode 100644
index 0000000000000000000000000000000000000000..49fe77259ccae2afff849f43b587db66c363f707
--- /dev/null
+++ b/run22/9152545_facing_north.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:826509468dbee19b47ea837e31c315f0eeb38ef4755ee6683a62aa6472fd9331
+size 862583
diff --git a/run22/9152545_facing_south.png b/run22/9152545_facing_south.png
new file mode 100644
index 0000000000000000000000000000000000000000..648587eff862bd86a56fa292127e21ec9503b273
--- /dev/null
+++ b/run22/9152545_facing_south.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5fc1c35e6dd4f72af902f6b1c9c0390bd66551b411ea719c5e98cebe07e43945
+size 849869
diff --git a/run22/9152545_facing_west.png b/run22/9152545_facing_west.png
new file mode 100644
index 0000000000000000000000000000000000000000..f6936fe99587ebb10fb8bd51fbe913323c998670
--- /dev/null
+++ b/run22/9152545_facing_west.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:28399f8df92b2c6fba0e63f159ac3b98ae069685a405ccc2908e4e709b283354
+size 879814
diff --git a/run22/agent_facing_east.png b/run22/agent_facing_east.png
new file mode 100644
index 0000000000000000000000000000000000000000..5f89f90fbcf8953fb57094f40c34e7a4df241da7
--- /dev/null
+++ b/run22/agent_facing_east.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4263abd310cb97b4c3bd844ef429238048ddffec40bec20a0d4376f1efdbf928
+size 850580
diff --git a/run22/agent_facing_north.png b/run22/agent_facing_north.png
new file mode 100644
index 0000000000000000000000000000000000000000..1823fe25e1955938169145d7edeb7c0763e6a125
--- /dev/null
+++ b/run22/agent_facing_north.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2c2410270d280e21b99b4f5ae7d8960862455c151313700c0f344ab2d59c19dc
+size 706944
diff --git a/run22/agent_facing_south.png b/run22/agent_facing_south.png
new file mode 100644
index 0000000000000000000000000000000000000000..07b390b14c7b5643114bb418e75ea1410d2c6930
--- /dev/null
+++ b/run22/agent_facing_south.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:10e31fad6f7a1c4812f9cad722bf4e1aa153dc66e2ca127ae6bbfc1c00e7d3a3
+size 861782
diff --git a/run22/agent_facing_west.png b/run22/agent_facing_west.png
new file mode 100644
index 0000000000000000000000000000000000000000..9e7492024eb648fe2d1aec3f89f4a6b168b4a5c9
--- /dev/null
+++ b/run22/agent_facing_west.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:39f604a9117d03ab552d59b689a7878981d9cf53453397a0cab659abc9a6199f
+size 879306
diff --git a/run22/agent_seg_debug.png b/run22/agent_seg_debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..92c2198b9116802431cc94d22b777c035d17467b
--- /dev/null
+++ b/run22/agent_seg_debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2bf8aba2c2eb133448a4d84d3ad195a5e04d61731a16641d6b8a4f79a4a8b927
+size 1133
diff --git a/run22/main_cam/img_0000.png b/run22/main_cam/img_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..27426011a5773ab64039199b85f47ca6103d9c43
--- /dev/null
+++ b/run22/main_cam/img_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:317db9df504d9ec9050f2477950605fbf038a84928bd2970a4500e9ac63deeac
+size 1005145
diff --git a/run22/orientation_instruction.png b/run22/orientation_instruction.png
new file mode 100644
index 0000000000000000000000000000000000000000..2d9e12f03db4872929330029c4a18d3498ddd773
--- /dev/null
+++ b/run22/orientation_instruction.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dde1c769001fa634d1561815b880818268527c4f913d73692aec2901a772872b
+size 1950586
diff --git a/run22/top_down.png b/run22/top_down.png
new file mode 100644
index 0000000000000000000000000000000000000000..f6071bef90affb3fb38d435180a4097b3e7457ac
--- /dev/null
+++ b/run22/top_down.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1f5a9bfdef777e74e0799820f33b12bf77cc7824869ccb4d44ff3fbfc4e3cb14
+size 826785
diff --git a/run22/top_down/img_0000.png b/run22/top_down/img_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..325fdfc509037fb0331c47e1515611ecdbcdf83c
--- /dev/null
+++ b/run22/top_down/img_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6069179f1c404e18397a60913bfbe3e07a75ef6e6117d2e8a24b218e6beda7dc
+size 1052653
diff --git a/run22/top_down_annotated.png b/run22/top_down_annotated.png
new file mode 100644
index 0000000000000000000000000000000000000000..01a06f34ac0acad41604b6bfad195cfcb0d863cf
--- /dev/null
+++ b/run22/top_down_annotated.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6f2ac79c858171e59e6a0598e7d05dae9281abc5ba8b4384eaf74a2e8b7c98ce
+size 914912