diff --git a/scans/20260420_almond_from_1_viewpoint/scan00/frame_00000.jpg b/scans/20260420_almond_from_1_viewpoint/scan00/frame_00000.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..0fb974f2e1097bb2b8a1bcbdcc297cea38a5465c
--- /dev/null
+++ b/scans/20260420_almond_from_1_viewpoint/scan00/frame_00000.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0fab8ef6ac7112af365ce248f956b37c69bb7c889887789a7a135e22b1dac134
+size 272322
diff --git a/scans/20260420_almond_from_1_viewpoint/scan00/frame_00001.jpg b/scans/20260420_almond_from_1_viewpoint/scan00/frame_00001.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..33ae191907da2ffd4096f939f8b6323696a209e2
--- /dev/null
+++ b/scans/20260420_almond_from_1_viewpoint/scan00/frame_00001.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a134cc5a37e2161b865fde1a0ee8ed4b5df078a0083b11fcfe9a7d1c13bc8a2d
+size 184678
diff --git a/scans/20260420_almond_from_1_viewpoint/scan00/frame_00002.jpg b/scans/20260420_almond_from_1_viewpoint/scan00/frame_00002.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..4e24ad2325ad5de9905019003f6542d4e7146074
--- /dev/null
+++ b/scans/20260420_almond_from_1_viewpoint/scan00/frame_00002.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d47d4523b570eb7ae07ad9c789548e697676d8840d2717033ef7a6a0fb95ac46
+size 328179
diff --git a/scans/20260420_almond_from_1_viewpoint/scan00/frame_00003.jpg b/scans/20260420_almond_from_1_viewpoint/scan00/frame_00003.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..53dbf6b97acb547512421b740f02f933ff04cc05
--- /dev/null
+++ b/scans/20260420_almond_from_1_viewpoint/scan00/frame_00003.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3d45549efe5b98582f51a8f48b1bd94d075b16b90e9af9df7a36fdda9b4aabe3
+size 329585
diff --git a/scans/20260420_almond_from_1_viewpoint/scan00/frame_00004.jpg b/scans/20260420_almond_from_1_viewpoint/scan00/frame_00004.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..12e1ac9614fc51eb48aceb143090437312dc4b32
--- /dev/null
+++ b/scans/20260420_almond_from_1_viewpoint/scan00/frame_00004.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:44195f7947a05a80435fe02fae83d3a9ea135d171d9d342092dedf62a96884a9
+size 666783
diff --git a/scans/20260420_almond_from_1_viewpoint/scan00/frame_00005.jpg b/scans/20260420_almond_from_1_viewpoint/scan00/frame_00005.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..8f35ecf48487f7e65bbe3681d1fd319ec11f30e0
--- /dev/null
+++ b/scans/20260420_almond_from_1_viewpoint/scan00/frame_00005.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:69b30d98faeff51e76b0f1fa6a4995252432e341126741fcbc4d452a7f13750d
+size 266695
diff --git a/scans/20260420_almond_from_1_viewpoint/scan00/frame_00006.jpg b/scans/20260420_almond_from_1_viewpoint/scan00/frame_00006.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..eb9b97f80190008b2fdd045fba40360440d57745
--- /dev/null
+++ b/scans/20260420_almond_from_1_viewpoint/scan00/frame_00006.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:00e0248617faab3c6f2d8c749d4f418b5938a1ae155a66f570db0dec25578670
+size 268711
diff --git a/scans/20260420_almond_from_1_viewpoint/scan00/frame_00007.jpg b/scans/20260420_almond_from_1_viewpoint/scan00/frame_00007.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..293e56b53895971c09cd0233041f0618f245d5bb
--- /dev/null
+++ b/scans/20260420_almond_from_1_viewpoint/scan00/frame_00007.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2003577e4bff52ec993b99ab631a3821b0e317983a61afb6330329f9276fabc2
+size 269499
diff --git a/scans/20260420_almond_from_1_viewpoint/scan00/frame_00008.jpg b/scans/20260420_almond_from_1_viewpoint/scan00/frame_00008.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..98c151ee3d3dd32b44f2725fec85694aab8c132f
--- /dev/null
+++ b/scans/20260420_almond_from_1_viewpoint/scan00/frame_00008.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f0d35c1de65f026b4be7cfb1938a968af6b18f48659ce4bdd369b6b31461fe22
+size 274028
diff --git a/scans/20260420_almond_from_1_viewpoint/scan00/frame_00009.jpg b/scans/20260420_almond_from_1_viewpoint/scan00/frame_00009.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..ebbe989f2628e0c9f7128d4bb93fe7d2635be934
--- /dev/null
+++ b/scans/20260420_almond_from_1_viewpoint/scan00/frame_00009.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1ed00b62471debfcad7590e700b2f5e4a722616f0148359496a61a307b1e9057
+size 275025
diff --git a/scans/20260420_almond_from_1_viewpoint/scan00/frame_00010.jpg b/scans/20260420_almond_from_1_viewpoint/scan00/frame_00010.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..fd9dc64fce5018d33df5a1e99e3be5ee95cf8cbf
--- /dev/null
+++ b/scans/20260420_almond_from_1_viewpoint/scan00/frame_00010.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cc9e32840d384d3ae41c4d340638ca9c7fe371e76ef17d5d70500ede23d03988
+size 167718
diff --git a/scans/20260420_almond_from_1_viewpoint/scan00/frame_00011.jpg b/scans/20260420_almond_from_1_viewpoint/scan00/frame_00011.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..757baee4fc4301637e3b1ab233b30dc6a191d682
--- /dev/null
+++ b/scans/20260420_almond_from_1_viewpoint/scan00/frame_00011.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4df7f7402af0ca91f43d0bdb8667f817c0afb81e7deccf2a147694e0dc420c80
+size 171142
diff --git a/scans/20260420_almond_from_1_viewpoint/scan00/frame_00012.jpg b/scans/20260420_almond_from_1_viewpoint/scan00/frame_00012.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..b8be4c95ce9e504bd6349c7db882c2a4719761a9
--- /dev/null
+++ b/scans/20260420_almond_from_1_viewpoint/scan00/frame_00012.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a5c7ab738ad58b2758bc0fd7079b4a9d448d011ba02c6d345b37039faedc8779
+size 286423
diff --git a/scans/20260420_almond_from_1_viewpoint/scan00/frame_00013.jpg b/scans/20260420_almond_from_1_viewpoint/scan00/frame_00013.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..3fcbb67698e284b749ebe337208e1213e0eee49f
--- /dev/null
+++ b/scans/20260420_almond_from_1_viewpoint/scan00/frame_00013.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4ae720e77ca850816fb3141bb42adf52e887745cc851f5beda9d76aeb153a974
+size 204747
diff --git a/scans/20260420_almond_from_1_viewpoint/scan00/frame_00014.jpg b/scans/20260420_almond_from_1_viewpoint/scan00/frame_00014.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..04364ffc188daacd5041a9082337f298d2f2e4de
--- /dev/null
+++ b/scans/20260420_almond_from_1_viewpoint/scan00/frame_00014.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:52c12a2f15bbd4ebdde6bae64202f763f608dfccdeea9ea4d727802988563c23
+size 209697
diff --git a/scans/20260420_almond_from_1_viewpoint/scan00/frame_00015.jpg b/scans/20260420_almond_from_1_viewpoint/scan00/frame_00015.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..1015e6370366abc7d5b16b63b4e5b6c77dc85c90
--- /dev/null
+++ b/scans/20260420_almond_from_1_viewpoint/scan00/frame_00015.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bfa7f210bd67b6be5e23f566b1ff6c6038533f6eba2ea921139444a4efbcb109
+size 215115
diff --git a/scans/20260420_almond_from_1_viewpoint/scan00/frame_00016.jpg b/scans/20260420_almond_from_1_viewpoint/scan00/frame_00016.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..9028a8809ba1a7e48c16120882ef2480607b8279
--- /dev/null
+++ b/scans/20260420_almond_from_1_viewpoint/scan00/frame_00016.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:17b21f4babc792d37137a305541b80ed0e9ec6f9f4979c09697f93196a5709ac
+size 561095
diff --git a/scans/20260420_almond_from_1_viewpoint/scan00/frame_00017.jpg b/scans/20260420_almond_from_1_viewpoint/scan00/frame_00017.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..1aecb68774933a2336f43386450a75116f9a5bd2
--- /dev/null
+++ b/scans/20260420_almond_from_1_viewpoint/scan00/frame_00017.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0dd40a7d2b68632edab25182ca06d126d4e51c362db88bbdfd4a020923d8330a
+size 298156
diff --git a/scans/20260420_almond_from_1_viewpoint/scan00/frame_00018.jpg b/scans/20260420_almond_from_1_viewpoint/scan00/frame_00018.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..e85ccd175094bff6cf53f22f4cee6b18d413725c
--- /dev/null
+++ b/scans/20260420_almond_from_1_viewpoint/scan00/frame_00018.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4d11694e71a303da1f228cc5fef1e15fbce60b5b2e92bf62801f597e2bc3c415
+size 258796
diff --git a/scans/20260420_almond_from_1_viewpoint/scan00/frame_00019.jpg b/scans/20260420_almond_from_1_viewpoint/scan00/frame_00019.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..e4fd8f726b38178ed3531147337cfb5d59f2a6d3
--- /dev/null
+++ b/scans/20260420_almond_from_1_viewpoint/scan00/frame_00019.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8313224459766ecea60f81ad20649d7787cafff459d355438be941411a9c514e
+size 328481
diff --git a/scans/20260420_almond_from_1_viewpoint/scan00/frame_00020.jpg b/scans/20260420_almond_from_1_viewpoint/scan00/frame_00020.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..f4e8551d897f49abaa01770b6ad1a8111c63d090
--- /dev/null
+++ b/scans/20260420_almond_from_1_viewpoint/scan00/frame_00020.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:94fd5f23edda82daa9a14f3d4b1021fe17bcbea15898983adbfd3d45d18868d3
+size 365222
diff --git a/scans/20260420_almond_from_1_viewpoint/scan00/frame_00021.jpg b/scans/20260420_almond_from_1_viewpoint/scan00/frame_00021.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..5f605b85c21b22cd961dca67ca30dcc94c3d7659
--- /dev/null
+++ b/scans/20260420_almond_from_1_viewpoint/scan00/frame_00021.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7771881c2ce357e0fc37002d6e0a59cf4f610b56646f811ca4a3c0d1478ee421
+size 261101
diff --git a/scans/20260420_almond_from_1_viewpoint/scan00/frame_00022.jpg b/scans/20260420_almond_from_1_viewpoint/scan00/frame_00022.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..4a9e06f3f7e54e346253ee3728a5a64bccf011e5
--- /dev/null
+++ b/scans/20260420_almond_from_1_viewpoint/scan00/frame_00022.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dbf5df847caf40f03f63aff168a3066c47a703232f891aaf3c1e472f1e794cb3
+size 258082
diff --git a/scans/20260420_almond_from_1_viewpoint/scan00/frame_00023.jpg b/scans/20260420_almond_from_1_viewpoint/scan00/frame_00023.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..fce26ced718e7555ca02d868484c216d2843f94f
--- /dev/null
+++ b/scans/20260420_almond_from_1_viewpoint/scan00/frame_00023.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ea79b2092e49f3ee3bbad5ca657b8113728028161a55aa5460cccf0e5963e5fb
+size 242928
diff --git a/scans/20260420_almond_from_1_viewpoint/scan00/frame_00024.jpg b/scans/20260420_almond_from_1_viewpoint/scan00/frame_00024.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..4491b11d8ecf1f1ab81e2f546e18587cae09a7ef
--- /dev/null
+++ b/scans/20260420_almond_from_1_viewpoint/scan00/frame_00024.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:345f7b09e0532ca363b332c16051944cc38a547c5f34d7265f4eff37dc460d78
+size 264423
diff --git a/scans/20260420_almond_from_1_viewpoint/scan00/frame_00025.jpg b/scans/20260420_almond_from_1_viewpoint/scan00/frame_00025.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..861bddc12545f6fcfc18879a98c46684faf8be3f
--- /dev/null
+++ b/scans/20260420_almond_from_1_viewpoint/scan00/frame_00025.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:22578fc7bc926560c61162c48f1f3ecbc2c71df6103cdae41f11b8a4d4c6174d
+size 236914
diff --git a/scans/20260420_almond_from_1_viewpoint/scan00/frame_00026.jpg b/scans/20260420_almond_from_1_viewpoint/scan00/frame_00026.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..f195c943195338c47a8544e8c576379561b261a5
--- /dev/null
+++ b/scans/20260420_almond_from_1_viewpoint/scan00/frame_00026.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6a87e25596d951ce2dc65c9dd7b5f4ba6c304477f7daab3e57f7661b94f254e9
+size 227122
diff --git a/scans/20260420_almond_from_1_viewpoint/scan00/frame_00027.jpg b/scans/20260420_almond_from_1_viewpoint/scan00/frame_00027.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..edc1e39dee62df17be1f7317177c0a8760641e76
--- /dev/null
+++ b/scans/20260420_almond_from_1_viewpoint/scan00/frame_00027.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:be06554d8dce7dbbb4c23bcb97d7cf66a6252661b55a9c57091e6aa9fe5db175
+size 219079
diff --git a/scans/20260420_almond_from_1_viewpoint/scan00/frame_00028.jpg b/scans/20260420_almond_from_1_viewpoint/scan00/frame_00028.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..bcec7c2346162edb289d38956184bc09c7c493c6
--- /dev/null
+++ b/scans/20260420_almond_from_1_viewpoint/scan00/frame_00028.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:32b9de626eb1565d8bfc04def2893fe32eaec3274c195ab1a8fe4195f9ab1415
+size 475350
diff --git a/scans/20260420_almond_from_1_viewpoint/scan00/frame_00029.jpg b/scans/20260420_almond_from_1_viewpoint/scan00/frame_00029.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..f5633fe8a4637147df59fc5e45d6472b976c2aef
--- /dev/null
+++ b/scans/20260420_almond_from_1_viewpoint/scan00/frame_00029.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0dfacaee5911901d19315df21c235a089dd4d7a13226f41c3c91f0374f89b08c
+size 478442
diff --git a/scans/20260420_almond_from_1_viewpoint/scan00/pose_00000.npy b/scans/20260420_almond_from_1_viewpoint/scan00/pose_00000.npy
new file mode 100644
index 0000000000000000000000000000000000000000..8e7e925fbf44c7f1da92d42efa54745532f811c4
--- /dev/null
+++ b/scans/20260420_almond_from_1_viewpoint/scan00/pose_00000.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0f4268514296b8a29f23a5990a2e52df9dbc76f39574efe4fefadf2e87b10e56
+size 256
diff --git a/scans/20260420_almond_from_1_viewpoint/scan00/pose_00001.npy b/scans/20260420_almond_from_1_viewpoint/scan00/pose_00001.npy
new file mode 100644
index 0000000000000000000000000000000000000000..71779d3b94caf6b3ddd0b8da525dd42a9edc7938
--- /dev/null
+++ b/scans/20260420_almond_from_1_viewpoint/scan00/pose_00001.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fcba665da0e804b21f02d773c745c0412a3e2df7ccc712b383ee2d31914c3d39
+size 256
diff --git a/scans/20260420_almond_from_1_viewpoint/scan00/pose_00002.npy b/scans/20260420_almond_from_1_viewpoint/scan00/pose_00002.npy
new file mode 100644
index 0000000000000000000000000000000000000000..7abfb0fe566cf66baf1079f5f1e9789b0b3a531a
--- /dev/null
+++ b/scans/20260420_almond_from_1_viewpoint/scan00/pose_00002.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ea1948528187e2b9dccaf577e0c238aade366e895a648c8990cbfbbde58178e4
+size 256
diff --git a/scans/20260420_almond_from_1_viewpoint/scan00/pose_00003.npy b/scans/20260420_almond_from_1_viewpoint/scan00/pose_00003.npy
new file mode 100644
index 0000000000000000000000000000000000000000..a5fd45ce80034fd353fd9908bda7346ecd3aace4
--- /dev/null
+++ b/scans/20260420_almond_from_1_viewpoint/scan00/pose_00003.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:05ffa1f8490a630b7c88bf09d19711f4fb7c684de2b2d3a10e99d7e8da2341c5
+size 256
diff --git a/scans/20260420_almond_from_1_viewpoint/scan00/pose_00004.npy b/scans/20260420_almond_from_1_viewpoint/scan00/pose_00004.npy
new file mode 100644
index 0000000000000000000000000000000000000000..7e38ba58ed2db52a169d1dc064c897edfa671941
--- /dev/null
+++ b/scans/20260420_almond_from_1_viewpoint/scan00/pose_00004.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d7fecaf36c5768619c98f0e9aff7e8db945eb5d7d0817f0aa5400013ae0d9fd1
+size 256
diff --git a/scans/20260420_almond_from_1_viewpoint/scan00/pose_00005.npy b/scans/20260420_almond_from_1_viewpoint/scan00/pose_00005.npy
new file mode 100644
index 0000000000000000000000000000000000000000..252c2a3233c9a6a15092aac9d0c1c1c719e0cb10
--- /dev/null
+++ b/scans/20260420_almond_from_1_viewpoint/scan00/pose_00005.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c18c76cec205a3ce4b13d919b8af070b0c7240701320f5c39eb1f8bbe949dd14
+size 256
diff --git a/scans/20260420_almond_from_1_viewpoint/scan00/pose_00006.npy b/scans/20260420_almond_from_1_viewpoint/scan00/pose_00006.npy
new file mode 100644
index 0000000000000000000000000000000000000000..19aea32fce06a7b748964010db0afc4955190f19
--- /dev/null
+++ b/scans/20260420_almond_from_1_viewpoint/scan00/pose_00006.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f14b0eab77c58276194228d5435a36794be9a83449d44a3b1e7cb037f19c15c6
+size 256
diff --git a/scans/20260420_almond_from_1_viewpoint/scan00/pose_00007.npy b/scans/20260420_almond_from_1_viewpoint/scan00/pose_00007.npy
new file mode 100644
index 0000000000000000000000000000000000000000..41514b9bb569e4de4bbe94f6f4a061a34f60f09a
--- /dev/null
+++ b/scans/20260420_almond_from_1_viewpoint/scan00/pose_00007.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:783270cec481daec324a7df79e9233b5d37bcbcf5c780041b9d7f5da8eebe089
+size 256
diff --git a/scans/20260420_almond_from_1_viewpoint/scan00/pose_00008.npy b/scans/20260420_almond_from_1_viewpoint/scan00/pose_00008.npy
new file mode 100644
index 0000000000000000000000000000000000000000..ebf4354eb1ac4e29b3fa7956a3ce105d4682e57e
--- /dev/null
+++ b/scans/20260420_almond_from_1_viewpoint/scan00/pose_00008.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0283d565dd6c1cb169093e0e9a085ace490016a85ff51fc345ad717867ff95c9
+size 256
diff --git a/scans/20260420_almond_from_1_viewpoint/scan00/pose_00009.npy b/scans/20260420_almond_from_1_viewpoint/scan00/pose_00009.npy
new file mode 100644
index 0000000000000000000000000000000000000000..444b071b8c58e266c4c02dc57fc6ad50f876f57c
--- /dev/null
+++ b/scans/20260420_almond_from_1_viewpoint/scan00/pose_00009.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e4cca0e069d555f85df56c3fc898ac340e484d5dad0642f79370866c2fefa25d
+size 256
diff --git a/scans/20260420_almond_from_1_viewpoint/scan00/pose_00010.npy b/scans/20260420_almond_from_1_viewpoint/scan00/pose_00010.npy
new file mode 100644
index 0000000000000000000000000000000000000000..d04051f3f43a5dbd4c1f2cbe15dbd51e72f21c24
--- /dev/null
+++ b/scans/20260420_almond_from_1_viewpoint/scan00/pose_00010.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:da40786279e58f1c523961bf12c6d07f7061cd9bf7b6fc74f69105d6eb9f5a5f
+size 256
diff --git a/scans/20260420_almond_from_1_viewpoint/scan00/pose_00011.npy b/scans/20260420_almond_from_1_viewpoint/scan00/pose_00011.npy
new file mode 100644
index 0000000000000000000000000000000000000000..5ded8f33689cda0d5d65bb1d877ad1b566489422
--- /dev/null
+++ b/scans/20260420_almond_from_1_viewpoint/scan00/pose_00011.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b8a9596f941b55d9628aa9d95af75a4d57ec929e292b2b1f0f04d3f40fe7035a
+size 256
diff --git a/scans/20260420_almond_from_1_viewpoint/scan00/pose_00012.npy b/scans/20260420_almond_from_1_viewpoint/scan00/pose_00012.npy
new file mode 100644
index 0000000000000000000000000000000000000000..19def571b9e4d35fbd02d72cb6a61f3422e1c2fa
--- /dev/null
+++ b/scans/20260420_almond_from_1_viewpoint/scan00/pose_00012.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d488c8652ad11c6901b8520621d2185cc657e12f8b8bd18c1a597eb933d86f48
+size 256
diff --git a/scans/20260420_almond_from_1_viewpoint/scan00/pose_00013.npy b/scans/20260420_almond_from_1_viewpoint/scan00/pose_00013.npy
new file mode 100644
index 0000000000000000000000000000000000000000..dddf6d1b131cf342540b22912e1df9e3fb329cfa
--- /dev/null
+++ b/scans/20260420_almond_from_1_viewpoint/scan00/pose_00013.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1a53e354cf08201bc2ba0f0a88b2bdb60fe671f7658806777960686067b21088
+size 256
diff --git a/scans/20260420_almond_from_1_viewpoint/scan00/pose_00014.npy b/scans/20260420_almond_from_1_viewpoint/scan00/pose_00014.npy
new file mode 100644
index 0000000000000000000000000000000000000000..98bd123edf9a3e9e876b0f0e4d9f6dc77f8c2129
--- /dev/null
+++ b/scans/20260420_almond_from_1_viewpoint/scan00/pose_00014.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9cfcea963dbd39cd0214411faa2daefff7b47297de1985e3296de8ba969a225b
+size 256
diff --git a/scans/20260420_almond_from_1_viewpoint/scan00/pose_00015.npy b/scans/20260420_almond_from_1_viewpoint/scan00/pose_00015.npy
new file mode 100644
index 0000000000000000000000000000000000000000..7e373c169441ce4d6e6dcaaa10a74454a724f695
--- /dev/null
+++ b/scans/20260420_almond_from_1_viewpoint/scan00/pose_00015.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d579fd52f9be03b0e650d2cb932bc752a8f7b2bf5f58aa05a92ff3e3cfb741af
+size 256
diff --git a/scans/20260420_almond_from_1_viewpoint/scan00/pose_00016.npy b/scans/20260420_almond_from_1_viewpoint/scan00/pose_00016.npy
new file mode 100644
index 0000000000000000000000000000000000000000..5dceabe296a0dd67763396d360397afb9c873f2f
--- /dev/null
+++ b/scans/20260420_almond_from_1_viewpoint/scan00/pose_00016.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d6287cb5a48f8d18b99ddeaa23a821b1b7a89296a550be081a3629b632abee28
+size 256
diff --git a/scans/20260420_almond_from_1_viewpoint/scan00/pose_00017.npy b/scans/20260420_almond_from_1_viewpoint/scan00/pose_00017.npy
new file mode 100644
index 0000000000000000000000000000000000000000..5abbbbdc6ebfbbcead9185493ae930585513b9fb
--- /dev/null
+++ b/scans/20260420_almond_from_1_viewpoint/scan00/pose_00017.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0c74c2a650576e0501579ce9e86989f4db31bb189ecc44feb61ac414a76d2f42
+size 256
diff --git a/scans/20260420_almond_from_1_viewpoint/scan00/pose_00018.npy b/scans/20260420_almond_from_1_viewpoint/scan00/pose_00018.npy
new file mode 100644
index 0000000000000000000000000000000000000000..83434cdb256854a318b0c6cfcfd291941228688b
--- /dev/null
+++ b/scans/20260420_almond_from_1_viewpoint/scan00/pose_00018.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f5a52414c759a7d99a741f62066b9c68b9f50addb1f819a874a1b625f7a6c39e
+size 256
diff --git a/scans/20260420_almond_from_1_viewpoint/scan00/pose_00019.npy b/scans/20260420_almond_from_1_viewpoint/scan00/pose_00019.npy
new file mode 100644
index 0000000000000000000000000000000000000000..28f11bcf4b402628b0bb79af6ed2cfff484a5b9d
--- /dev/null
+++ b/scans/20260420_almond_from_1_viewpoint/scan00/pose_00019.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:35c9e280655c55132775da866eb14fee7da4477765f944cbea2c413ba1ded83d
+size 256
diff --git a/scans/20260420_almond_from_1_viewpoint/scan00/pose_00020.npy b/scans/20260420_almond_from_1_viewpoint/scan00/pose_00020.npy
new file mode 100644
index 0000000000000000000000000000000000000000..d15e75212541557a2a648fdf1efc9962a284170d
--- /dev/null
+++ b/scans/20260420_almond_from_1_viewpoint/scan00/pose_00020.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0d42a3df64b508be70a8af92b7c840d769c5e6e22c33af378e102d129d35b699
+size 256
diff --git a/scans/20260420_almond_from_1_viewpoint/scan00/pose_00021.npy b/scans/20260420_almond_from_1_viewpoint/scan00/pose_00021.npy
new file mode 100644
index 0000000000000000000000000000000000000000..d7f7254e491c1bc54f511cd3076286267ade4a28
--- /dev/null
+++ b/scans/20260420_almond_from_1_viewpoint/scan00/pose_00021.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5e060c4ee837da948cf5774a65edb48e852181020f8023ca18a6ac2fac764530
+size 256
diff --git a/scans/20260420_almond_from_1_viewpoint/scan00/pose_00022.npy b/scans/20260420_almond_from_1_viewpoint/scan00/pose_00022.npy
new file mode 100644
index 0000000000000000000000000000000000000000..dea6aaa0a6be80a1682bcb09f40057e6538bf07b
--- /dev/null
+++ b/scans/20260420_almond_from_1_viewpoint/scan00/pose_00022.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f9a195677cad70ff9edbeb97956b6fcef38af333930255c8bec8e74138a75f1a
+size 256
diff --git a/scans/20260420_almond_from_1_viewpoint/scan00/pose_00023.npy b/scans/20260420_almond_from_1_viewpoint/scan00/pose_00023.npy
new file mode 100644
index 0000000000000000000000000000000000000000..2c4d1c4100f0326874677c5385aa00590eff2421
--- /dev/null
+++ b/scans/20260420_almond_from_1_viewpoint/scan00/pose_00023.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:013a781d12c81e0934b596f3d7b652df7c5a6d3b189118f36979557e2614197d
+size 256
diff --git a/scans/20260420_almond_from_1_viewpoint/scan00/pose_00024.npy b/scans/20260420_almond_from_1_viewpoint/scan00/pose_00024.npy
new file mode 100644
index 0000000000000000000000000000000000000000..0b875d81c0defbfa3a27a194c4195ddc2a707704
--- /dev/null
+++ b/scans/20260420_almond_from_1_viewpoint/scan00/pose_00024.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:479599af912402cc60b8fae254f3ecba4e42d7337cdeaf7390566cd152847ceb
+size 256
diff --git a/scans/20260420_almond_from_1_viewpoint/scan00/pose_00025.npy b/scans/20260420_almond_from_1_viewpoint/scan00/pose_00025.npy
new file mode 100644
index 0000000000000000000000000000000000000000..bca1a254b31958c5702f44441e08ed6e318d552a
--- /dev/null
+++ b/scans/20260420_almond_from_1_viewpoint/scan00/pose_00025.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a8b35665bd9b40a18b84b3c758950f1cf749e876f097d5c6240d5406c0abf5d0
+size 256
diff --git a/scans/20260420_almond_from_1_viewpoint/scan00/pose_00026.npy b/scans/20260420_almond_from_1_viewpoint/scan00/pose_00026.npy
new file mode 100644
index 0000000000000000000000000000000000000000..5f8e581363a57d4e056c9c708fbfe94a450c21bb
--- /dev/null
+++ b/scans/20260420_almond_from_1_viewpoint/scan00/pose_00026.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f97f62872ecf2355349cfa7551e032510316a9e093332d4d840c9d6c1580d595
+size 256
diff --git a/scans/20260420_almond_from_1_viewpoint/scan00/pose_00027.npy b/scans/20260420_almond_from_1_viewpoint/scan00/pose_00027.npy
new file mode 100644
index 0000000000000000000000000000000000000000..c092b0137f94e44e0e251925300d456de3680dcf
--- /dev/null
+++ b/scans/20260420_almond_from_1_viewpoint/scan00/pose_00027.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3cc529b4c08955baac604d3f4a48892140ec74daf6008da0c21041431b6eff27
+size 256
diff --git a/scans/20260420_almond_from_1_viewpoint/scan00/pose_00028.npy b/scans/20260420_almond_from_1_viewpoint/scan00/pose_00028.npy
new file mode 100644
index 0000000000000000000000000000000000000000..931cfeba66fb8d254a1dad44bf51c69c98290999
--- /dev/null
+++ b/scans/20260420_almond_from_1_viewpoint/scan00/pose_00028.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2c60f8f0b0192f01cf6b527be144a4d2706985a565b1a870b1ee388aa17163ab
+size 256
diff --git a/scans/20260420_almond_from_1_viewpoint/scan00/pose_00029.npy b/scans/20260420_almond_from_1_viewpoint/scan00/pose_00029.npy
new file mode 100644
index 0000000000000000000000000000000000000000..c7e99511bc0f1f031218c36197dbb66291fbd1c1
--- /dev/null
+++ b/scans/20260420_almond_from_1_viewpoint/scan00/pose_00029.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:785690a77c6ec7c3c55cef9ef754f6c16bc3899c4299edd490f86998b21d7a07
+size 256
diff --git a/scans/20260420_almond_from_1_viewpoint/scan00/scan_00.png b/scans/20260420_almond_from_1_viewpoint/scan00/scan_00.png
new file mode 100644
index 0000000000000000000000000000000000000000..df1a79606cf10ff5270f832384fffa57a4764b47
--- /dev/null
+++ b/scans/20260420_almond_from_1_viewpoint/scan00/scan_00.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cd93f700635a29560841caa69a0ef6d11bcea09f2f4e154968aeb5b519eb0887
+size 146130
diff --git a/scans/20260420_almond_from_1_viewpoint/scan_params.txt b/scans/20260420_almond_from_1_viewpoint/scan_params.txt
new file mode 100644
index 0000000000000000000000000000000000000000..cc7a798f217572db37fbb85872af520ce0fb3f0e
--- /dev/null
+++ b/scans/20260420_almond_from_1_viewpoint/scan_params.txt
@@ -0,0 +1,22 @@
+date: 20260420_164753
+hemisphere_dist: 0.8
+hemisphere_angle_deg: 0.0
+hemisphere_radius: 0.08
+hemisphere_z: 0.36
+hemisphere_pos: [0.761285, -0.002479, 0.363935]
+num_scan_points: 2
+coverage: 1.0
+distance_along_optical_axis: 0.035
+num_pictures: 30
+elbow_angle_deg: 135.00
+use_hardware: True
+skip_opt: False
+no_wait: True
+start_idx: 0
+
+# Timing
+total_run_time_s: 30.19
+num_moves: 1
+move_times_s: [0.008]
+avg_move_time_s: 0.008
+optical_axis_traj_time_s: 5.628
diff --git a/scans/20260420_almond_from_1_viewpoint/trajectory_data/waypoint_00000/joint_positions.csv b/scans/20260420_almond_from_1_viewpoint/trajectory_data/waypoint_00000/joint_positions.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ed322c15234501afa56a11329ae9187d28c57d95
--- /dev/null
+++ b/scans/20260420_almond_from_1_viewpoint/trajectory_data/waypoint_00000/joint_positions.csv
@@ -0,0 +1,4 @@
+time,q0,q1,q2,q3,q4,q5,q6
+0.000000000000000000e+00,-5.703916907957949922e-01,1.010455877009532655e+00,8.490911366742782684e-01,-1.951680735131832378e+00,-2.355104119682537717e-02,-1.174929582987085608e+00,-6.802482142996190140e-01
+4.002118188454899077e-03,-5.701218783145883817e-01,1.010190033476366267e+00,8.490227937813721315e-01,-1.951698711654536122e+00,-2.278913766225961271e-02,-1.174944277105653523e+00,-6.803502637365361760e-01
+8.004236376909798154e-03,-5.698519813866964601e-01,1.009924235944269499e+00,8.489543904346850134e-01,-1.951716447845525337e+00,-2.202722173397797523e-02,-1.174958756393709169e+00,-6.804522544584031829e-01
diff --git a/scans/20260420_almond_from_1_viewpoint/trajectory_data/waypoint_00000/joint_positions.png b/scans/20260420_almond_from_1_viewpoint/trajectory_data/waypoint_00000/joint_positions.png
new file mode 100644
index 0000000000000000000000000000000000000000..9e62e6791f50e5fae0ffb2ea48aa894958f6f8dd
--- /dev/null
+++ b/scans/20260420_almond_from_1_viewpoint/trajectory_data/waypoint_00000/joint_positions.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:272791f5528be8485263149a17b087d0a5902a7d888418cdbad917183654d484
+size 205792
diff --git a/scans/20260420_almond_from_1_viewpoint/trajectory_data/waypoint_00000/joint_velocities.csv b/scans/20260420_almond_from_1_viewpoint/trajectory_data/waypoint_00000/joint_velocities.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d94661407812a23ce58c510733ffcefd9ba7d1cd
--- /dev/null
+++ b/scans/20260420_almond_from_1_viewpoint/trajectory_data/waypoint_00000/joint_velocities.csv
@@ -0,0 +1,3 @@
+time_mid,dq0,dq1,dq2,dq3,dq4,dq5,dq6
+2.001059094227449538e-03,6.741741960168777525e-02,-6.642570774978091841e-02,-1.707668031975890371e-02,-4.491752081585699032e-03,1.903750710720297779e-01,-3.671585364546166904e-03,-2.549885638348935515e-02
+6.003177282682348181e-03,6.743852009930795255e-02,-6.641421356908608353e-02,-1.709178576595876339e-02,-4.431700952855239378e-03,1.903781678611023154e-01,-3.617906162145753148e-03,-2.548418538993284937e-02
diff --git a/scans/20260420_almond_from_1_viewpoint/trajectory_data/waypoint_00000/joint_velocities.png b/scans/20260420_almond_from_1_viewpoint/trajectory_data/waypoint_00000/joint_velocities.png
new file mode 100644
index 0000000000000000000000000000000000000000..3723ea9ac7667b1b753416e6dd673c37ced72886
--- /dev/null
+++ b/scans/20260420_almond_from_1_viewpoint/trajectory_data/waypoint_00000/joint_velocities.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9552da03ecc1137b1c5aff283324e9d04617d8b1ea3294292a4a35fe4cb1d8f4
+size 95617
diff --git a/scans/20260420_coffee_bean_from_1_viewpoint/scan00/frame_00000.jpg b/scans/20260420_coffee_bean_from_1_viewpoint/scan00/frame_00000.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..f6630a1327f25361f5ef4da9d3cec0416417cb4d
--- /dev/null
+++ b/scans/20260420_coffee_bean_from_1_viewpoint/scan00/frame_00000.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a0f58633362a2b8dad2b8e24abbc62efc72fc34a77cf93b89af5f4ff05c1cd0a
+size 244627
diff --git a/scans/20260420_coffee_bean_from_1_viewpoint/scan00/frame_00001.jpg b/scans/20260420_coffee_bean_from_1_viewpoint/scan00/frame_00001.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..d4abd1027fd84b8408f97dbff87bd72461997eee
--- /dev/null
+++ b/scans/20260420_coffee_bean_from_1_viewpoint/scan00/frame_00001.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d3ab325aeb4f51390da225ff4154f8a7de150a16d6bdb2cfebc613304f8de113
+size 476106
diff --git a/scans/20260420_coffee_bean_from_1_viewpoint/scan00/frame_00002.jpg b/scans/20260420_coffee_bean_from_1_viewpoint/scan00/frame_00002.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..f7b725394ed1ff9722c9c8155e44e2e2366ede5d
--- /dev/null
+++ b/scans/20260420_coffee_bean_from_1_viewpoint/scan00/frame_00002.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b6eaf8ca86c01c71000008acbbf65fe1c02ae7f792c0f85718d15479915f19d0
+size 242764
diff --git a/scans/20260420_coffee_bean_from_1_viewpoint/scan00/frame_00003.jpg b/scans/20260420_coffee_bean_from_1_viewpoint/scan00/frame_00003.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..cde618eb88f67300b5eb191cc2b724d96dbbf679
--- /dev/null
+++ b/scans/20260420_coffee_bean_from_1_viewpoint/scan00/frame_00003.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:35a95f1c1e4cf3a9c6266f7052b2cdc871af6665fc5357bc5b135b5e68bffe3b
+size 242802
diff --git a/scans/20260420_coffee_bean_from_1_viewpoint/scan00/frame_00004.jpg b/scans/20260420_coffee_bean_from_1_viewpoint/scan00/frame_00004.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..47366308a903da35c8d9b100ed5f8c0d4ecfd8f6
--- /dev/null
+++ b/scans/20260420_coffee_bean_from_1_viewpoint/scan00/frame_00004.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:501ea8e0cf0ee29ce4c618383980b7ed0e70000e6d1bb145c0431beeeb401d3a
+size 708706
diff --git a/scans/20260420_coffee_bean_from_1_viewpoint/scan00/frame_00005.jpg b/scans/20260420_coffee_bean_from_1_viewpoint/scan00/frame_00005.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..d08ceb5bce5975dcf5347a3d1e700edfb5d383eb
--- /dev/null
+++ b/scans/20260420_coffee_bean_from_1_viewpoint/scan00/frame_00005.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eb5d52cb55f47b62531e49a0615d2c063a27edc3ec169353a6aa7615e4fd3d38
+size 475388
diff --git a/scans/20260420_coffee_bean_from_1_viewpoint/scan00/frame_00006.jpg b/scans/20260420_coffee_bean_from_1_viewpoint/scan00/frame_00006.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..2f8694da5cbd49fb75ec06817e780a20837f634c
--- /dev/null
+++ b/scans/20260420_coffee_bean_from_1_viewpoint/scan00/frame_00006.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d0f9d5012c99371726fb130846bc440863d17db8d2cb5bd217f6bd36479a45fa
+size 473189
diff --git a/scans/20260420_coffee_bean_from_1_viewpoint/scan00/frame_00007.jpg b/scans/20260420_coffee_bean_from_1_viewpoint/scan00/frame_00007.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..a51b93a09968df89f7f30913e07fa2c7d84a23bc
--- /dev/null
+++ b/scans/20260420_coffee_bean_from_1_viewpoint/scan00/frame_00007.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:754c097e455cf54fca5ccffa8ea0e6cbcec09c8cf99c0a556a9bb32ac784a6b4
+size 470998
diff --git a/scans/20260420_coffee_bean_from_1_viewpoint/scan00/frame_00008.jpg b/scans/20260420_coffee_bean_from_1_viewpoint/scan00/frame_00008.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..e9c4a261a49ca059d980399256d6e620adf7464f
--- /dev/null
+++ b/scans/20260420_coffee_bean_from_1_viewpoint/scan00/frame_00008.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:23a9bfa5a5aec3e38dffd9ec5497f8a584a781c6024125b51f50a69280dfc68c
+size 467634
diff --git a/scans/20260420_coffee_bean_from_1_viewpoint/scan00/frame_00009.jpg b/scans/20260420_coffee_bean_from_1_viewpoint/scan00/frame_00009.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..90a0eceeef3fc649df42f50c36a9f84352931fbc
--- /dev/null
+++ b/scans/20260420_coffee_bean_from_1_viewpoint/scan00/frame_00009.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d299dacea073e02ec8ee779669236b16eaab46772f745393cd9407c1070c28e8
+size 471857
diff --git a/scans/20260420_coffee_bean_from_1_viewpoint/scan00/frame_00010.jpg b/scans/20260420_coffee_bean_from_1_viewpoint/scan00/frame_00010.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..f48345aa575b336ae428b7b391403e59d58ccffc
--- /dev/null
+++ b/scans/20260420_coffee_bean_from_1_viewpoint/scan00/frame_00010.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bce2330a3637ef1fdc53c2bd863f079693212c18f2540c0f38fc039968bd3106
+size 473785
diff --git a/scans/20260420_coffee_bean_from_1_viewpoint/scan00/frame_00011.jpg b/scans/20260420_coffee_bean_from_1_viewpoint/scan00/frame_00011.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..236bfa4b3a632a56953869aaf465a9c1a04436a3
--- /dev/null
+++ b/scans/20260420_coffee_bean_from_1_viewpoint/scan00/frame_00011.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ca5b4e771b508184ea8ff29c142b80375d297d20df4ca6418ab7718b11964afa
+size 476055
diff --git a/scans/20260420_coffee_bean_from_1_viewpoint/scan00/frame_00012.jpg b/scans/20260420_coffee_bean_from_1_viewpoint/scan00/frame_00012.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..dc9071348d6a47b9066516fe25c8203c13bd494e
--- /dev/null
+++ b/scans/20260420_coffee_bean_from_1_viewpoint/scan00/frame_00012.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:18d3e607a7c66f21b0a849b81379bdf86e6f0372e13d5406a79780b712facfab
+size 473096
diff --git a/scans/20260420_coffee_bean_from_1_viewpoint/scan00/frame_00013.jpg b/scans/20260420_coffee_bean_from_1_viewpoint/scan00/frame_00013.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..06860a17fcc2de493d4d640f4a97adf128e38818
--- /dev/null
+++ b/scans/20260420_coffee_bean_from_1_viewpoint/scan00/frame_00013.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:70fdc5f4d7bb213e4ec86cf72e644b1b02e59b5bce972fd1e944a030126c9e21
+size 474270
diff --git a/scans/20260420_coffee_bean_from_1_viewpoint/scan00/frame_00014.jpg b/scans/20260420_coffee_bean_from_1_viewpoint/scan00/frame_00014.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..d0c25d5822e799fa247ab467f635747f4991eea4
--- /dev/null
+++ b/scans/20260420_coffee_bean_from_1_viewpoint/scan00/frame_00014.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7647d78ce3b1efbd4f27bfdf0b52e12bba2554929ecfe605da3938d4e4754de9
+size 469988
diff --git a/scans/20260420_coffee_bean_from_1_viewpoint/scan00/frame_00015.jpg b/scans/20260420_coffee_bean_from_1_viewpoint/scan00/frame_00015.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..3dd58ffd707c34f05469f21b86c83298b460da71
--- /dev/null
+++ b/scans/20260420_coffee_bean_from_1_viewpoint/scan00/frame_00015.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0fb8e64ccc8e5556993670bdaf1b01eaccd408fdd7242b60dd1d5e7105c74cb4
+size 474948
diff --git a/scans/20260420_coffee_bean_from_1_viewpoint/scan00/frame_00016.jpg b/scans/20260420_coffee_bean_from_1_viewpoint/scan00/frame_00016.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..a2a41c4453597f037ec7c029ffa59c875ce13eae
--- /dev/null
+++ b/scans/20260420_coffee_bean_from_1_viewpoint/scan00/frame_00016.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cabad92a82ceb26d216966b5794eea94dca3159a03b1d4f1c63fff557ff441d3
+size 475549
diff --git a/scans/20260420_coffee_bean_from_1_viewpoint/scan00/frame_00017.jpg b/scans/20260420_coffee_bean_from_1_viewpoint/scan00/frame_00017.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..e7680d3b8508fb8db76a5625f545c6e65ad94dba
--- /dev/null
+++ b/scans/20260420_coffee_bean_from_1_viewpoint/scan00/frame_00017.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:998e387279bb3213acb42430196c6b1346604493221277715b2f9baa71ae1a33
+size 481392
diff --git a/scans/20260420_coffee_bean_from_1_viewpoint/scan00/frame_00018.jpg b/scans/20260420_coffee_bean_from_1_viewpoint/scan00/frame_00018.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..94b3d2744a877248857545ae01ad0b1e05ac41ab
--- /dev/null
+++ b/scans/20260420_coffee_bean_from_1_viewpoint/scan00/frame_00018.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3e077912bd4cd61abebd27b8af493bf49c43596c3c5ebf75bd02c07b3d01b774
+size 481781
diff --git a/scans/20260420_coffee_bean_from_1_viewpoint/scan00/frame_00019.jpg b/scans/20260420_coffee_bean_from_1_viewpoint/scan00/frame_00019.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..868d662e2264639d0bc4dc364751feff2144ce12
--- /dev/null
+++ b/scans/20260420_coffee_bean_from_1_viewpoint/scan00/frame_00019.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9f906039503b1bfddaf4c1bd36691e7cab0d1275df6e793db822c0cba30423ff
+size 483457
diff --git a/scans/20260420_coffee_bean_from_1_viewpoint/scan00/frame_00020.jpg b/scans/20260420_coffee_bean_from_1_viewpoint/scan00/frame_00020.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..21d6f052903f8800a853215e065e9983e092cf2f
--- /dev/null
+++ b/scans/20260420_coffee_bean_from_1_viewpoint/scan00/frame_00020.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eb90c6f90b593e8e2378d37bb124ad1dcdb713250e5d155db77ae1f6efed21a7
+size 494339
diff --git a/scans/20260420_coffee_bean_from_1_viewpoint/scan00/frame_00021.jpg b/scans/20260420_coffee_bean_from_1_viewpoint/scan00/frame_00021.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..766e59b93c6a470344436bc94652fa58cab3be2a
--- /dev/null
+++ b/scans/20260420_coffee_bean_from_1_viewpoint/scan00/frame_00021.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1866dabb67fbbdd0b08008e21ab4610767aa4947678b9813c00b44b9379146b4
+size 227607
diff --git a/scans/20260420_coffee_bean_from_1_viewpoint/scan00/frame_00022.jpg b/scans/20260420_coffee_bean_from_1_viewpoint/scan00/frame_00022.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..0f9f745f234bab1a247e5a4e9fa4ddfe0b1473b7
--- /dev/null
+++ b/scans/20260420_coffee_bean_from_1_viewpoint/scan00/frame_00022.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2ee99468570b515ba2ac830255727ee390e187c8738a939b44e2ba39affdeb8a
+size 243778
diff --git a/scans/20260420_coffee_bean_from_1_viewpoint/scan00/frame_00023.jpg b/scans/20260420_coffee_bean_from_1_viewpoint/scan00/frame_00023.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..21098f42fa8432ea508ca7dca1d1b34a3e867acb
--- /dev/null
+++ b/scans/20260420_coffee_bean_from_1_viewpoint/scan00/frame_00023.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1611684b8e7015419da8611a291153943c86148daf5f3cae81b44087497af71d
+size 252264
diff --git a/scans/20260420_coffee_bean_from_1_viewpoint/scan00/frame_00024.jpg b/scans/20260420_coffee_bean_from_1_viewpoint/scan00/frame_00024.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..568b24a3ae74963047f64551c9d11592981c6623
--- /dev/null
+++ b/scans/20260420_coffee_bean_from_1_viewpoint/scan00/frame_00024.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c655ddf99254d4ce75f83528059e20d8f335557be97b3162a89184c46cf0e89b
+size 250496
diff --git a/scans/20260420_coffee_bean_from_1_viewpoint/scan00/frame_00025.jpg b/scans/20260420_coffee_bean_from_1_viewpoint/scan00/frame_00025.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..8ad50cf8d74a70aa5e34d988dd28204073593a8b
--- /dev/null
+++ b/scans/20260420_coffee_bean_from_1_viewpoint/scan00/frame_00025.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1688b504e8fafae338078a992c869b8f9c813b34e27f64303d92f69a4786862a
+size 238331
diff --git a/scans/20260420_coffee_bean_from_1_viewpoint/scan00/frame_00026.jpg b/scans/20260420_coffee_bean_from_1_viewpoint/scan00/frame_00026.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..dc67575aa1025f391864d345a77807f52e737b17
--- /dev/null
+++ b/scans/20260420_coffee_bean_from_1_viewpoint/scan00/frame_00026.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5b54d4d63b674d5178b549a96d1334ce724232fa6f1dfbaa8c473f505498a104
+size 231783
diff --git a/scans/20260420_coffee_bean_from_1_viewpoint/scan00/frame_00027.jpg b/scans/20260420_coffee_bean_from_1_viewpoint/scan00/frame_00027.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..c4092817901756b407fd2ca619dafe5aab4211f1
--- /dev/null
+++ b/scans/20260420_coffee_bean_from_1_viewpoint/scan00/frame_00027.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1a8a604a65d751cfde32327138a9f6b094b12be20b3e6310a53b11f3ae7a7097
+size 221580
diff --git a/scans/20260420_coffee_bean_from_1_viewpoint/scan00/frame_00028.jpg b/scans/20260420_coffee_bean_from_1_viewpoint/scan00/frame_00028.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..cb9fd2f3cf465c359a6c334d754db114b494ca57
--- /dev/null
+++ b/scans/20260420_coffee_bean_from_1_viewpoint/scan00/frame_00028.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ef4e15ae6f55dde0f92539f0ea15515ed67f739745c43af88de09b9231a83dc3
+size 265566
diff --git a/scans/20260420_coffee_bean_from_1_viewpoint/scan00/frame_00029.jpg b/scans/20260420_coffee_bean_from_1_viewpoint/scan00/frame_00029.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..984e7499bebbcb57c365b501d3e11dcae7822371
--- /dev/null
+++ b/scans/20260420_coffee_bean_from_1_viewpoint/scan00/frame_00029.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0736d9b33c5296118bb683111805551bd0ce8fa2d224a19ae44e071060bcb02d
+size 263503
diff --git a/scans/20260420_coffee_bean_from_1_viewpoint/scan00/pose_00000.npy b/scans/20260420_coffee_bean_from_1_viewpoint/scan00/pose_00000.npy
new file mode 100644
index 0000000000000000000000000000000000000000..50f7161eeda8bf8a074164c81178e32922a6befb
--- /dev/null
+++ b/scans/20260420_coffee_bean_from_1_viewpoint/scan00/pose_00000.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0a45b9689587d821927a5c9d3c636db7a46866076638a3fec769397d0d85070c
+size 256
diff --git a/scans/20260420_coffee_bean_from_1_viewpoint/scan00/pose_00001.npy b/scans/20260420_coffee_bean_from_1_viewpoint/scan00/pose_00001.npy
new file mode 100644
index 0000000000000000000000000000000000000000..11edfa6f6155d2cd53a80c16fc1e2b483ce1a0de
--- /dev/null
+++ b/scans/20260420_coffee_bean_from_1_viewpoint/scan00/pose_00001.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:19d4f9e7024576fde9efd811eab76d4c3fe14fedfab269dc3db6d642532ab1ae
+size 256
diff --git a/scans/20260420_coffee_bean_from_1_viewpoint/scan00/pose_00002.npy b/scans/20260420_coffee_bean_from_1_viewpoint/scan00/pose_00002.npy
new file mode 100644
index 0000000000000000000000000000000000000000..54ba4760b8c8ed1edff14d8de9778585caf20c3b
--- /dev/null
+++ b/scans/20260420_coffee_bean_from_1_viewpoint/scan00/pose_00002.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:926bc9a7f16ab4c8beb280b53458835b8cca44a1d09bbd6e1807796e1c362f0f
+size 256
diff --git a/scans/20260420_coffee_bean_from_1_viewpoint/scan00/pose_00003.npy b/scans/20260420_coffee_bean_from_1_viewpoint/scan00/pose_00003.npy
new file mode 100644
index 0000000000000000000000000000000000000000..62cd274132c6af3b732ac8cf0f9665fcd7b0ca9a
--- /dev/null
+++ b/scans/20260420_coffee_bean_from_1_viewpoint/scan00/pose_00003.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f21d09e734624c4a13124ba23957b9797ec60f084fe16a8b50ba06c6de1be492
+size 256
diff --git a/scans/20260420_coffee_bean_from_1_viewpoint/scan00/pose_00004.npy b/scans/20260420_coffee_bean_from_1_viewpoint/scan00/pose_00004.npy
new file mode 100644
index 0000000000000000000000000000000000000000..95ab1efb4bc3ed0318999d96ca4accaaa8b2ffc3
--- /dev/null
+++ b/scans/20260420_coffee_bean_from_1_viewpoint/scan00/pose_00004.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ab2887979ad85cfaca8d0c0508f68db71349bcce3f1435dadf3e302002177455
+size 256
diff --git a/scans/20260420_coffee_bean_from_1_viewpoint/scan00/pose_00005.npy b/scans/20260420_coffee_bean_from_1_viewpoint/scan00/pose_00005.npy
new file mode 100644
index 0000000000000000000000000000000000000000..b3d7f6d8a424f97c8cc7342327b1ddfc2086dcd0
--- /dev/null
+++ b/scans/20260420_coffee_bean_from_1_viewpoint/scan00/pose_00005.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3c629f92e0755c388a1fdd625a7c7d56a95f17d4d92d045e8aac344a641e7004
+size 256
diff --git a/scans/20260420_coffee_bean_from_1_viewpoint/scan00/pose_00006.npy b/scans/20260420_coffee_bean_from_1_viewpoint/scan00/pose_00006.npy
new file mode 100644
index 0000000000000000000000000000000000000000..06acc9f6db1ff1fb387a76a29328a64d84984344
--- /dev/null
+++ b/scans/20260420_coffee_bean_from_1_viewpoint/scan00/pose_00006.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3a06b465f74ae606cfbbd0bca3d302fb3a059728888ae661c894a97266814669
+size 256
diff --git a/scans/20260420_coffee_bean_from_1_viewpoint/scan00/pose_00007.npy b/scans/20260420_coffee_bean_from_1_viewpoint/scan00/pose_00007.npy
new file mode 100644
index 0000000000000000000000000000000000000000..8fffd125298e703b81908a163b588e6cd37c989c
--- /dev/null
+++ b/scans/20260420_coffee_bean_from_1_viewpoint/scan00/pose_00007.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6d9753c84644ba73540abfe6a4b420f6d05fab6211fffa2fe6fef18e054fd475
+size 256
diff --git a/scans/20260420_coffee_bean_from_1_viewpoint/scan00/pose_00008.npy b/scans/20260420_coffee_bean_from_1_viewpoint/scan00/pose_00008.npy
new file mode 100644
index 0000000000000000000000000000000000000000..d2506577ffe878063325f3018feb0f9b5968b0a4
--- /dev/null
+++ b/scans/20260420_coffee_bean_from_1_viewpoint/scan00/pose_00008.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d808b051c4291bc1c4a41bf7909c6185a483bbed4c09a994f4b0bb35878d5546
+size 256
diff --git a/scans/20260420_coffee_bean_from_1_viewpoint/scan00/pose_00009.npy b/scans/20260420_coffee_bean_from_1_viewpoint/scan00/pose_00009.npy
new file mode 100644
index 0000000000000000000000000000000000000000..99960a6a861b06a8764459ba5a4852c7da66137f
--- /dev/null
+++ b/scans/20260420_coffee_bean_from_1_viewpoint/scan00/pose_00009.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ef26533d4b657eb891643f7db6a0ecd0bebca345fea43cadb3beb466c16e4cb4
+size 256
diff --git a/scans/20260420_coffee_bean_from_1_viewpoint/scan00/pose_00010.npy b/scans/20260420_coffee_bean_from_1_viewpoint/scan00/pose_00010.npy
new file mode 100644
index 0000000000000000000000000000000000000000..651499ff1597c6fa5ed185f87a07e068a8e2e355
--- /dev/null
+++ b/scans/20260420_coffee_bean_from_1_viewpoint/scan00/pose_00010.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:39401b40438e4bdf5e9902c9465e511eaab06211ff469af181be9de8be127cb6
+size 256
diff --git a/scans/20260420_coffee_bean_from_1_viewpoint/scan00/pose_00011.npy b/scans/20260420_coffee_bean_from_1_viewpoint/scan00/pose_00011.npy
new file mode 100644
index 0000000000000000000000000000000000000000..9ca9a4ecc7621c25900c393bc87d10a5a6bb5d33
--- /dev/null
+++ b/scans/20260420_coffee_bean_from_1_viewpoint/scan00/pose_00011.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b91247782bbda4c3979f9c7cc4b18f14a0edcc4022829955f83655405b2a7050
+size 256
diff --git a/scans/20260420_coffee_bean_from_1_viewpoint/scan00/pose_00012.npy b/scans/20260420_coffee_bean_from_1_viewpoint/scan00/pose_00012.npy
new file mode 100644
index 0000000000000000000000000000000000000000..084311bf94816b725893b3d6ea9c67666cb33764
--- /dev/null
+++ b/scans/20260420_coffee_bean_from_1_viewpoint/scan00/pose_00012.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ba244b0116ff2e6d809be54f64667586a2b808017edf298185ca35f533e9aeb5
+size 256
diff --git a/scans/20260420_coffee_bean_from_1_viewpoint/scan00/pose_00013.npy b/scans/20260420_coffee_bean_from_1_viewpoint/scan00/pose_00013.npy
new file mode 100644
index 0000000000000000000000000000000000000000..d9471e0456b65aeb16eeb840e96ec8fd2d04cf02
--- /dev/null
+++ b/scans/20260420_coffee_bean_from_1_viewpoint/scan00/pose_00013.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:858a8d1cbe6b66f5952a2a58b7a78b6d8947591094bdd425c9a0df56ef29edab
+size 256
diff --git a/scans/20260420_coffee_bean_from_1_viewpoint/scan00/pose_00014.npy b/scans/20260420_coffee_bean_from_1_viewpoint/scan00/pose_00014.npy
new file mode 100644
index 0000000000000000000000000000000000000000..813c26c08adf4cd1e3cc9ab29a34be0940513a43
--- /dev/null
+++ b/scans/20260420_coffee_bean_from_1_viewpoint/scan00/pose_00014.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cccc2a961b8dfecdaa2b8628e61eeb03db978ac7d5ec5fb87ea151dcee348955
+size 256
diff --git a/scans/20260420_coffee_bean_from_1_viewpoint/scan00/pose_00015.npy b/scans/20260420_coffee_bean_from_1_viewpoint/scan00/pose_00015.npy
new file mode 100644
index 0000000000000000000000000000000000000000..c306637517d7cae219e506946167b86ef8b72b6b
--- /dev/null
+++ b/scans/20260420_coffee_bean_from_1_viewpoint/scan00/pose_00015.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bd73d0d8e43c57a4b4c483b325ed5df467d7f12bcc3a495bd099dc1291e85383
+size 256
diff --git a/scans/20260420_coffee_bean_from_1_viewpoint/scan00/pose_00016.npy b/scans/20260420_coffee_bean_from_1_viewpoint/scan00/pose_00016.npy
new file mode 100644
index 0000000000000000000000000000000000000000..273b405c3799de8c4fd9c8737c8cdb03d45f83da
--- /dev/null
+++ b/scans/20260420_coffee_bean_from_1_viewpoint/scan00/pose_00016.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d886ca0de3a8ecf33a48127d70bfc3abd49bff8818c71e88be2eb8f1dad15160
+size 256
diff --git a/scans/20260420_coffee_bean_from_1_viewpoint/scan00/pose_00017.npy b/scans/20260420_coffee_bean_from_1_viewpoint/scan00/pose_00017.npy
new file mode 100644
index 0000000000000000000000000000000000000000..12576ac143ae91308287c06c4da02101beaec2a7
--- /dev/null
+++ b/scans/20260420_coffee_bean_from_1_viewpoint/scan00/pose_00017.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a5721c4538c062c188cabcc1b495d04dce0c8996f15008699aa7264709509189
+size 256
diff --git a/scans/20260420_coffee_bean_from_1_viewpoint/scan00/pose_00018.npy b/scans/20260420_coffee_bean_from_1_viewpoint/scan00/pose_00018.npy
new file mode 100644
index 0000000000000000000000000000000000000000..479e227a91bd3d1a65ac36505bd2ce9263260c4d
--- /dev/null
+++ b/scans/20260420_coffee_bean_from_1_viewpoint/scan00/pose_00018.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1555342d50a12719e6cc4cb29a74204ccf04f746aa7fc70985887d08bff8cda1
+size 256
diff --git a/scans/20260420_coffee_bean_from_1_viewpoint/scan00/pose_00019.npy b/scans/20260420_coffee_bean_from_1_viewpoint/scan00/pose_00019.npy
new file mode 100644
index 0000000000000000000000000000000000000000..3ecd078662116933bb39cb829f59cbfeb278058c
--- /dev/null
+++ b/scans/20260420_coffee_bean_from_1_viewpoint/scan00/pose_00019.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8725a9193ab0faa0e1ae72ff44cdc4d60424596cdfa3b862f55f850fde2d9abb
+size 256
diff --git a/scans/20260420_coffee_bean_from_1_viewpoint/scan00/pose_00020.npy b/scans/20260420_coffee_bean_from_1_viewpoint/scan00/pose_00020.npy
new file mode 100644
index 0000000000000000000000000000000000000000..28e8543dee4f600b7f5668873ceca5008957f981
--- /dev/null
+++ b/scans/20260420_coffee_bean_from_1_viewpoint/scan00/pose_00020.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:79341df17eb90115f89605e1205099b4886eaf0eb409a22bdd84a3a9767f3419
+size 256
diff --git a/scans/20260420_coffee_bean_from_1_viewpoint/scan00/pose_00021.npy b/scans/20260420_coffee_bean_from_1_viewpoint/scan00/pose_00021.npy
new file mode 100644
index 0000000000000000000000000000000000000000..3be2bf883e0c7dbe7894af596692c90258ca2385
--- /dev/null
+++ b/scans/20260420_coffee_bean_from_1_viewpoint/scan00/pose_00021.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:79feea12fa71c757cede45349cf637d6a3ae6534d287276902993c460229bef2
+size 256
diff --git a/scans/20260420_coffee_bean_from_1_viewpoint/scan00/pose_00022.npy b/scans/20260420_coffee_bean_from_1_viewpoint/scan00/pose_00022.npy
new file mode 100644
index 0000000000000000000000000000000000000000..2037a083387285973b09f0170cc51c575e0bc7f3
--- /dev/null
+++ b/scans/20260420_coffee_bean_from_1_viewpoint/scan00/pose_00022.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cd31d1b967725338dc4448d3b47b8ddc415bf4de06531374189e5da325890c89
+size 256
diff --git a/scans/20260420_coffee_bean_from_1_viewpoint/scan00/pose_00023.npy b/scans/20260420_coffee_bean_from_1_viewpoint/scan00/pose_00023.npy
new file mode 100644
index 0000000000000000000000000000000000000000..ea4371628d379042e99342a2e75820f60a233fb1
--- /dev/null
+++ b/scans/20260420_coffee_bean_from_1_viewpoint/scan00/pose_00023.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7083e9f6860e66dc384f597ba513f29ad6d30317351c7d3e88d1ceb62c147810
+size 256
diff --git a/scans/20260420_coffee_bean_from_1_viewpoint/scan00/pose_00024.npy b/scans/20260420_coffee_bean_from_1_viewpoint/scan00/pose_00024.npy
new file mode 100644
index 0000000000000000000000000000000000000000..e521f31ac3a10ceea04f68e5debe4b22e5de495f
--- /dev/null
+++ b/scans/20260420_coffee_bean_from_1_viewpoint/scan00/pose_00024.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7911d8cad929ab84a6f6760317bee27842ef53a94d5d1aee6f7e0a1e0b3df528
+size 256
diff --git a/scans/20260420_coffee_bean_from_1_viewpoint/scan00/pose_00025.npy b/scans/20260420_coffee_bean_from_1_viewpoint/scan00/pose_00025.npy
new file mode 100644
index 0000000000000000000000000000000000000000..41132954a0b4502eb5b2ffb3636642665097e40c
--- /dev/null
+++ b/scans/20260420_coffee_bean_from_1_viewpoint/scan00/pose_00025.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:515f7c0885fb15ab3563193d7e637fa51c35ffaaa5fdb72603c08dac55b25101
+size 256
diff --git a/scans/20260420_coffee_bean_from_1_viewpoint/scan00/pose_00026.npy b/scans/20260420_coffee_bean_from_1_viewpoint/scan00/pose_00026.npy
new file mode 100644
index 0000000000000000000000000000000000000000..fe620000b80c9425ca1b69282cdd053313bad5c5
--- /dev/null
+++ b/scans/20260420_coffee_bean_from_1_viewpoint/scan00/pose_00026.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:33b714e0b97dfc7ff2249096dd75cc293e87663e87befb0b91a9f8e03aff4acc
+size 256
diff --git a/scans/20260420_coffee_bean_from_1_viewpoint/scan00/pose_00027.npy b/scans/20260420_coffee_bean_from_1_viewpoint/scan00/pose_00027.npy
new file mode 100644
index 0000000000000000000000000000000000000000..badfbc84c0e90ceb0f32c3896a12104688ff124c
--- /dev/null
+++ b/scans/20260420_coffee_bean_from_1_viewpoint/scan00/pose_00027.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:538a36f2dfc2538bc708fee97cb3ea3e885d75f44d1ec86bc676c86c7d819665
+size 256
diff --git a/scans/20260420_coffee_bean_from_1_viewpoint/scan00/pose_00028.npy b/scans/20260420_coffee_bean_from_1_viewpoint/scan00/pose_00028.npy
new file mode 100644
index 0000000000000000000000000000000000000000..c5f4bc28fb9c40906a3101ea1ec417a6a8ae0c51
--- /dev/null
+++ b/scans/20260420_coffee_bean_from_1_viewpoint/scan00/pose_00028.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:09ac5ff88168e41e102eaa067de64dae31f952d3d24cf659f5339ffb60606776
+size 256
diff --git a/scans/20260420_coffee_bean_from_1_viewpoint/scan00/pose_00029.npy b/scans/20260420_coffee_bean_from_1_viewpoint/scan00/pose_00029.npy
new file mode 100644
index 0000000000000000000000000000000000000000..45ef000e9685b8e4519707463dc2b73373ef3394
--- /dev/null
+++ b/scans/20260420_coffee_bean_from_1_viewpoint/scan00/pose_00029.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:55b00483822f0fc90517f08217c43dda8197799d59bf179e381c19c8c76d8d65
+size 256
diff --git a/scans/20260420_coffee_bean_from_1_viewpoint/scan00/scan_00.png b/scans/20260420_coffee_bean_from_1_viewpoint/scan00/scan_00.png
new file mode 100644
index 0000000000000000000000000000000000000000..045935790bc68b638636eefad51617ec70f5ac83
--- /dev/null
+++ b/scans/20260420_coffee_bean_from_1_viewpoint/scan00/scan_00.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5fdffad6deb00a69cbe15b7753b14729568168a86167c49b7eb3ca2974a12fb6
+size 145164
diff --git a/scans/20260420_coffee_bean_from_1_viewpoint/scan_params.txt b/scans/20260420_coffee_bean_from_1_viewpoint/scan_params.txt
new file mode 100644
index 0000000000000000000000000000000000000000..cfd776192ff1200dc10c04b535261d6271a65a11
--- /dev/null
+++ b/scans/20260420_coffee_bean_from_1_viewpoint/scan_params.txt
@@ -0,0 +1,22 @@
+date: 20260420_164446
+hemisphere_dist: 0.8
+hemisphere_angle_deg: 0.0
+hemisphere_radius: 0.08
+hemisphere_z: 0.36
+hemisphere_pos: [0.761285, -0.002479, 0.363935]
+num_scan_points: 2
+coverage: 1.0
+distance_along_optical_axis: 0.035
+num_pictures: 30
+elbow_angle_deg: 135.00
+use_hardware: True
+skip_opt: False
+no_wait: True
+start_idx: 0
+
+# Timing
+total_run_time_s: 30.07
+num_moves: 1
+move_times_s: [0.014]
+avg_move_time_s: 0.014
+optical_axis_traj_time_s: 5.628
diff --git a/scans/20260420_coffee_bean_from_1_viewpoint/trajectory_data/waypoint_00000/joint_positions.csv b/scans/20260420_coffee_bean_from_1_viewpoint/trajectory_data/waypoint_00000/joint_positions.csv
new file mode 100644
index 0000000000000000000000000000000000000000..00e7100d621c5b38dae3fbccdef2a556dbb2378f
--- /dev/null
+++ b/scans/20260420_coffee_bean_from_1_viewpoint/trajectory_data/waypoint_00000/joint_positions.csv
@@ -0,0 +1,4 @@
+time,q0,q1,q2,q3,q4,q5,q6
+0.000000000000000000e+00,-5.682023038200968434e-01,1.009731213385360427e+00,8.478969585499311901e-01,-1.951312221461373841e+00,-2.054205161260479889e-02,-1.176636237740409374e+00,-6.801578422957772485e-01
+6.807624669733725910e-03,-5.690271372000085259e-01,1.009827494688926963e+00,8.484256500340522367e-01,-1.951514674626039669e+00,-2.128474292079117827e-02,-1.175797977571299002e+00,-6.803050685536305986e-01
+1.361524933946745182e-02,-5.698519813866964601e-01,1.009924235944269499e+00,8.489543904346850134e-01,-1.951716447845525337e+00,-2.202722173397797523e-02,-1.174958756393709169e+00,-6.804522544584031829e-01
diff --git a/scans/20260420_coffee_bean_from_1_viewpoint/trajectory_data/waypoint_00000/joint_positions.png b/scans/20260420_coffee_bean_from_1_viewpoint/trajectory_data/waypoint_00000/joint_positions.png
new file mode 100644
index 0000000000000000000000000000000000000000..5d2e8d2d92d9c91d7626cd11e812a20d1a0c5569
--- /dev/null
+++ b/scans/20260420_coffee_bean_from_1_viewpoint/trajectory_data/waypoint_00000/joint_positions.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a2cac09116fc552f8df229143c618ced791943eccc3abd61c1102d01582436c0
+size 185712
diff --git a/scans/20260420_coffee_bean_from_1_viewpoint/trajectory_data/waypoint_00000/joint_velocities.csv b/scans/20260420_coffee_bean_from_1_viewpoint/trajectory_data/waypoint_00000/joint_velocities.csv
new file mode 100644
index 0000000000000000000000000000000000000000..285d83757a92ab2a8e76f94ff70b97d39a03aebf
--- /dev/null
+++ b/scans/20260420_coffee_bean_from_1_viewpoint/trajectory_data/waypoint_00000/joint_velocities.csv
@@ -0,0 +1,3 @@
+time_mid,dq0,dq1,dq2,dq3,dq4,dq5,dq6
+3.403812334866862955e-03,-1.211631692297667623e-01,1.414315686271560950e-02,7.766166758158332684e-02,-2.973917841944518151e-02,-1.090969823128379174e-01,1.231354855442051976e-01,-2.162667082806559934e-02
+1.021143700460058930e-02,-1.211647566815984844e-01,1.421072107171856419e-02,7.766885312927480911e-02,-2.963929847406823054e-02,-1.090657680479670683e-01,1.232766520341460337e-01,-2.162074319798558408e-02
diff --git a/scans/20260420_coffee_bean_from_1_viewpoint/trajectory_data/waypoint_00000/joint_velocities.png b/scans/20260420_coffee_bean_from_1_viewpoint/trajectory_data/waypoint_00000/joint_velocities.png
new file mode 100644
index 0000000000000000000000000000000000000000..26a447bf0c572415086b8e8bc6440e824f1ccd8b
--- /dev/null
+++ b/scans/20260420_coffee_bean_from_1_viewpoint/trajectory_data/waypoint_00000/joint_velocities.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f306d5d12ede5a5c05a7b7916ef5f619fecd193787747d5563926cc7744e6a45
+size 91080
diff --git a/scans/20260420_pine_cone_?_from_1_viewpoint/scan00/frame_00000.jpg b/scans/20260420_pine_cone_?_from_1_viewpoint/scan00/frame_00000.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..99c149e3ccf778ad0d9ca17a79de53b895409d6b
--- /dev/null
+++ b/scans/20260420_pine_cone_?_from_1_viewpoint/scan00/frame_00000.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8ba9da696f177ff791345bcbc72d1da9ff393714a6e67a58e696aceeee27538b
+size 245210
diff --git a/scans/20260420_pine_cone_?_from_1_viewpoint/scan00/frame_00001.jpg b/scans/20260420_pine_cone_?_from_1_viewpoint/scan00/frame_00001.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..474f80dc43d1de92809b1317a18ca1589a17ea22
--- /dev/null
+++ b/scans/20260420_pine_cone_?_from_1_viewpoint/scan00/frame_00001.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1fbdb95aaf62b78d21897d1074ca3aec321cf832c941926df79393733576e929
+size 681036
diff --git a/scans/20260420_pine_cone_?_from_1_viewpoint/scan00/frame_00002.jpg b/scans/20260420_pine_cone_?_from_1_viewpoint/scan00/frame_00002.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..339850623553608fbeae307236621db9f6d7f7a6
--- /dev/null
+++ b/scans/20260420_pine_cone_?_from_1_viewpoint/scan00/frame_00002.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:14f745430cbf74938fabc332d5ce05f5b8db160aa478bd2fabd5b0c1da70f0fa
+size 198106
diff --git a/scans/20260420_pine_cone_?_from_1_viewpoint/scan00/frame_00003.jpg b/scans/20260420_pine_cone_?_from_1_viewpoint/scan00/frame_00003.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..c6c0d7f36f0248fdb4d4821e2914dad805bc1e5f
--- /dev/null
+++ b/scans/20260420_pine_cone_?_from_1_viewpoint/scan00/frame_00003.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0a499cc850cf795933b4f2fad303cd7b546329ae773c8749a8720fea27b5a317
+size 679926
diff --git a/scans/20260420_pine_cone_?_from_1_viewpoint/scan00/frame_00004.jpg b/scans/20260420_pine_cone_?_from_1_viewpoint/scan00/frame_00004.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..b7503a2e2354d7bbef7ea915a4ac401b92102d70
--- /dev/null
+++ b/scans/20260420_pine_cone_?_from_1_viewpoint/scan00/frame_00004.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fde37f2bde387af46bb29ca9b596cd1c2cacbd8759c11b1502492bb9c5158309
+size 497538
diff --git a/scans/20260420_pine_cone_?_from_1_viewpoint/scan00/frame_00005.jpg b/scans/20260420_pine_cone_?_from_1_viewpoint/scan00/frame_00005.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..dbf61ca5ee6af463d09375c7e99b1aaa7e182312
--- /dev/null
+++ b/scans/20260420_pine_cone_?_from_1_viewpoint/scan00/frame_00005.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:20d805475009d9d257447befbef5d6374cad65ed4d0b842609f911bed7f23dce
+size 497271
diff --git a/scans/20260420_pine_cone_?_from_1_viewpoint/scan00/frame_00006.jpg b/scans/20260420_pine_cone_?_from_1_viewpoint/scan00/frame_00006.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..322e8a0337c3f2489ed6a4a1fb52d203d042b450
--- /dev/null
+++ b/scans/20260420_pine_cone_?_from_1_viewpoint/scan00/frame_00006.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b6d67eaa2005b0b6d5d81cb7407d2961e5a78a623c606d6f5a3e63a83921d09e
+size 499811
diff --git a/scans/20260420_pine_cone_?_from_1_viewpoint/scan00/frame_00007.jpg b/scans/20260420_pine_cone_?_from_1_viewpoint/scan00/frame_00007.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..b7e3c5e3ad3e760b402f01306b512dad1cd3b7cc
--- /dev/null
+++ b/scans/20260420_pine_cone_?_from_1_viewpoint/scan00/frame_00007.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:71c4fb5f059dcf700bcf738da0a67de655e5482838fdd8d131e63b034cb3c89c
+size 499086
diff --git a/scans/20260420_pine_cone_?_from_1_viewpoint/scan00/frame_00008.jpg b/scans/20260420_pine_cone_?_from_1_viewpoint/scan00/frame_00008.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..441e2b389eea736d2f79d150ff13b8b5a1c8295f
--- /dev/null
+++ b/scans/20260420_pine_cone_?_from_1_viewpoint/scan00/frame_00008.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3f013cdfe74cc9e547c93f641d790b2926856c76bca7f795ed28bbb08c94adee
+size 215407
diff --git a/scans/20260420_pine_cone_?_from_1_viewpoint/scan00/frame_00009.jpg b/scans/20260420_pine_cone_?_from_1_viewpoint/scan00/frame_00009.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..855517b2f4fe68f2e69fba6c0393a91846109346
--- /dev/null
+++ b/scans/20260420_pine_cone_?_from_1_viewpoint/scan00/frame_00009.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2dc260fab85188be07e57537cb1bca3e304bde2ff94be7bab65ff44f9b0dea8d
+size 217461
diff --git a/scans/20260420_pine_cone_?_from_1_viewpoint/scan00/frame_00010.jpg b/scans/20260420_pine_cone_?_from_1_viewpoint/scan00/frame_00010.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..2808a469186b00759bb56f004f7ec8d91cd7c496
--- /dev/null
+++ b/scans/20260420_pine_cone_?_from_1_viewpoint/scan00/frame_00010.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e76cb4bef4e3ff4f736f6c6217117b714ed9a269428aaf5545ff6a34e94d1b16
+size 222687
diff --git a/scans/20260420_pine_cone_?_from_1_viewpoint/scan00/frame_00011.jpg b/scans/20260420_pine_cone_?_from_1_viewpoint/scan00/frame_00011.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..bc661f8dbb6b7eb131dd7de4beed0bcbdf2b0e5f
--- /dev/null
+++ b/scans/20260420_pine_cone_?_from_1_viewpoint/scan00/frame_00011.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5e0ca336e141d78417d8634138e0f7afba6940cfa248606aa82eab313f9fb9d9
+size 228540
diff --git a/scans/20260420_pine_cone_?_from_1_viewpoint/scan00/frame_00012.jpg b/scans/20260420_pine_cone_?_from_1_viewpoint/scan00/frame_00012.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..6e67ca74359a9a6378e1eb92732576c948b5f529
--- /dev/null
+++ b/scans/20260420_pine_cone_?_from_1_viewpoint/scan00/frame_00012.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c103249db85f9ed0fc35889f79103c01e6c44f173fe194300fdf4faba73676fd
+size 271632
diff --git a/scans/20260420_pine_cone_?_from_1_viewpoint/scan00/frame_00013.jpg b/scans/20260420_pine_cone_?_from_1_viewpoint/scan00/frame_00013.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..3c94ea73676a5d435f182762fd8e54304f3fd4fb
--- /dev/null
+++ b/scans/20260420_pine_cone_?_from_1_viewpoint/scan00/frame_00013.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e7f6fa99c806f7a6ff666ddc1cd9e389037adbf9d27bf602da88282037b9071c
+size 276354
diff --git a/scans/20260420_pine_cone_?_from_1_viewpoint/scan00/frame_00014.jpg b/scans/20260420_pine_cone_?_from_1_viewpoint/scan00/frame_00014.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..12ede11b367baab982ef4d5777109ed984421638
--- /dev/null
+++ b/scans/20260420_pine_cone_?_from_1_viewpoint/scan00/frame_00014.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:71fc2d81452539345e9001a27931f1c54c1b4f18d8de049132f43692625d312f
+size 284070
diff --git a/scans/20260420_pine_cone_?_from_1_viewpoint/scan00/frame_00015.jpg b/scans/20260420_pine_cone_?_from_1_viewpoint/scan00/frame_00015.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..c3475f42232ff277d2a4f4ab401b2452b110dea8
--- /dev/null
+++ b/scans/20260420_pine_cone_?_from_1_viewpoint/scan00/frame_00015.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8e0f9b28b3b939eaf90fc9ce6951529fa14574a2d37384857f01ccac6568acc9
+size 685363
diff --git a/scans/20260420_pine_cone_?_from_1_viewpoint/scan00/frame_00016.jpg b/scans/20260420_pine_cone_?_from_1_viewpoint/scan00/frame_00016.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..db849cb7cecec4d35cc853a1f691d0642799a5d8
--- /dev/null
+++ b/scans/20260420_pine_cone_?_from_1_viewpoint/scan00/frame_00016.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c56b74d1cf3d9ffa0c7b7f449e390bf6f000ca01f87c76a220c36d78cde40ca5
+size 299693
diff --git a/scans/20260420_pine_cone_?_from_1_viewpoint/scan00/frame_00017.jpg b/scans/20260420_pine_cone_?_from_1_viewpoint/scan00/frame_00017.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..6a80d30fff6fab62e66aaaede155b23a4533eda5
--- /dev/null
+++ b/scans/20260420_pine_cone_?_from_1_viewpoint/scan00/frame_00017.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cec9936a19a1a82e62cbafda7972e52ca04a479a7a0b71ec486698332514714c
+size 286583
diff --git a/scans/20260420_pine_cone_?_from_1_viewpoint/scan00/frame_00018.jpg b/scans/20260420_pine_cone_?_from_1_viewpoint/scan00/frame_00018.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..b8cb4daa6cdd25c819fdeaac9d54bd37bbc22984
--- /dev/null
+++ b/scans/20260420_pine_cone_?_from_1_viewpoint/scan00/frame_00018.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fe7fc6e0fc6645b6baa265a7e5a02b243d7adf808cc9c1d4107963596d33fcdb
+size 320763
diff --git a/scans/20260420_pine_cone_?_from_1_viewpoint/scan00/frame_00019.jpg b/scans/20260420_pine_cone_?_from_1_viewpoint/scan00/frame_00019.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..f31a3301a37987a1bcdea0842d3c0e7a8af32036
--- /dev/null
+++ b/scans/20260420_pine_cone_?_from_1_viewpoint/scan00/frame_00019.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b1dcefcad30ae25739ce8b7ebf0e49bbbf27dcb89539f3155d9bd4770ee51771
+size 337336
diff --git a/scans/20260420_pine_cone_?_from_1_viewpoint/scan00/frame_00020.jpg b/scans/20260420_pine_cone_?_from_1_viewpoint/scan00/frame_00020.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..066919801789dc6e11d76cae0c1fda8c784619b2
--- /dev/null
+++ b/scans/20260420_pine_cone_?_from_1_viewpoint/scan00/frame_00020.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:18b67763c8a594b359892d99c86d37a7db13de3d7d6130fc295445e9d8a8b1ed
+size 351851
diff --git a/scans/20260420_pine_cone_?_from_1_viewpoint/scan00/frame_00021.jpg b/scans/20260420_pine_cone_?_from_1_viewpoint/scan00/frame_00021.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..c55165197368c7985feff3a2d470d85fc6d58c9c
--- /dev/null
+++ b/scans/20260420_pine_cone_?_from_1_viewpoint/scan00/frame_00021.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4b2196982ee1bb7582445cbb97cf99e11aa727c43e814892d2e180c19a6ac147
+size 678559
diff --git a/scans/20260420_pine_cone_?_from_1_viewpoint/scan00/frame_00022.jpg b/scans/20260420_pine_cone_?_from_1_viewpoint/scan00/frame_00022.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..2cde5e979a0d1ae70f194bf17f379e0ad59b0793
--- /dev/null
+++ b/scans/20260420_pine_cone_?_from_1_viewpoint/scan00/frame_00022.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5dca875e13954d644930c8608ef7394182cccf3530e39e67ea062b4184260159
+size 667746
diff --git a/scans/20260420_pine_cone_?_from_1_viewpoint/scan00/frame_00023.jpg b/scans/20260420_pine_cone_?_from_1_viewpoint/scan00/frame_00023.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..8b70d7e928f248b49db1e3ad9536b33a33afbc08
--- /dev/null
+++ b/scans/20260420_pine_cone_?_from_1_viewpoint/scan00/frame_00023.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:91ba3c7406c1d1052facd29e56ba6cf891a61611111ff9848a84d2caa718e9c1
+size 525400
diff --git a/scans/20260420_pine_cone_?_from_1_viewpoint/scan00/frame_00024.jpg b/scans/20260420_pine_cone_?_from_1_viewpoint/scan00/frame_00024.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..6ba7cf8d44453186ee9c438a62b19f577f09eb60
--- /dev/null
+++ b/scans/20260420_pine_cone_?_from_1_viewpoint/scan00/frame_00024.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5e119a58aaaa93411f30cbde870d664f70bd0cd2950ab8ea5c66baae359bea8b
+size 507169
diff --git a/scans/20260420_pine_cone_?_from_1_viewpoint/scan00/frame_00025.jpg b/scans/20260420_pine_cone_?_from_1_viewpoint/scan00/frame_00025.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..92f4ccb1de71fd66520894f9c88c5fc7400dc153
--- /dev/null
+++ b/scans/20260420_pine_cone_?_from_1_viewpoint/scan00/frame_00025.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:375691e02fa4b371378bb53bb36a66306841a2114f95f3ed8497f683cc0fc3d3
+size 482915
diff --git a/scans/20260420_pine_cone_?_from_1_viewpoint/scan00/frame_00026.jpg b/scans/20260420_pine_cone_?_from_1_viewpoint/scan00/frame_00026.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..cabc2ba051989c8f6ba1cbbf945da11855c6d79d
--- /dev/null
+++ b/scans/20260420_pine_cone_?_from_1_viewpoint/scan00/frame_00026.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7ce2a18f3768c8c3b57fb55b00a15d10a6897e1dc7494a78fe4839d89888de87
+size 424344
diff --git a/scans/20260420_pine_cone_?_from_1_viewpoint/scan00/frame_00027.jpg b/scans/20260420_pine_cone_?_from_1_viewpoint/scan00/frame_00027.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..7896be41cc7c346d76bf05695294b68abdb94e2c
--- /dev/null
+++ b/scans/20260420_pine_cone_?_from_1_viewpoint/scan00/frame_00027.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c5df2eefc56786630855ba539caff7fe1fab047b1bd9ca542cb58ffdb4ee9263
+size 420881
diff --git a/scans/20260420_pine_cone_?_from_1_viewpoint/scan00/frame_00028.jpg b/scans/20260420_pine_cone_?_from_1_viewpoint/scan00/frame_00028.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..8f72b11152b48feff7bbaf497109767c68057047
--- /dev/null
+++ b/scans/20260420_pine_cone_?_from_1_viewpoint/scan00/frame_00028.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0c8a1df49e795d535bbff9f033126d6d999a34354844ffeb492c8099c1513831
+size 418377
diff --git a/scans/20260420_pine_cone_?_from_1_viewpoint/scan00/frame_00029.jpg b/scans/20260420_pine_cone_?_from_1_viewpoint/scan00/frame_00029.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..35c80ff17f0c0289455dc0bc82edc31c6aceeee0
--- /dev/null
+++ b/scans/20260420_pine_cone_?_from_1_viewpoint/scan00/frame_00029.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e09bd970b06c4bb96fcfbd6f7812cf51975aa8b19f85a2763619a8ae685fd5c1
+size 415371
diff --git a/scans/20260420_pine_cone_?_from_1_viewpoint/scan00/pose_00000.npy b/scans/20260420_pine_cone_?_from_1_viewpoint/scan00/pose_00000.npy
new file mode 100644
index 0000000000000000000000000000000000000000..945f81650d4ae292295b94815bd2dce8c66b6bda
--- /dev/null
+++ b/scans/20260420_pine_cone_?_from_1_viewpoint/scan00/pose_00000.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cb167c1828e7010084e83d2ed526116b7a341d0ff2dd6149002ac76ebb7c94df
+size 256
diff --git a/scans/20260420_pine_cone_?_from_1_viewpoint/scan00/pose_00001.npy b/scans/20260420_pine_cone_?_from_1_viewpoint/scan00/pose_00001.npy
new file mode 100644
index 0000000000000000000000000000000000000000..e58e623eb39b2ed47d318bf33e0276d31f955e97
--- /dev/null
+++ b/scans/20260420_pine_cone_?_from_1_viewpoint/scan00/pose_00001.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fd0c4b960d5f1a2ee606f2230e9ae7dad1265394f6036e87cbc9399a12dac4bb
+size 256
diff --git a/scans/20260420_pine_cone_?_from_1_viewpoint/scan00/pose_00002.npy b/scans/20260420_pine_cone_?_from_1_viewpoint/scan00/pose_00002.npy
new file mode 100644
index 0000000000000000000000000000000000000000..614c6b22094e61355d35aa980bce075fd25e567e
--- /dev/null
+++ b/scans/20260420_pine_cone_?_from_1_viewpoint/scan00/pose_00002.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ddd489572f6404b247378c04bb16e576cc28d1dd16114548fe9f54f83453f353
+size 256
diff --git a/scans/20260420_pine_cone_?_from_1_viewpoint/scan00/pose_00003.npy b/scans/20260420_pine_cone_?_from_1_viewpoint/scan00/pose_00003.npy
new file mode 100644
index 0000000000000000000000000000000000000000..9421f05211a7a70c133f8b97f7d0e26057dc0954
--- /dev/null
+++ b/scans/20260420_pine_cone_?_from_1_viewpoint/scan00/pose_00003.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:147e3045c35696cd29cedb8dff272b3f1c499d40bdc66f63afd8c58f8fe998e8
+size 256
diff --git a/scans/20260420_pine_cone_?_from_1_viewpoint/scan00/pose_00004.npy b/scans/20260420_pine_cone_?_from_1_viewpoint/scan00/pose_00004.npy
new file mode 100644
index 0000000000000000000000000000000000000000..c56ff95530475cf28e72f8c607b81741fa519ee4
--- /dev/null
+++ b/scans/20260420_pine_cone_?_from_1_viewpoint/scan00/pose_00004.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d4027afd7ca63a2828c77c59f4108e3ffd75079e7367f07055e4d73d97b45166
+size 256
diff --git a/scans/20260420_pine_cone_?_from_1_viewpoint/scan00/pose_00005.npy b/scans/20260420_pine_cone_?_from_1_viewpoint/scan00/pose_00005.npy
new file mode 100644
index 0000000000000000000000000000000000000000..3a60ef21b2c42ad323ea75ba79906eba045887f6
--- /dev/null
+++ b/scans/20260420_pine_cone_?_from_1_viewpoint/scan00/pose_00005.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5a93d1d24af29c8107379d706371ee6d9becba734691e67972f968722b258642
+size 256
diff --git a/scans/20260420_pine_cone_?_from_1_viewpoint/scan00/pose_00006.npy b/scans/20260420_pine_cone_?_from_1_viewpoint/scan00/pose_00006.npy
new file mode 100644
index 0000000000000000000000000000000000000000..375a20640a4f588e7f758bd06be8cb8e4d5ec33d
--- /dev/null
+++ b/scans/20260420_pine_cone_?_from_1_viewpoint/scan00/pose_00006.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2f8c75d9c213c558aee2d127738f291b8d01a185fbe9351159c2d4cd81b470f9
+size 256
diff --git a/scans/20260420_pine_cone_?_from_1_viewpoint/scan00/pose_00007.npy b/scans/20260420_pine_cone_?_from_1_viewpoint/scan00/pose_00007.npy
new file mode 100644
index 0000000000000000000000000000000000000000..73e58528110d26064c52b388a7985850042b671a
--- /dev/null
+++ b/scans/20260420_pine_cone_?_from_1_viewpoint/scan00/pose_00007.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fba454af5507e93c6a8ad86d9d9ee81ecfc050c232ad769ac343a08f21f3635e
+size 256
diff --git a/scans/20260420_pine_cone_?_from_1_viewpoint/scan00/pose_00008.npy b/scans/20260420_pine_cone_?_from_1_viewpoint/scan00/pose_00008.npy
new file mode 100644
index 0000000000000000000000000000000000000000..717e0e858ecd923045966c5b39ed6d7d65e0ea3d
--- /dev/null
+++ b/scans/20260420_pine_cone_?_from_1_viewpoint/scan00/pose_00008.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:775cf0165d45de2001d8eea86ea9ee5c865d2f1ce5567022153fc3c4af81e1cc
+size 256
diff --git a/scans/20260420_pine_cone_?_from_1_viewpoint/scan00/pose_00009.npy b/scans/20260420_pine_cone_?_from_1_viewpoint/scan00/pose_00009.npy
new file mode 100644
index 0000000000000000000000000000000000000000..33272c37568202005848ac4bf9b123c9c2156ae9
--- /dev/null
+++ b/scans/20260420_pine_cone_?_from_1_viewpoint/scan00/pose_00009.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3553b41cd59d1ddd55cd05ccdd86c50a5ef90ebd1f95c218b531fb094b1f01f2
+size 256
diff --git a/scans/20260420_pine_cone_?_from_1_viewpoint/scan00/pose_00010.npy b/scans/20260420_pine_cone_?_from_1_viewpoint/scan00/pose_00010.npy
new file mode 100644
index 0000000000000000000000000000000000000000..e44c8d2bb8d2f3815ab7ee0392303c0692f8b942
--- /dev/null
+++ b/scans/20260420_pine_cone_?_from_1_viewpoint/scan00/pose_00010.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:354c46c99c039b00145bc60665b8f324775c46ab55b15de8c11a916fae49d486
+size 256
diff --git a/scans/20260420_pine_cone_?_from_1_viewpoint/scan00/pose_00011.npy b/scans/20260420_pine_cone_?_from_1_viewpoint/scan00/pose_00011.npy
new file mode 100644
index 0000000000000000000000000000000000000000..249a3479d68e30fc28b00e435ceeb8ec1a5b5268
--- /dev/null
+++ b/scans/20260420_pine_cone_?_from_1_viewpoint/scan00/pose_00011.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dd42c14e83a7c0ebb6bd08883c2a859a33c097a310dee1337ec611231fc86aa8
+size 256
diff --git a/scans/20260420_pine_cone_?_from_1_viewpoint/scan00/pose_00012.npy b/scans/20260420_pine_cone_?_from_1_viewpoint/scan00/pose_00012.npy
new file mode 100644
index 0000000000000000000000000000000000000000..cf3faa6fb5135b74c9f822d26403464a034b6386
--- /dev/null
+++ b/scans/20260420_pine_cone_?_from_1_viewpoint/scan00/pose_00012.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a8eb03db258921a5d37eb304f61fc99825d9c4f89cd00c483fc46dd34ff0adea
+size 256
diff --git a/scans/20260420_pine_cone_?_from_1_viewpoint/scan00/pose_00013.npy b/scans/20260420_pine_cone_?_from_1_viewpoint/scan00/pose_00013.npy
new file mode 100644
index 0000000000000000000000000000000000000000..0abeb3190105ec49b5f17d0d2ae2ed08a7017bb3
--- /dev/null
+++ b/scans/20260420_pine_cone_?_from_1_viewpoint/scan00/pose_00013.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1ddd6eb821e6c029ceda50f65dea9c398018530d546275c373ec3344a80f2a28
+size 256
diff --git a/scans/20260420_pine_cone_?_from_1_viewpoint/scan00/pose_00014.npy b/scans/20260420_pine_cone_?_from_1_viewpoint/scan00/pose_00014.npy
new file mode 100644
index 0000000000000000000000000000000000000000..4a834a474d422f3d2ae517aa5389e8a79b835977
--- /dev/null
+++ b/scans/20260420_pine_cone_?_from_1_viewpoint/scan00/pose_00014.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ec48fa925ff706178642788b8cb6c113a5742e658dc928aee9f3c52c5013489a
+size 256
diff --git a/scans/20260420_pine_cone_?_from_1_viewpoint/scan00/pose_00015.npy b/scans/20260420_pine_cone_?_from_1_viewpoint/scan00/pose_00015.npy
new file mode 100644
index 0000000000000000000000000000000000000000..b88db73fec44fd92ed7603dcf2756719fca9cc22
--- /dev/null
+++ b/scans/20260420_pine_cone_?_from_1_viewpoint/scan00/pose_00015.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c9e6706dabda34e99d68a340e00c8a18449dd46f3b5f7a5c773ecbf5c33440bb
+size 256
diff --git a/scans/20260420_pine_cone_?_from_1_viewpoint/scan00/pose_00016.npy b/scans/20260420_pine_cone_?_from_1_viewpoint/scan00/pose_00016.npy
new file mode 100644
index 0000000000000000000000000000000000000000..5e70719fc96cd5999542f192359ea6f704fde104
--- /dev/null
+++ b/scans/20260420_pine_cone_?_from_1_viewpoint/scan00/pose_00016.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8d8a276c07b0658401c5b53e4f58858c55f6c05bf5eee2e6dc4f6b2a29782cb6
+size 256
diff --git a/scans/20260420_pine_cone_?_from_1_viewpoint/scan00/pose_00017.npy b/scans/20260420_pine_cone_?_from_1_viewpoint/scan00/pose_00017.npy
new file mode 100644
index 0000000000000000000000000000000000000000..f96165bcd35ad4d0af79907af7709688b36000b4
--- /dev/null
+++ b/scans/20260420_pine_cone_?_from_1_viewpoint/scan00/pose_00017.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9dc6461cd05ce1439fd89e2177df0c8291025360fcc2015dd93f3b8eb2073346
+size 256
diff --git a/scans/20260420_pine_cone_?_from_1_viewpoint/scan00/pose_00018.npy b/scans/20260420_pine_cone_?_from_1_viewpoint/scan00/pose_00018.npy
new file mode 100644
index 0000000000000000000000000000000000000000..954923e5b7137cf46eda1d637e378904086fbf8d
--- /dev/null
+++ b/scans/20260420_pine_cone_?_from_1_viewpoint/scan00/pose_00018.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:be371bba770fc189ce737bcce18a37c61a17f4e86c83b20c6f17a9b0619a1e33
+size 256
diff --git a/scans/20260420_pine_cone_?_from_1_viewpoint/scan00/pose_00019.npy b/scans/20260420_pine_cone_?_from_1_viewpoint/scan00/pose_00019.npy
new file mode 100644
index 0000000000000000000000000000000000000000..44d6a49f4eb08698e26a33649260e65900dce82b
--- /dev/null
+++ b/scans/20260420_pine_cone_?_from_1_viewpoint/scan00/pose_00019.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ac45a585bc1c794a58a265366560273352814e5adf28a3eb5b1cab2ca577927c
+size 256
diff --git a/scans/20260420_pine_cone_?_from_1_viewpoint/scan00/pose_00020.npy b/scans/20260420_pine_cone_?_from_1_viewpoint/scan00/pose_00020.npy
new file mode 100644
index 0000000000000000000000000000000000000000..3b8b36977b8dc2b3c23848aa4c69a701117d133d
--- /dev/null
+++ b/scans/20260420_pine_cone_?_from_1_viewpoint/scan00/pose_00020.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3c32becd42d8c412d94b2ce86e6990b02c44ca767d4ab2f5c4a6bc2f603462fe
+size 256
diff --git a/scans/20260420_pine_cone_?_from_1_viewpoint/scan00/pose_00021.npy b/scans/20260420_pine_cone_?_from_1_viewpoint/scan00/pose_00021.npy
new file mode 100644
index 0000000000000000000000000000000000000000..ecda07021648f0fc4fc7fd4a5f8ec524875520c0
--- /dev/null
+++ b/scans/20260420_pine_cone_?_from_1_viewpoint/scan00/pose_00021.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b6475ab883bacd5bf5a7a993b6ca0c5afd321778e0ab6748836f78e61a5023ac
+size 256
diff --git a/scans/20260420_pine_cone_?_from_1_viewpoint/scan00/pose_00022.npy b/scans/20260420_pine_cone_?_from_1_viewpoint/scan00/pose_00022.npy
new file mode 100644
index 0000000000000000000000000000000000000000..d6e620f3fd7fa49234d923a066c02baa1f976bfd
--- /dev/null
+++ b/scans/20260420_pine_cone_?_from_1_viewpoint/scan00/pose_00022.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:32d3219350c579f96a12d39657692ea21e1c15ca4f6c11d185ecaa6f8b05c39e
+size 256
diff --git a/scans/20260420_pine_cone_?_from_1_viewpoint/scan00/pose_00023.npy b/scans/20260420_pine_cone_?_from_1_viewpoint/scan00/pose_00023.npy
new file mode 100644
index 0000000000000000000000000000000000000000..bae6015141cca6f521072a925f0b187aea01ae5f
--- /dev/null
+++ b/scans/20260420_pine_cone_?_from_1_viewpoint/scan00/pose_00023.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fdc9edc69c0fc9f119ab1993e1030fb939d56ad520caa2411f9ff13d83af8e47
+size 256
diff --git a/scans/20260420_pine_cone_?_from_1_viewpoint/scan00/pose_00024.npy b/scans/20260420_pine_cone_?_from_1_viewpoint/scan00/pose_00024.npy
new file mode 100644
index 0000000000000000000000000000000000000000..ca6f03502f5dcfac7142abdbbdf04fe88b0195c3
--- /dev/null
+++ b/scans/20260420_pine_cone_?_from_1_viewpoint/scan00/pose_00024.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:01e56912e9d8b794097448af5f0f9cdcb3e9dbf5b763d6cee63db3db4ec0902d
+size 256
diff --git a/scans/20260420_pine_cone_?_from_1_viewpoint/scan00/pose_00025.npy b/scans/20260420_pine_cone_?_from_1_viewpoint/scan00/pose_00025.npy
new file mode 100644
index 0000000000000000000000000000000000000000..dde8de41aef54ac0b51866863ffe6f1f58664dcd
--- /dev/null
+++ b/scans/20260420_pine_cone_?_from_1_viewpoint/scan00/pose_00025.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:469f9b5cfc062a9eb2157194ef859a9379ddc2dfce8c5fadb158dcacf3645b1f
+size 256
diff --git a/scans/20260420_pine_cone_?_from_1_viewpoint/scan00/pose_00026.npy b/scans/20260420_pine_cone_?_from_1_viewpoint/scan00/pose_00026.npy
new file mode 100644
index 0000000000000000000000000000000000000000..3562128070cf28806453fd7c8b0a9e38fcb8ea57
--- /dev/null
+++ b/scans/20260420_pine_cone_?_from_1_viewpoint/scan00/pose_00026.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fafd16d8955e30ea96fc3d9b17de70dc3663c2a0a305c880f428ae8b0262ccd0
+size 256
diff --git a/scans/20260420_pine_cone_?_from_1_viewpoint/scan00/pose_00027.npy b/scans/20260420_pine_cone_?_from_1_viewpoint/scan00/pose_00027.npy
new file mode 100644
index 0000000000000000000000000000000000000000..57e1cdf1f47cf695ff96aea9a60e49d21e9deccc
--- /dev/null
+++ b/scans/20260420_pine_cone_?_from_1_viewpoint/scan00/pose_00027.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ad6d8e243254df23497368b12ba6d6d0c2d00b60c56217ad1f45d4752c594fdb
+size 256
diff --git a/scans/20260420_pine_cone_?_from_1_viewpoint/scan00/pose_00028.npy b/scans/20260420_pine_cone_?_from_1_viewpoint/scan00/pose_00028.npy
new file mode 100644
index 0000000000000000000000000000000000000000..26a884f12efc0f97eddf6ea299e16abcf0773cc6
--- /dev/null
+++ b/scans/20260420_pine_cone_?_from_1_viewpoint/scan00/pose_00028.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:68a701033bed3ed819faee61dd2f9fcadf5c6ffa7ac84e72d6088081650720b3
+size 256
diff --git a/scans/20260420_pine_cone_?_from_1_viewpoint/scan00/pose_00029.npy b/scans/20260420_pine_cone_?_from_1_viewpoint/scan00/pose_00029.npy
new file mode 100644
index 0000000000000000000000000000000000000000..96487e298e0681650516a24832a448996f6968f0
--- /dev/null
+++ b/scans/20260420_pine_cone_?_from_1_viewpoint/scan00/pose_00029.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e985d5208f6bd34df3dbe0a0e4da1d11e802e5830d21e6f06a60db1541af1a05
+size 256
diff --git a/scans/20260420_pine_cone_?_from_1_viewpoint/scan00/scan_00.png b/scans/20260420_pine_cone_?_from_1_viewpoint/scan00/scan_00.png
new file mode 100644
index 0000000000000000000000000000000000000000..00b0a1cc3946dd8b9349c756fd69c9e149dd1569
--- /dev/null
+++ b/scans/20260420_pine_cone_?_from_1_viewpoint/scan00/scan_00.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:537ea4e0efc3816923839a33a158f3d3ae60830e17521f7de1bc176b99b8583f
+size 139757
diff --git a/scans/20260420_pine_cone_?_from_1_viewpoint/scan_params.txt b/scans/20260420_pine_cone_?_from_1_viewpoint/scan_params.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f456498effbe1579cb1c953b76e11a09da53b2f4
--- /dev/null
+++ b/scans/20260420_pine_cone_?_from_1_viewpoint/scan_params.txt
@@ -0,0 +1,22 @@
+date: 20260420_163611
+hemisphere_dist: 0.8
+hemisphere_angle_deg: 0.0
+hemisphere_radius: 0.08
+hemisphere_z: 0.36
+hemisphere_pos: [0.761285, -0.002479, 0.363935]
+num_scan_points: 2
+coverage: 1.0
+distance_along_optical_axis: 0.035
+num_pictures: 30
+elbow_angle_deg: 135.00
+use_hardware: True
+skip_opt: False
+no_wait: True
+start_idx: 0
+
+# Timing
+total_run_time_s: 29.78
+num_moves: 1
+move_times_s: [0.005]
+avg_move_time_s: 0.005
+optical_axis_traj_time_s: 5.628
diff --git a/scans/20260420_pine_cone_?_from_1_viewpoint/trajectory_data/waypoint_00000/joint_positions.csv b/scans/20260420_pine_cone_?_from_1_viewpoint/trajectory_data/waypoint_00000/joint_positions.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c5e84539495fe28844c73b7fafb0921484a6b004
--- /dev/null
+++ b/scans/20260420_pine_cone_?_from_1_viewpoint/trajectory_data/waypoint_00000/joint_positions.csv
@@ -0,0 +1,4 @@
+time,q0,q1,q2,q3,q4,q5,q6
+0.000000000000000000e+00,-5.700849162382893853e-01,1.009650572798213686e+00,8.492383462721821985e-01,-1.951880620120328924e+00,-2.156901514588385749e-02,-1.174386552061444933e+00,-6.806871280330284435e-01
+2.401610083397897732e-03,-5.699684385393400943e-01,1.009787394670703220e+00,8.490963469340838676e-01,-1.951798575993565654e+00,-2.179816268994648476e-02,-1.174672676332938481e+00,-6.805696422149823954e-01
+4.803220166795795464e-03,-5.698519813866964601e-01,1.009924235944269499e+00,8.489543904346850134e-01,-1.951716447845525337e+00,-2.202722173397797523e-02,-1.174958756393709169e+00,-6.804522544584031829e-01
diff --git a/scans/20260420_pine_cone_?_from_1_viewpoint/trajectory_data/waypoint_00000/joint_positions.png b/scans/20260420_pine_cone_?_from_1_viewpoint/trajectory_data/waypoint_00000/joint_positions.png
new file mode 100644
index 0000000000000000000000000000000000000000..7c0ef0c2a1eaae616ba76c5ea838c463418b7c30
--- /dev/null
+++ b/scans/20260420_pine_cone_?_from_1_viewpoint/trajectory_data/waypoint_00000/joint_positions.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9d044d7e4258549a677981d767f1cf9a4019a7d0616c398c8954b259ea8019b8
+size 180935
diff --git a/scans/20260420_pine_cone_?_from_1_viewpoint/trajectory_data/waypoint_00000/joint_velocities.csv b/scans/20260420_pine_cone_?_from_1_viewpoint/trajectory_data/waypoint_00000/joint_velocities.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6e029ae6857450ab1f467a5285864e356280a85e
--- /dev/null
+++ b/scans/20260420_pine_cone_?_from_1_viewpoint/trajectory_data/waypoint_00000/joint_velocities.csv
@@ -0,0 +1,3 @@
+time_mid,dq0,dq1,dq2,dq3,dq4,dq5,dq6
+1.200805041698948866e-03,4.849983756917507910e-02,5.697089358317191515e-02,-5.912672464192202104e-02,3.416213453234275693e-02,-9.541413306294076191e-02,-1.191385202250350578e-01,4.891960558386074936e-02
+3.602415125096846381e-03,4.849128234790961445e-02,5.697897194563351919e-02,-5.910888715041048153e-02,3.419711992719424304e-02,-9.537728277165134771e-02,-1.191201114403759448e-01,4.887877403193088138e-02
diff --git a/scans/20260420_pine_cone_?_from_1_viewpoint/trajectory_data/waypoint_00000/joint_velocities.png b/scans/20260420_pine_cone_?_from_1_viewpoint/trajectory_data/waypoint_00000/joint_velocities.png
new file mode 100644
index 0000000000000000000000000000000000000000..f930514ad4fe10ea6dce12a7fa99dd0c77f652a1
--- /dev/null
+++ b/scans/20260420_pine_cone_?_from_1_viewpoint/trajectory_data/waypoint_00000/joint_velocities.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2e703002d52de6f768e2d8ddfeba029481718999993d22d02ef4d611b83e871b
+size 83544
diff --git a/scans/20260420_pistachio_from_1_viewpoint/scan00/frame_00000.jpg b/scans/20260420_pistachio_from_1_viewpoint/scan00/frame_00000.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..409a75d313c015731c88be2c52e453dcfb42b4f7
--- /dev/null
+++ b/scans/20260420_pistachio_from_1_viewpoint/scan00/frame_00000.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a5947acfcfee8a9b7fb281e672e0fbf16cff02efe14cddfb5ae9146c1783bb60
+size 157818
diff --git a/scans/20260420_pistachio_from_1_viewpoint/scan00/frame_00001.jpg b/scans/20260420_pistachio_from_1_viewpoint/scan00/frame_00001.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..9592ad361cf2fa4acea5e44d784eec7d898764dc
--- /dev/null
+++ b/scans/20260420_pistachio_from_1_viewpoint/scan00/frame_00001.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3a90367920eebbd333b0477251619d76d94c7a00a9e7c458b220372e01a29366
+size 117338
diff --git a/scans/20260420_pistachio_from_1_viewpoint/scan00/frame_00002.jpg b/scans/20260420_pistachio_from_1_viewpoint/scan00/frame_00002.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..fe87a2dd0d686324e10ce5ee6248aa2957535a58
--- /dev/null
+++ b/scans/20260420_pistachio_from_1_viewpoint/scan00/frame_00002.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bcfc333c8c56768d703fad39743f311aa13a766f1fdca9250ad9c51e380e883e
+size 169521
diff --git a/scans/20260420_pistachio_from_1_viewpoint/scan00/frame_00003.jpg b/scans/20260420_pistachio_from_1_viewpoint/scan00/frame_00003.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..a7b52b9334e5cf9a8cd1bdad91b36860627a9171
--- /dev/null
+++ b/scans/20260420_pistachio_from_1_viewpoint/scan00/frame_00003.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e4d59e7783c9f2d1a7fdb33de0ecfa594f354b76467658c81a95c1769129d7c1
+size 145502
diff --git a/scans/20260420_pistachio_from_1_viewpoint/scan00/frame_00004.jpg b/scans/20260420_pistachio_from_1_viewpoint/scan00/frame_00004.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..6bf85c377b3490d766e3beccdd81a05ffee1fe90
--- /dev/null
+++ b/scans/20260420_pistachio_from_1_viewpoint/scan00/frame_00004.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:113a867b04b03b23fa5af770ed9f72960cb727991e93abb3feb3239db45d2ccf
+size 126136
diff --git a/scans/20260420_pistachio_from_1_viewpoint/scan00/frame_00005.jpg b/scans/20260420_pistachio_from_1_viewpoint/scan00/frame_00005.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..dad8bd7fdb6e5533a91cf6c9b19489f33043423e
--- /dev/null
+++ b/scans/20260420_pistachio_from_1_viewpoint/scan00/frame_00005.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f99fa9c35e2c4182ca2c489047077dc1a1e5c9db4423f9ca05b10688d51adba0
+size 113784
diff --git a/scans/20260420_pistachio_from_1_viewpoint/scan00/frame_00006.jpg b/scans/20260420_pistachio_from_1_viewpoint/scan00/frame_00006.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..32ec9443e1a1e9bceb8b70a43cc01c838fe34776
--- /dev/null
+++ b/scans/20260420_pistachio_from_1_viewpoint/scan00/frame_00006.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:be5d712626d22e53812bfafdf2a072708a03377200c8bcc0050ea28c6a5c1bb9
+size 99421
diff --git a/scans/20260420_pistachio_from_1_viewpoint/scan00/frame_00007.jpg b/scans/20260420_pistachio_from_1_viewpoint/scan00/frame_00007.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..66f029ae08ce5e8e0a45609ab0e2d155ed046044
--- /dev/null
+++ b/scans/20260420_pistachio_from_1_viewpoint/scan00/frame_00007.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:99bd9cbaa2d3f4ed675b0c8c499bd45d0f59540e9f9a8d3bc8d15b4d0afc9f32
+size 101614
diff --git a/scans/20260420_pistachio_from_1_viewpoint/scan00/frame_00008.jpg b/scans/20260420_pistachio_from_1_viewpoint/scan00/frame_00008.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..c10acfa31e62765d3c6ad80c044d3a0c445051c7
--- /dev/null
+++ b/scans/20260420_pistachio_from_1_viewpoint/scan00/frame_00008.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ee3c43bb59ba002cc2b86bd947b49eba445d49c50933e7ef9e9e5ac1fb63f502
+size 97404
diff --git a/scans/20260420_pistachio_from_1_viewpoint/scan00/frame_00009.jpg b/scans/20260420_pistachio_from_1_viewpoint/scan00/frame_00009.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..18ea4989302d32dfdd30ec63c20ef6f3379b67ab
--- /dev/null
+++ b/scans/20260420_pistachio_from_1_viewpoint/scan00/frame_00009.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7593a3c1174d208ea37a075100514b2e6c5046ef41030f4199844c50215c1e51
+size 97750
diff --git a/scans/20260420_pistachio_from_1_viewpoint/scan00/frame_00010.jpg b/scans/20260420_pistachio_from_1_viewpoint/scan00/frame_00010.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..3d3933f360add420e75c44b796b9c459450b814f
--- /dev/null
+++ b/scans/20260420_pistachio_from_1_viewpoint/scan00/frame_00010.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6943ba33273a9416d08afc13604112ed290764761a0bdab68bd8d31d7952da38
+size 99945
diff --git a/scans/20260420_pistachio_from_1_viewpoint/scan00/frame_00011.jpg b/scans/20260420_pistachio_from_1_viewpoint/scan00/frame_00011.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..5532ce5e843b0206a99a03581415e0b077036321
--- /dev/null
+++ b/scans/20260420_pistachio_from_1_viewpoint/scan00/frame_00011.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:69aae0d946228d33b86d4d9764807b1b6fcf30ca35576ed5a092a06609d6323d
+size 114393
diff --git a/scans/20260420_pistachio_from_1_viewpoint/scan00/frame_00012.jpg b/scans/20260420_pistachio_from_1_viewpoint/scan00/frame_00012.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..f1eb17f2341fc53af25e2403fd289a84f28381cc
--- /dev/null
+++ b/scans/20260420_pistachio_from_1_viewpoint/scan00/frame_00012.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b33787e80edc97c9d8684538b12ac4d7e21a8c27a9aa4db9354889b6d2070470
+size 116232
diff --git a/scans/20260420_pistachio_from_1_viewpoint/scan00/frame_00013.jpg b/scans/20260420_pistachio_from_1_viewpoint/scan00/frame_00013.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..1bf5b89ae6e1f3f2e7c0be7acc39cb77fc403fd9
--- /dev/null
+++ b/scans/20260420_pistachio_from_1_viewpoint/scan00/frame_00013.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9827bcdf50a6d102a4908bfcc5b83e9e030a4668732e51f49f48603bb1630081
+size 117730
diff --git a/scans/20260420_pistachio_from_1_viewpoint/scan00/frame_00014.jpg b/scans/20260420_pistachio_from_1_viewpoint/scan00/frame_00014.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..bb60e2d6bbf10ea7433daf5cfa4f4ddcf23b1df9
--- /dev/null
+++ b/scans/20260420_pistachio_from_1_viewpoint/scan00/frame_00014.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0721b46cccdf2ec795486ab6ee5cd99b8aff195a83eb614a73a50f7bc65ca38f
+size 141904
diff --git a/scans/20260420_pistachio_from_1_viewpoint/scan00/frame_00015.jpg b/scans/20260420_pistachio_from_1_viewpoint/scan00/frame_00015.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..5989c9199f5f1a59cf9ae0f988ee92a0730ddedd
--- /dev/null
+++ b/scans/20260420_pistachio_from_1_viewpoint/scan00/frame_00015.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fe6fec92766590a6e9d375c2467888685a2eadc515db073d4af038090784e00e
+size 145505
diff --git a/scans/20260420_pistachio_from_1_viewpoint/scan00/frame_00016.jpg b/scans/20260420_pistachio_from_1_viewpoint/scan00/frame_00016.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..6e3024c8a564d0b20ec09c767a904ba11a2bd1ba
--- /dev/null
+++ b/scans/20260420_pistachio_from_1_viewpoint/scan00/frame_00016.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ac8d2449723353d6b7057537d483482c1089a8a4228d875379bb786fd841210f
+size 152483
diff --git a/scans/20260420_pistachio_from_1_viewpoint/scan00/frame_00017.jpg b/scans/20260420_pistachio_from_1_viewpoint/scan00/frame_00017.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..3fb9f160382d482cf96073e109b9db52dd824006
--- /dev/null
+++ b/scans/20260420_pistachio_from_1_viewpoint/scan00/frame_00017.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:00abef132516ee21b328103035cab3a5fe48a59b19b2ab3dccd4726eaa276b47
+size 160376
diff --git a/scans/20260420_pistachio_from_1_viewpoint/scan00/frame_00018.jpg b/scans/20260420_pistachio_from_1_viewpoint/scan00/frame_00018.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..ea58016c506966772fd5bdcb7d3790e504497df1
--- /dev/null
+++ b/scans/20260420_pistachio_from_1_viewpoint/scan00/frame_00018.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:56686f1ba7235a938cced74b2e483704bdba53d9d16a25e1cd387507af641728
+size 160632
diff --git a/scans/20260420_pistachio_from_1_viewpoint/scan00/frame_00019.jpg b/scans/20260420_pistachio_from_1_viewpoint/scan00/frame_00019.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..b0e79541c590733f7ee14defbd3ac968945b6409
--- /dev/null
+++ b/scans/20260420_pistachio_from_1_viewpoint/scan00/frame_00019.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0fcac65240a6478e05868119f7dda3d4cfc4e1a4c698655f625787ad5add4cb9
+size 150003
diff --git a/scans/20260420_pistachio_from_1_viewpoint/scan00/frame_00020.jpg b/scans/20260420_pistachio_from_1_viewpoint/scan00/frame_00020.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..e3f02859218843a4b7e558e63099d5ee9067af58
--- /dev/null
+++ b/scans/20260420_pistachio_from_1_viewpoint/scan00/frame_00020.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:064109f4cb67ca7f9555d8f5d347d99ab86f26ac027b2472a644201192ef73e0
+size 116637
diff --git a/scans/20260420_pistachio_from_1_viewpoint/scan00/frame_00021.jpg b/scans/20260420_pistachio_from_1_viewpoint/scan00/frame_00021.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..d87432069b862f024410d6473aaec6b1f295b3a7
--- /dev/null
+++ b/scans/20260420_pistachio_from_1_viewpoint/scan00/frame_00021.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bff5bc9db43a48270eae22c8f9bcd10dd5e7477ef58c61ffac68541ad829ca3a
+size 117436
diff --git a/scans/20260420_pistachio_from_1_viewpoint/scan00/frame_00022.jpg b/scans/20260420_pistachio_from_1_viewpoint/scan00/frame_00022.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..7113fc3482b317c623e1ff749e8f79184de85178
--- /dev/null
+++ b/scans/20260420_pistachio_from_1_viewpoint/scan00/frame_00022.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ca5127f2e68d694bfd70192757b812044c6840f56353b2bd358f984f51c48d2e
+size 117532
diff --git a/scans/20260420_pistachio_from_1_viewpoint/scan00/frame_00023.jpg b/scans/20260420_pistachio_from_1_viewpoint/scan00/frame_00023.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..b08df5f14b1451feeb55b5167ce148fe1be7d6e0
--- /dev/null
+++ b/scans/20260420_pistachio_from_1_viewpoint/scan00/frame_00023.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:31e8c56ef0a704b4e0938f90b607b984c41a99b14a9e78fbd0747ef309b960e8
+size 115956
diff --git a/scans/20260420_pistachio_from_1_viewpoint/scan00/frame_00024.jpg b/scans/20260420_pistachio_from_1_viewpoint/scan00/frame_00024.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..9dfd0ae4b49a9fdb0d00a4441f285e588f2f4205
--- /dev/null
+++ b/scans/20260420_pistachio_from_1_viewpoint/scan00/frame_00024.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1bf4298db68d855a7cd4115efb443c3be21c081931a2e6b72b6a9c510d5f480b
+size 110960
diff --git a/scans/20260420_pistachio_from_1_viewpoint/scan00/frame_00025.jpg b/scans/20260420_pistachio_from_1_viewpoint/scan00/frame_00025.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..a96b4d63ff7e83375a56eeb07dc5bc667a9d2229
--- /dev/null
+++ b/scans/20260420_pistachio_from_1_viewpoint/scan00/frame_00025.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:77309130a9f20ce8eaade7185ead04f9825438854a794d5d96739b91d03814fd
+size 113968
diff --git a/scans/20260420_pistachio_from_1_viewpoint/scan00/frame_00026.jpg b/scans/20260420_pistachio_from_1_viewpoint/scan00/frame_00026.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..1637e2fafc5be2a1c43614462a15a80fcaa45617
--- /dev/null
+++ b/scans/20260420_pistachio_from_1_viewpoint/scan00/frame_00026.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:13988e04c09fb068627337ae8c1168999979bc540526fcfc2c032b63efc1297d
+size 117032
diff --git a/scans/20260420_pistachio_from_1_viewpoint/scan00/frame_00027.jpg b/scans/20260420_pistachio_from_1_viewpoint/scan00/frame_00027.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..f70fb88b070a49774ec18b788971516b8864aa4b
--- /dev/null
+++ b/scans/20260420_pistachio_from_1_viewpoint/scan00/frame_00027.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:897e91bf8feb4da9f586e643ab53f14cdd2954049ea61c07fd11e610c90e1977
+size 115634
diff --git a/scans/20260420_pistachio_from_1_viewpoint/scan00/frame_00028.jpg b/scans/20260420_pistachio_from_1_viewpoint/scan00/frame_00028.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..38fa24f074f6195b76a2e14f285af0a87b249632
--- /dev/null
+++ b/scans/20260420_pistachio_from_1_viewpoint/scan00/frame_00028.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:38d0ce024ff8eef3dec2bb5e8fd807f6032269ef7b4bd3118f9a2dc41544110a
+size 113206
diff --git a/scans/20260420_pistachio_from_1_viewpoint/scan00/frame_00029.jpg b/scans/20260420_pistachio_from_1_viewpoint/scan00/frame_00029.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..f0432f9d530c3c90a58abe54209946813d624bc2
--- /dev/null
+++ b/scans/20260420_pistachio_from_1_viewpoint/scan00/frame_00029.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f2d669dc2476f21588bdf3a8dc41f4d3745b14dfa315323d2e048cff9429d588
+size 105376
diff --git a/scans/20260420_pistachio_from_1_viewpoint/scan00/pose_00000.npy b/scans/20260420_pistachio_from_1_viewpoint/scan00/pose_00000.npy
new file mode 100644
index 0000000000000000000000000000000000000000..a64b78f96d6a4a5d6be572c0dd351766c35a14bc
--- /dev/null
+++ b/scans/20260420_pistachio_from_1_viewpoint/scan00/pose_00000.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c460ef86472e67ee3b52f1fa025090ec11f2f6130c063f24a9ed4eeb0ea3642a
+size 256
diff --git a/scans/20260420_pistachio_from_1_viewpoint/scan00/pose_00001.npy b/scans/20260420_pistachio_from_1_viewpoint/scan00/pose_00001.npy
new file mode 100644
index 0000000000000000000000000000000000000000..73e13d217151e07312f515fc584f5bbd090872df
--- /dev/null
+++ b/scans/20260420_pistachio_from_1_viewpoint/scan00/pose_00001.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:53a20f3fb670d1a42950cae957f38831c5656cdb6654b03b9179ccce14de0df3
+size 256
diff --git a/scans/20260420_pistachio_from_1_viewpoint/scan00/pose_00002.npy b/scans/20260420_pistachio_from_1_viewpoint/scan00/pose_00002.npy
new file mode 100644
index 0000000000000000000000000000000000000000..e151cfb555158b31e01bc165d56cbe2ea2f2ea79
--- /dev/null
+++ b/scans/20260420_pistachio_from_1_viewpoint/scan00/pose_00002.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:498257748657acfa8e267298965270a2f2f6df653f54e0a118f6cd96aed911f7
+size 256
diff --git a/scans/20260420_pistachio_from_1_viewpoint/scan00/pose_00003.npy b/scans/20260420_pistachio_from_1_viewpoint/scan00/pose_00003.npy
new file mode 100644
index 0000000000000000000000000000000000000000..a7b33a9396d07fcb725bcc0e7eca1da4d6a0ce3b
--- /dev/null
+++ b/scans/20260420_pistachio_from_1_viewpoint/scan00/pose_00003.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2e24f4cbd3fd064c83ee905e79756cc473de44dc011ad6655337c713bfcccdc0
+size 256
diff --git a/scans/20260420_pistachio_from_1_viewpoint/scan00/pose_00004.npy b/scans/20260420_pistachio_from_1_viewpoint/scan00/pose_00004.npy
new file mode 100644
index 0000000000000000000000000000000000000000..540b7c3ff3cc662f729b4f27b772f63a9e36c330
--- /dev/null
+++ b/scans/20260420_pistachio_from_1_viewpoint/scan00/pose_00004.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:de713c0d89fc7919b9ac8820ee580a3799f84c5b0f6c9acd1e5064e92dc4f94b
+size 256
diff --git a/scans/20260420_pistachio_from_1_viewpoint/scan00/pose_00005.npy b/scans/20260420_pistachio_from_1_viewpoint/scan00/pose_00005.npy
new file mode 100644
index 0000000000000000000000000000000000000000..454f042c7405675c745c326cb04a9907c1cd89da
--- /dev/null
+++ b/scans/20260420_pistachio_from_1_viewpoint/scan00/pose_00005.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1c66d0ba712677b1baa03007af93346380627774766dc67056102be1f3675f43
+size 256
diff --git a/scans/20260420_pistachio_from_1_viewpoint/scan00/pose_00006.npy b/scans/20260420_pistachio_from_1_viewpoint/scan00/pose_00006.npy
new file mode 100644
index 0000000000000000000000000000000000000000..5e66661b8124967d4ddb8065db9cc70a5c30fbd3
--- /dev/null
+++ b/scans/20260420_pistachio_from_1_viewpoint/scan00/pose_00006.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f9e254bb24d5d08930255b09da9d807534fc3462216052aeeb5f57484752f65c
+size 256
diff --git a/scans/20260420_pistachio_from_1_viewpoint/scan00/pose_00007.npy b/scans/20260420_pistachio_from_1_viewpoint/scan00/pose_00007.npy
new file mode 100644
index 0000000000000000000000000000000000000000..5626fb334092832ba8f5d3c54bf3ba1d87d2e7bd
--- /dev/null
+++ b/scans/20260420_pistachio_from_1_viewpoint/scan00/pose_00007.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1957437887c8fba5be983266310db46d04838382281f41e57119ae9af53a7c13
+size 256
diff --git a/scans/20260420_pistachio_from_1_viewpoint/scan00/pose_00008.npy b/scans/20260420_pistachio_from_1_viewpoint/scan00/pose_00008.npy
new file mode 100644
index 0000000000000000000000000000000000000000..517b6419b44602e551fdcac061cb4c7c1be500af
--- /dev/null
+++ b/scans/20260420_pistachio_from_1_viewpoint/scan00/pose_00008.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:edbf26d38317aaa66c697294ad466dd3b7903d00c639ec5f485980745de19893
+size 256
diff --git a/scans/20260420_pistachio_from_1_viewpoint/scan00/pose_00009.npy b/scans/20260420_pistachio_from_1_viewpoint/scan00/pose_00009.npy
new file mode 100644
index 0000000000000000000000000000000000000000..1dec2e8e53195609780671ba7abb4f5e9d967ea4
--- /dev/null
+++ b/scans/20260420_pistachio_from_1_viewpoint/scan00/pose_00009.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fbe89ffb9cc45557009b70824f826059b8f78dc4755b69ca1a5d79e59fe17adc
+size 256
diff --git a/scans/20260420_pistachio_from_1_viewpoint/scan00/pose_00010.npy b/scans/20260420_pistachio_from_1_viewpoint/scan00/pose_00010.npy
new file mode 100644
index 0000000000000000000000000000000000000000..30140c76dc3a3b9c3274dd5a57ef6dcc2ec44854
--- /dev/null
+++ b/scans/20260420_pistachio_from_1_viewpoint/scan00/pose_00010.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:615f899d83e6dd7baccb0780b39aa944bad1a2735c2ef1ecb5cd5f9bb9ed1c16
+size 256
diff --git a/scans/20260420_pistachio_from_1_viewpoint/scan00/pose_00011.npy b/scans/20260420_pistachio_from_1_viewpoint/scan00/pose_00011.npy
new file mode 100644
index 0000000000000000000000000000000000000000..ac2a5f4089494738e19688d756fad1198f501810
--- /dev/null
+++ b/scans/20260420_pistachio_from_1_viewpoint/scan00/pose_00011.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:084ffdd23d5fd9e726b83a31911504521343f2c169aa382290f9cad3736b3bbb
+size 256
diff --git a/scans/20260420_pistachio_from_1_viewpoint/scan00/pose_00012.npy b/scans/20260420_pistachio_from_1_viewpoint/scan00/pose_00012.npy
new file mode 100644
index 0000000000000000000000000000000000000000..8a67078f950a0d7c8f0a60445cb851fbc21ef8c9
--- /dev/null
+++ b/scans/20260420_pistachio_from_1_viewpoint/scan00/pose_00012.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:143bc9cb74bcdf3a1c723b736c8d98cb074f7424dedec212353d1a0136fe8f33
+size 256
diff --git a/scans/20260420_pistachio_from_1_viewpoint/scan00/pose_00013.npy b/scans/20260420_pistachio_from_1_viewpoint/scan00/pose_00013.npy
new file mode 100644
index 0000000000000000000000000000000000000000..a52c823003fb1fa45bbac4c2a1d10f31d3711748
--- /dev/null
+++ b/scans/20260420_pistachio_from_1_viewpoint/scan00/pose_00013.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:361e047515fdc04c9bf682acee99dcd6af3e796e5447f07ceb0a6e51b64ea754
+size 256
diff --git a/scans/20260420_pistachio_from_1_viewpoint/scan00/pose_00014.npy b/scans/20260420_pistachio_from_1_viewpoint/scan00/pose_00014.npy
new file mode 100644
index 0000000000000000000000000000000000000000..0b05e646707e3953ed2093c9b2da0962082238ee
--- /dev/null
+++ b/scans/20260420_pistachio_from_1_viewpoint/scan00/pose_00014.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:32dbb9d0d3dd0c918be4299b4bfc2fa43d0ea5c2d2312744dff51341687c2327
+size 256
diff --git a/scans/20260420_pistachio_from_1_viewpoint/scan00/pose_00015.npy b/scans/20260420_pistachio_from_1_viewpoint/scan00/pose_00015.npy
new file mode 100644
index 0000000000000000000000000000000000000000..d5dd9a9d724741e546e9c888ded75e2a7f157285
--- /dev/null
+++ b/scans/20260420_pistachio_from_1_viewpoint/scan00/pose_00015.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4d52d4a6a3e8c55121ba8e728f6c11f716f0fe4cc53812fc78790ebe5a44a730
+size 256
diff --git a/scans/20260420_pistachio_from_1_viewpoint/scan00/pose_00016.npy b/scans/20260420_pistachio_from_1_viewpoint/scan00/pose_00016.npy
new file mode 100644
index 0000000000000000000000000000000000000000..d3d826be8b8dc1501231b4dccb6600999b35bc58
--- /dev/null
+++ b/scans/20260420_pistachio_from_1_viewpoint/scan00/pose_00016.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1d3bc9e9758b593bf9967bc8ca2a14fa33da72724feaaf043b17121636f508ec
+size 256
diff --git a/scans/20260420_pistachio_from_1_viewpoint/scan00/pose_00017.npy b/scans/20260420_pistachio_from_1_viewpoint/scan00/pose_00017.npy
new file mode 100644
index 0000000000000000000000000000000000000000..02712049cce580016b70cf67db76548243e93813
--- /dev/null
+++ b/scans/20260420_pistachio_from_1_viewpoint/scan00/pose_00017.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2d8e1433a5058ffda89fbc07de8dff38dfcfea7eec28c2bed26107ac4ef1d343
+size 256
diff --git a/scans/20260420_pistachio_from_1_viewpoint/scan00/pose_00018.npy b/scans/20260420_pistachio_from_1_viewpoint/scan00/pose_00018.npy
new file mode 100644
index 0000000000000000000000000000000000000000..449a8d729c66eec5173f69ac4224fc5ae7f36648
--- /dev/null
+++ b/scans/20260420_pistachio_from_1_viewpoint/scan00/pose_00018.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aae58a5870c68904a2374b90dd2fa55ccfe7274b9a23486be66304485af8804d
+size 256
diff --git a/scans/20260420_pistachio_from_1_viewpoint/scan00/pose_00019.npy b/scans/20260420_pistachio_from_1_viewpoint/scan00/pose_00019.npy
new file mode 100644
index 0000000000000000000000000000000000000000..c92880536b04104c5d595ee2a0e5841439c12233
--- /dev/null
+++ b/scans/20260420_pistachio_from_1_viewpoint/scan00/pose_00019.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bc8622390e5e67fb11cb45de44f0ba707e1b8b3d1b38a407f27609929dfb02e3
+size 256
diff --git a/scans/20260420_pistachio_from_1_viewpoint/scan00/pose_00020.npy b/scans/20260420_pistachio_from_1_viewpoint/scan00/pose_00020.npy
new file mode 100644
index 0000000000000000000000000000000000000000..07be4e0ab6286aa4e0d92e49d8c94d08d5175c22
--- /dev/null
+++ b/scans/20260420_pistachio_from_1_viewpoint/scan00/pose_00020.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:32493562ac3c1dbfcc510d22589816a8b2259d7f9de85caec3b45d5bdce98f64
+size 256
diff --git a/scans/20260420_pistachio_from_1_viewpoint/scan00/pose_00021.npy b/scans/20260420_pistachio_from_1_viewpoint/scan00/pose_00021.npy
new file mode 100644
index 0000000000000000000000000000000000000000..8d137f339f264f0304640ff9d7c951b6ca509649
--- /dev/null
+++ b/scans/20260420_pistachio_from_1_viewpoint/scan00/pose_00021.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:529e0f0682d1ab696c0280e48123f375ed0817ff70b3e7e26207ad63f7c3351a
+size 256
diff --git a/scans/20260420_pistachio_from_1_viewpoint/scan00/pose_00022.npy b/scans/20260420_pistachio_from_1_viewpoint/scan00/pose_00022.npy
new file mode 100644
index 0000000000000000000000000000000000000000..ed33b5c2f11a9d1277cae9244160b2cd26f68e46
--- /dev/null
+++ b/scans/20260420_pistachio_from_1_viewpoint/scan00/pose_00022.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:192600712c9d51f9bc7b6cea799c59abf6151655d92e36bc063f61aa3e7e861e
+size 256
diff --git a/scans/20260420_pistachio_from_1_viewpoint/scan00/pose_00023.npy b/scans/20260420_pistachio_from_1_viewpoint/scan00/pose_00023.npy
new file mode 100644
index 0000000000000000000000000000000000000000..d1e7a96ba3102a41e3ba501871f95e7e864f082a
--- /dev/null
+++ b/scans/20260420_pistachio_from_1_viewpoint/scan00/pose_00023.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9b9e0d169eb0eba15a108767cdc86bfab77a800bbbfb1068712750ca737c0bce
+size 256
diff --git a/scans/20260420_pistachio_from_1_viewpoint/scan00/pose_00024.npy b/scans/20260420_pistachio_from_1_viewpoint/scan00/pose_00024.npy
new file mode 100644
index 0000000000000000000000000000000000000000..46f012d850610c77694228de2c3444810b164897
--- /dev/null
+++ b/scans/20260420_pistachio_from_1_viewpoint/scan00/pose_00024.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b04f775749a91416f0cb0b6306b767f28cf6b8383a15c0ba9949358356c7d044
+size 256
diff --git a/scans/20260420_pistachio_from_1_viewpoint/scan00/pose_00025.npy b/scans/20260420_pistachio_from_1_viewpoint/scan00/pose_00025.npy
new file mode 100644
index 0000000000000000000000000000000000000000..444d3883350c6df392047748e105e8a370ccee87
--- /dev/null
+++ b/scans/20260420_pistachio_from_1_viewpoint/scan00/pose_00025.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0943ae8dda2a31745b238d4b2ee94c68c893f5346ca988f61ae7d32e2629c41a
+size 256
diff --git a/scans/20260420_pistachio_from_1_viewpoint/scan00/pose_00026.npy b/scans/20260420_pistachio_from_1_viewpoint/scan00/pose_00026.npy
new file mode 100644
index 0000000000000000000000000000000000000000..f7fbb343c626467c025a02c5764e50dde3d5d7f6
--- /dev/null
+++ b/scans/20260420_pistachio_from_1_viewpoint/scan00/pose_00026.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c8a6e9bd9706744d18dcdb0079e88cb31a5c2ff29c7572395a95cf7193a52e43
+size 256
diff --git a/scans/20260420_pistachio_from_1_viewpoint/scan00/pose_00027.npy b/scans/20260420_pistachio_from_1_viewpoint/scan00/pose_00027.npy
new file mode 100644
index 0000000000000000000000000000000000000000..6a03033857cbe28b08649fa9d788983c2eed2623
--- /dev/null
+++ b/scans/20260420_pistachio_from_1_viewpoint/scan00/pose_00027.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:629b1fc460592cf818978f0ae7ad92c2142bfc8ac5b4963fc1b368a0aa38ae4c
+size 256
diff --git a/scans/20260420_pistachio_from_1_viewpoint/scan00/pose_00028.npy b/scans/20260420_pistachio_from_1_viewpoint/scan00/pose_00028.npy
new file mode 100644
index 0000000000000000000000000000000000000000..bfd78e7f94ee7bdcb5fd9fe107edc5e9ea511a1f
--- /dev/null
+++ b/scans/20260420_pistachio_from_1_viewpoint/scan00/pose_00028.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6f1ee61fb46703a361b407f92e7a205ba3f5091bf67347e523275244bf41b836
+size 256
diff --git a/scans/20260420_pistachio_from_1_viewpoint/scan00/pose_00029.npy b/scans/20260420_pistachio_from_1_viewpoint/scan00/pose_00029.npy
new file mode 100644
index 0000000000000000000000000000000000000000..98b7e8ebb5f3d9806dbf17e72be943f6bd8f2561
--- /dev/null
+++ b/scans/20260420_pistachio_from_1_viewpoint/scan00/pose_00029.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:676772c381866620803e580b87fb6d7a7ad74a471eaa5746baca18196eb434df
+size 256
diff --git a/scans/20260420_pistachio_from_1_viewpoint/scan00/scan_00.png b/scans/20260420_pistachio_from_1_viewpoint/scan00/scan_00.png
new file mode 100644
index 0000000000000000000000000000000000000000..a4a90779c1b682cf83c0edf1bf7bcc39b9a3031c
--- /dev/null
+++ b/scans/20260420_pistachio_from_1_viewpoint/scan00/scan_00.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6cc9d6ec683f95dc2f316e5cfce46bdf12806952ecd079fe72508ca3408ca0ba
+size 142363
diff --git a/scans/20260420_pistachio_from_1_viewpoint/scan_params.txt b/scans/20260420_pistachio_from_1_viewpoint/scan_params.txt
new file mode 100644
index 0000000000000000000000000000000000000000..b5136ff23612656a5788ee8d61577e7250df7ea9
--- /dev/null
+++ b/scans/20260420_pistachio_from_1_viewpoint/scan_params.txt
@@ -0,0 +1,22 @@
+date: 20260420_165608
+hemisphere_dist: 0.8
+hemisphere_angle_deg: 0.0
+hemisphere_radius: 0.08
+hemisphere_z: 0.36
+hemisphere_pos: [0.761285, -0.002479, 0.363935]
+num_scan_points: 2
+coverage: 1.0
+distance_along_optical_axis: 0.035
+num_pictures: 30
+elbow_angle_deg: 135.00
+use_hardware: True
+skip_opt: False
+no_wait: True
+start_idx: 0
+
+# Timing
+total_run_time_s: 29.77
+num_moves: 1
+move_times_s: [0.011]
+avg_move_time_s: 0.011
+optical_axis_traj_time_s: 5.628
diff --git a/scans/20260420_pistachio_from_1_viewpoint/trajectory_data/waypoint_00000/joint_positions.csv b/scans/20260420_pistachio_from_1_viewpoint/trajectory_data/waypoint_00000/joint_positions.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f2b9135558aa2cd692229647f3033f1237656071
--- /dev/null
+++ b/scans/20260420_pistachio_from_1_viewpoint/trajectory_data/waypoint_00000/joint_positions.csv
@@ -0,0 +1,4 @@
+time,q0,q1,q2,q3,q4,q5,q6
+0.000000000000000000e+00,-5.695144206848966606e-01,1.009134488669484409e+00,8.490733978564063422e-01,-1.951900893459580955e+00,-2.005976371233502559e-02,-1.174466907590993925e+00,-6.808735159248797686e-01
+5.562601167896598885e-03,-5.696832472047860252e-01,1.009529343369873100e+00,8.490138992726589118e-01,-1.951808901385074124e+00,-2.104358412672791348e-02,-1.174712971640596848e+00,-6.806628171993118759e-01
+1.112520233579319777e-02,-5.698519813866964601e-01,1.009924235944269499e+00,8.489543904346850134e-01,-1.951716447845525337e+00,-2.202722173397797523e-02,-1.174958756393709169e+00,-6.804522544584031829e-01
diff --git a/scans/20260420_pistachio_from_1_viewpoint/trajectory_data/waypoint_00000/joint_positions.png b/scans/20260420_pistachio_from_1_viewpoint/trajectory_data/waypoint_00000/joint_positions.png
new file mode 100644
index 0000000000000000000000000000000000000000..59ba2d4007210431e1088f2fbb0ff1b74957b516
--- /dev/null
+++ b/scans/20260420_pistachio_from_1_viewpoint/trajectory_data/waypoint_00000/joint_positions.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:61f77b6723faa8d8e7f40104bb775d83bd56126e49ec9cab0157566c0ed20b8c
+size 196937
diff --git a/scans/20260420_pistachio_from_1_viewpoint/trajectory_data/waypoint_00000/joint_velocities.csv b/scans/20260420_pistachio_from_1_viewpoint/trajectory_data/waypoint_00000/joint_velocities.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f81404590801124ff748dacc8ef09c82672ed777
--- /dev/null
+++ b/scans/20260420_pistachio_from_1_viewpoint/trajectory_data/waypoint_00000/joint_velocities.csv
@@ -0,0 +1,3 @@
+time_mid,dq0,dq1,dq2,dq3,dq4,dq5,dq6
+2.781300583948299442e-03,-3.035028304091113086e-02,7.098382365924663095e-02,-1.069618006964335316e-02,1.653760025754561630e-02,-1.768633746511980298e-01,-4.423542910518749732e-02,3.787773367321331519e-02
+8.343901751844897893e-03,-3.033368325671976715e-02,7.099063234578817383e-02,-1.069802349255979945e-02,1.662055875628174612e-02,-1.768305110434525707e-01,-4.418521941332360925e-02,3.785328743752333636e-02
diff --git a/scans/20260420_pistachio_from_1_viewpoint/trajectory_data/waypoint_00000/joint_velocities.png b/scans/20260420_pistachio_from_1_viewpoint/trajectory_data/waypoint_00000/joint_velocities.png
new file mode 100644
index 0000000000000000000000000000000000000000..532edfe0c0351f49a5a6e40785e725e5f7211684
--- /dev/null
+++ b/scans/20260420_pistachio_from_1_viewpoint/trajectory_data/waypoint_00000/joint_velocities.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d29993258649d66559bb283bf709e7b4b261f13c5fb36bd815313492cf557231
+size 88072
diff --git a/scans/20260420_rock_from_1_viewpoint/scan00/frame_00000.jpg b/scans/20260420_rock_from_1_viewpoint/scan00/frame_00000.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..43b671c8ee9f0aa59eb9a730c0e76a5cbeff71ca
--- /dev/null
+++ b/scans/20260420_rock_from_1_viewpoint/scan00/frame_00000.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:41972461bcfde7c7bba6886880bb0ce2af2f2987b217764640b5e80cd9015471
+size 274177
diff --git a/scans/20260420_rock_from_1_viewpoint/scan00/frame_00001.jpg b/scans/20260420_rock_from_1_viewpoint/scan00/frame_00001.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..7d170d024a82bd45dfa1e3d6ea24ba5c4577630f
--- /dev/null
+++ b/scans/20260420_rock_from_1_viewpoint/scan00/frame_00001.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:40658ebb7d178ef36a3d5c1f7ce1ceedc761271dd22bd238a6f4c3be5209dc49
+size 134002
diff --git a/scans/20260420_rock_from_1_viewpoint/scan00/frame_00002.jpg b/scans/20260420_rock_from_1_viewpoint/scan00/frame_00002.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..79b401026b7db839063dfb4fcc69d0d855419011
--- /dev/null
+++ b/scans/20260420_rock_from_1_viewpoint/scan00/frame_00002.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:57eafec3d25b5c7978bf7ad0ad86c6727b3e7b9e780dde62d7a1a27b9e22519c
+size 155737
diff --git a/scans/20260420_rock_from_1_viewpoint/scan00/frame_00003.jpg b/scans/20260420_rock_from_1_viewpoint/scan00/frame_00003.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..0f1e86220ded06faf1118637183730bb196acfd9
--- /dev/null
+++ b/scans/20260420_rock_from_1_viewpoint/scan00/frame_00003.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:374192d5a46c0f4a2f0bbfe9d9c4f0ff3facb5593a12df343255e1c57bb691f4
+size 246194
diff --git a/scans/20260420_rock_from_1_viewpoint/scan00/frame_00004.jpg b/scans/20260420_rock_from_1_viewpoint/scan00/frame_00004.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..b23943041004cea87ba7fb8169a461b9a36f3b19
--- /dev/null
+++ b/scans/20260420_rock_from_1_viewpoint/scan00/frame_00004.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fd1b633ff0a078dfbc89bb74520ebc09a3850f402a36d6cb95e05a638860de1e
+size 111119
diff --git a/scans/20260420_rock_from_1_viewpoint/scan00/frame_00005.jpg b/scans/20260420_rock_from_1_viewpoint/scan00/frame_00005.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..4b1f4766d17f1bc837794adc943368526303333e
--- /dev/null
+++ b/scans/20260420_rock_from_1_viewpoint/scan00/frame_00005.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:46ad77f0ff25890210d268d53dfd9802c404885e7613b8a7585d9814dd9421a4
+size 113141
diff --git a/scans/20260420_rock_from_1_viewpoint/scan00/frame_00006.jpg b/scans/20260420_rock_from_1_viewpoint/scan00/frame_00006.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..127a70dd02c331446d25722e87722cdaa0121750
--- /dev/null
+++ b/scans/20260420_rock_from_1_viewpoint/scan00/frame_00006.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8174612c454a89fe0eb1e4b27d127fe83688db8a65df9c6681febf3e83a45d72
+size 140535
diff --git a/scans/20260420_rock_from_1_viewpoint/scan00/frame_00007.jpg b/scans/20260420_rock_from_1_viewpoint/scan00/frame_00007.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..681762afe0180c5767d9a3c3c7758c1f90401daa
--- /dev/null
+++ b/scans/20260420_rock_from_1_viewpoint/scan00/frame_00007.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:526f9a53861e60990475c34d121fe2a1accb11e4cc41bb4d9c8df142733a3ba6
+size 144871
diff --git a/scans/20260420_rock_from_1_viewpoint/scan00/frame_00008.jpg b/scans/20260420_rock_from_1_viewpoint/scan00/frame_00008.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..550e11a5b45bf4f2a7fa0195c8b5d3746bfe233e
--- /dev/null
+++ b/scans/20260420_rock_from_1_viewpoint/scan00/frame_00008.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cac7e8bcacbbb07f68884d53f3897cc6b9cd7327988f0a658454a981d1fadf82
+size 149124
diff --git a/scans/20260420_rock_from_1_viewpoint/scan00/frame_00009.jpg b/scans/20260420_rock_from_1_viewpoint/scan00/frame_00009.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..837b5840660c9d1601775d310e6034b1700be243
--- /dev/null
+++ b/scans/20260420_rock_from_1_viewpoint/scan00/frame_00009.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:905d0e8537a0e0cce757819d05af3b9c82e18f7f5eb2b8d849cc791ed29ee25f
+size 155141
diff --git a/scans/20260420_rock_from_1_viewpoint/scan00/frame_00010.jpg b/scans/20260420_rock_from_1_viewpoint/scan00/frame_00010.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..523e532c07afcb40efd2ad499bc4ee16210f551c
--- /dev/null
+++ b/scans/20260420_rock_from_1_viewpoint/scan00/frame_00010.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b2d628b64ea7f7f34346e66c790d136116800d5bbe8ad2d9526e5167247d36cb
+size 134664
diff --git a/scans/20260420_rock_from_1_viewpoint/scan00/frame_00011.jpg b/scans/20260420_rock_from_1_viewpoint/scan00/frame_00011.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..53319628f291911c6e515125ab7ae3d59ade6a14
--- /dev/null
+++ b/scans/20260420_rock_from_1_viewpoint/scan00/frame_00011.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:865348ed70ed3b700c0ebfdfbfacf192f073b4fd06e5c31ddaac31fc6502a3d6
+size 145296
diff --git a/scans/20260420_rock_from_1_viewpoint/scan00/frame_00012.jpg b/scans/20260420_rock_from_1_viewpoint/scan00/frame_00012.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..56dbb70e55f436eaf34e8f41559d5c13573421ec
--- /dev/null
+++ b/scans/20260420_rock_from_1_viewpoint/scan00/frame_00012.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:65925486478bfc0029ffd176cb3bdbc64cd2742bb42b5f0ac5d1dff18e37dcf3
+size 157003
diff --git a/scans/20260420_rock_from_1_viewpoint/scan00/frame_00013.jpg b/scans/20260420_rock_from_1_viewpoint/scan00/frame_00013.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..7c24066e4be52c5e5567decdf28f9e4e14f8fd8b
--- /dev/null
+++ b/scans/20260420_rock_from_1_viewpoint/scan00/frame_00013.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:840ca4f13910525e9d8f84065917172c69b474d76d9e98da1fbd635d5666f603
+size 206811
diff --git a/scans/20260420_rock_from_1_viewpoint/scan00/frame_00014.jpg b/scans/20260420_rock_from_1_viewpoint/scan00/frame_00014.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..fa707451a0692c7bc820cae4300021ec288a11dd
--- /dev/null
+++ b/scans/20260420_rock_from_1_viewpoint/scan00/frame_00014.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e6e2f59a5a203579ce4fbb7b0c5f94bc6a9be7b3ca8eb9645bfd57529c553b39
+size 218967
diff --git a/scans/20260420_rock_from_1_viewpoint/scan00/frame_00015.jpg b/scans/20260420_rock_from_1_viewpoint/scan00/frame_00015.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..ab3fc9ef281e854443ffbb5435e0bd5522a03be0
--- /dev/null
+++ b/scans/20260420_rock_from_1_viewpoint/scan00/frame_00015.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e3cce7ee9cd6cc6278a03491ee16a2eb7e112a96019a1b168a4b6e280668d9f4
+size 182878
diff --git a/scans/20260420_rock_from_1_viewpoint/scan00/frame_00016.jpg b/scans/20260420_rock_from_1_viewpoint/scan00/frame_00016.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..68120281f58a20623056c21360023fa04179b0ad
--- /dev/null
+++ b/scans/20260420_rock_from_1_viewpoint/scan00/frame_00016.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9bab6e76df9e5280e9eccb8d52ec66e544944b375c2a4df48b8e9ce8df4ea4b4
+size 165998
diff --git a/scans/20260420_rock_from_1_viewpoint/scan00/frame_00017.jpg b/scans/20260420_rock_from_1_viewpoint/scan00/frame_00017.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..c7664902bc58dfe8a112321a22ed293012a87ab0
--- /dev/null
+++ b/scans/20260420_rock_from_1_viewpoint/scan00/frame_00017.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6d67673c23d5816124b6680ad4ae5771e85c0f9b87a44838c996e30de09800a6
+size 175453
diff --git a/scans/20260420_rock_from_1_viewpoint/scan00/frame_00018.jpg b/scans/20260420_rock_from_1_viewpoint/scan00/frame_00018.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..ab04b020f797bff7100cb5315ee8989e231dbc7d
--- /dev/null
+++ b/scans/20260420_rock_from_1_viewpoint/scan00/frame_00018.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:19af48a7a3466b4af7d8d5ffc0b33779f1bd6ebf9104460ebf32121dae050b72
+size 142404
diff --git a/scans/20260420_rock_from_1_viewpoint/scan00/frame_00019.jpg b/scans/20260420_rock_from_1_viewpoint/scan00/frame_00019.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..75a64c3a278ca972c8a5c88c583452a9172bc1ef
--- /dev/null
+++ b/scans/20260420_rock_from_1_viewpoint/scan00/frame_00019.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6877627ec1512e049673ada429719bbfb0128f4ffee17b740c5f1857883cd3b4
+size 139239
diff --git a/scans/20260420_rock_from_1_viewpoint/scan00/frame_00020.jpg b/scans/20260420_rock_from_1_viewpoint/scan00/frame_00020.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..8c3cc58b0832017bd1000a2e24f27f924c9e805e
--- /dev/null
+++ b/scans/20260420_rock_from_1_viewpoint/scan00/frame_00020.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:34ba2ae4bd68fada2ea47fe2dd6321a0c70fd496d235a4d3a5ceae0cb819858b
+size 137375
diff --git a/scans/20260420_rock_from_1_viewpoint/scan00/frame_00021.jpg b/scans/20260420_rock_from_1_viewpoint/scan00/frame_00021.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..001bef14eb37755828169829f719b44cf6dcf6c5
--- /dev/null
+++ b/scans/20260420_rock_from_1_viewpoint/scan00/frame_00021.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bbfa1359dfeb5eaeddc19958460c246874e8382f82f28f31f221e1e74aab7af3
+size 177964
diff --git a/scans/20260420_rock_from_1_viewpoint/scan00/frame_00022.jpg b/scans/20260420_rock_from_1_viewpoint/scan00/frame_00022.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..4ce95b8a0803dd55fd450aa5b7e66df1b31979f6
--- /dev/null
+++ b/scans/20260420_rock_from_1_viewpoint/scan00/frame_00022.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:19b580a0dc9b30b6e51060fe29fd74f4913109e3b77581f114a01db41ae54ce3
+size 137733
diff --git a/scans/20260420_rock_from_1_viewpoint/scan00/frame_00023.jpg b/scans/20260420_rock_from_1_viewpoint/scan00/frame_00023.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..1944395b97a9bd7d721f07766077fba053c694ea
--- /dev/null
+++ b/scans/20260420_rock_from_1_viewpoint/scan00/frame_00023.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:caefc043d9b1dac44c3e2c99874addc9349790a79dacd96ac35784d6e10a8b40
+size 135089
diff --git a/scans/20260420_rock_from_1_viewpoint/scan00/frame_00024.jpg b/scans/20260420_rock_from_1_viewpoint/scan00/frame_00024.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..61a365f4d8ff4bc6f77b601f34155619379f1c0e
--- /dev/null
+++ b/scans/20260420_rock_from_1_viewpoint/scan00/frame_00024.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f46db5d077086e81a53b8f6c893ce41439b987a201f19b098f0ab2a75bd8d4e5
+size 153503
diff --git a/scans/20260420_rock_from_1_viewpoint/scan00/frame_00025.jpg b/scans/20260420_rock_from_1_viewpoint/scan00/frame_00025.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..a78a4d8d244ee4632be70597209b32628219c242
--- /dev/null
+++ b/scans/20260420_rock_from_1_viewpoint/scan00/frame_00025.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1b3d28c353333b1b7706f0804acf6e7c33524663243ab18f141dae2d6511545c
+size 151102
diff --git a/scans/20260420_rock_from_1_viewpoint/scan00/frame_00026.jpg b/scans/20260420_rock_from_1_viewpoint/scan00/frame_00026.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..4d759249b39fc0ec629e00509328311980e33d09
--- /dev/null
+++ b/scans/20260420_rock_from_1_viewpoint/scan00/frame_00026.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ee415ac9e0561be812a7ffaff15c1d29376e4fbd5dc596eca90087a42d1ff465
+size 148516
diff --git a/scans/20260420_rock_from_1_viewpoint/scan00/frame_00027.jpg b/scans/20260420_rock_from_1_viewpoint/scan00/frame_00027.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..e321610eb705cada2bc68c31bdc0f090bd3a6edd
--- /dev/null
+++ b/scans/20260420_rock_from_1_viewpoint/scan00/frame_00027.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:087484e122dc602ad542f7d836ac292165674f42efdc9934108076c5858ab82e
+size 147125
diff --git a/scans/20260420_rock_from_1_viewpoint/scan00/frame_00028.jpg b/scans/20260420_rock_from_1_viewpoint/scan00/frame_00028.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..a68b25574eafe57cd9396e8339d3ba40b34b54a8
--- /dev/null
+++ b/scans/20260420_rock_from_1_viewpoint/scan00/frame_00028.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:434074c49cb2e2e7a65604b21e3eb806221b6983aa4585b40c64f8e712f5fa38
+size 132468
diff --git a/scans/20260420_rock_from_1_viewpoint/scan00/frame_00029.jpg b/scans/20260420_rock_from_1_viewpoint/scan00/frame_00029.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..44901dfac10bc8831c4fd8ed31d21a89ad7c2249
--- /dev/null
+++ b/scans/20260420_rock_from_1_viewpoint/scan00/frame_00029.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:052925d950554dcfdfc9dadb7e1d9f19bff09c8340bc0846a09a856ea2b9fc66
+size 130708
diff --git a/scans/20260420_rock_from_1_viewpoint/scan00/pose_00000.npy b/scans/20260420_rock_from_1_viewpoint/scan00/pose_00000.npy
new file mode 100644
index 0000000000000000000000000000000000000000..5123e028282fb4107fb440dc8831c364675ada30
--- /dev/null
+++ b/scans/20260420_rock_from_1_viewpoint/scan00/pose_00000.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:adf52ad844f0ae77759688b6a81be7d7eeebebb96adffb710c314137983f5823
+size 256
diff --git a/scans/20260420_rock_from_1_viewpoint/scan00/pose_00001.npy b/scans/20260420_rock_from_1_viewpoint/scan00/pose_00001.npy
new file mode 100644
index 0000000000000000000000000000000000000000..20cccdef2ba1f5b8479e05fb8383d3d93af60a7f
--- /dev/null
+++ b/scans/20260420_rock_from_1_viewpoint/scan00/pose_00001.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1634aa5ca30bc53c631553c56b3acbd8920d2a3fe50a7dd2d23a7b5730c5f1a1
+size 256
diff --git a/scans/20260420_rock_from_1_viewpoint/scan00/pose_00002.npy b/scans/20260420_rock_from_1_viewpoint/scan00/pose_00002.npy
new file mode 100644
index 0000000000000000000000000000000000000000..3ab63a726c8e3c852375e33f0f5bc66dfaab63c5
--- /dev/null
+++ b/scans/20260420_rock_from_1_viewpoint/scan00/pose_00002.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7fdbf8bb06a89ea2384d94fe6b2054dabb8eb71b61501d02fae4a362fea14d0b
+size 256
diff --git a/scans/20260420_rock_from_1_viewpoint/scan00/pose_00003.npy b/scans/20260420_rock_from_1_viewpoint/scan00/pose_00003.npy
new file mode 100644
index 0000000000000000000000000000000000000000..89bea8dc56584f3814c85912d2001b732ea287f4
--- /dev/null
+++ b/scans/20260420_rock_from_1_viewpoint/scan00/pose_00003.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:76dada71b7296fcc23ccb60301286b5331f83f15b32f21f5b99a0cc4e0b9f362
+size 256
diff --git a/scans/20260420_rock_from_1_viewpoint/scan00/pose_00004.npy b/scans/20260420_rock_from_1_viewpoint/scan00/pose_00004.npy
new file mode 100644
index 0000000000000000000000000000000000000000..954c2dfa3258f451f5864c4c988fb4c07e3b6cb9
--- /dev/null
+++ b/scans/20260420_rock_from_1_viewpoint/scan00/pose_00004.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cf428cc26d2f4e7be5648b95cb608b0c28d64ca6b8bcb47ae5b057cc4bfb2c7a
+size 256
diff --git a/scans/20260420_rock_from_1_viewpoint/scan00/pose_00005.npy b/scans/20260420_rock_from_1_viewpoint/scan00/pose_00005.npy
new file mode 100644
index 0000000000000000000000000000000000000000..157c06fa8a241971de5cb47a34ac0a0af50a64d1
--- /dev/null
+++ b/scans/20260420_rock_from_1_viewpoint/scan00/pose_00005.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cb48600df6b67f0e4c690ce7a24f68092994c324b57ec0a96d4890ca96a699d1
+size 256
diff --git a/scans/20260420_rock_from_1_viewpoint/scan00/pose_00006.npy b/scans/20260420_rock_from_1_viewpoint/scan00/pose_00006.npy
new file mode 100644
index 0000000000000000000000000000000000000000..e09a6b4d926a6c5fc9d2c12912ff3beab6f81a72
--- /dev/null
+++ b/scans/20260420_rock_from_1_viewpoint/scan00/pose_00006.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:915703403e0dd1b1769cdd88ef64df13804500e2b7b086fbf6b5261d3e8527a9
+size 256
diff --git a/scans/20260420_rock_from_1_viewpoint/scan00/pose_00007.npy b/scans/20260420_rock_from_1_viewpoint/scan00/pose_00007.npy
new file mode 100644
index 0000000000000000000000000000000000000000..4f197377c54d1b69c21daa214e690c851b36d1a5
--- /dev/null
+++ b/scans/20260420_rock_from_1_viewpoint/scan00/pose_00007.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:209ec7eb9666c2e1a809173f0cd6982923c37ed5117c400e2db4f546ab52ea32
+size 256
diff --git a/scans/20260420_rock_from_1_viewpoint/scan00/pose_00008.npy b/scans/20260420_rock_from_1_viewpoint/scan00/pose_00008.npy
new file mode 100644
index 0000000000000000000000000000000000000000..a9cc4de871c2355fdbbfb360116a111e245e0bd8
--- /dev/null
+++ b/scans/20260420_rock_from_1_viewpoint/scan00/pose_00008.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:91592321a09a20abad1fe67288641d02395d76b60c2d83efc9075a61705414de
+size 256
diff --git a/scans/20260420_rock_from_1_viewpoint/scan00/pose_00009.npy b/scans/20260420_rock_from_1_viewpoint/scan00/pose_00009.npy
new file mode 100644
index 0000000000000000000000000000000000000000..467c92f4d9b1dfd1aa18ec5d5409797c1f80c582
--- /dev/null
+++ b/scans/20260420_rock_from_1_viewpoint/scan00/pose_00009.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:71fb8e977dd25eac8a5c31ce4e7557862b4060c741f3294766508bee4275db4b
+size 256
diff --git a/scans/20260420_rock_from_1_viewpoint/scan00/pose_00010.npy b/scans/20260420_rock_from_1_viewpoint/scan00/pose_00010.npy
new file mode 100644
index 0000000000000000000000000000000000000000..c1a37ae56a0fae1815aef6ca1f9fb9fdafe71ae2
--- /dev/null
+++ b/scans/20260420_rock_from_1_viewpoint/scan00/pose_00010.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aaa7ef31db5dbffaf972c67f2e3b16ae8fcffaafc44af100341d3547cf4f2b78
+size 256
diff --git a/scans/20260420_rock_from_1_viewpoint/scan00/pose_00011.npy b/scans/20260420_rock_from_1_viewpoint/scan00/pose_00011.npy
new file mode 100644
index 0000000000000000000000000000000000000000..7411ee0349ab8916383318b6b0def6e67bca6f3e
--- /dev/null
+++ b/scans/20260420_rock_from_1_viewpoint/scan00/pose_00011.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:750fd04d4309891b5bb7968163e862b9b51cd33b5577cf3bea21e82ad8c46d98
+size 256
diff --git a/scans/20260420_rock_from_1_viewpoint/scan00/pose_00012.npy b/scans/20260420_rock_from_1_viewpoint/scan00/pose_00012.npy
new file mode 100644
index 0000000000000000000000000000000000000000..0a017c2caf05aa4ad3499fb7c37f0eb35b481d52
--- /dev/null
+++ b/scans/20260420_rock_from_1_viewpoint/scan00/pose_00012.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:79294405624c380210dabe8b34e810068d7317a107d8f687fa0594758d54a77d
+size 256
diff --git a/scans/20260420_rock_from_1_viewpoint/scan00/pose_00013.npy b/scans/20260420_rock_from_1_viewpoint/scan00/pose_00013.npy
new file mode 100644
index 0000000000000000000000000000000000000000..e47a080a11d0b9d86925dc5a039d4f97dc39be77
--- /dev/null
+++ b/scans/20260420_rock_from_1_viewpoint/scan00/pose_00013.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7af0782aad97d73847ac8f3ba4fecf2f6274d77e67fc7926f133c4b8d5c1bf40
+size 256
diff --git a/scans/20260420_rock_from_1_viewpoint/scan00/pose_00014.npy b/scans/20260420_rock_from_1_viewpoint/scan00/pose_00014.npy
new file mode 100644
index 0000000000000000000000000000000000000000..7fa4a0960735c0f9aeeda04481e91aae89a13f50
--- /dev/null
+++ b/scans/20260420_rock_from_1_viewpoint/scan00/pose_00014.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:32f644d45fe8f1418e039ddbc8ab9bc34e9b012a8306090389391b0de35d6ef6
+size 256
diff --git a/scans/20260420_rock_from_1_viewpoint/scan00/pose_00015.npy b/scans/20260420_rock_from_1_viewpoint/scan00/pose_00015.npy
new file mode 100644
index 0000000000000000000000000000000000000000..963cc52a7e6ef1669f13ea73bd913603691e3fe2
--- /dev/null
+++ b/scans/20260420_rock_from_1_viewpoint/scan00/pose_00015.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:18193ad5c6212299170b444b3fbcee6e7f9415331631ccb3254668fe9f83a5d1
+size 256
diff --git a/scans/20260420_rock_from_1_viewpoint/scan00/pose_00016.npy b/scans/20260420_rock_from_1_viewpoint/scan00/pose_00016.npy
new file mode 100644
index 0000000000000000000000000000000000000000..95fb9f1feda820eadb5fc4884474b916b379b098
--- /dev/null
+++ b/scans/20260420_rock_from_1_viewpoint/scan00/pose_00016.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:404bffdd1c4bc6b4a5c7ed795a9225a46ec1191c280b09470c0eb44ba16a9bff
+size 256
diff --git a/scans/20260420_rock_from_1_viewpoint/scan00/pose_00017.npy b/scans/20260420_rock_from_1_viewpoint/scan00/pose_00017.npy
new file mode 100644
index 0000000000000000000000000000000000000000..4c71a8a5237da1c6a8c905cbc106acd19553ecab
--- /dev/null
+++ b/scans/20260420_rock_from_1_viewpoint/scan00/pose_00017.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d5ec531899575c4729030c66fa8da43b855ce17152289338d24d71d5b785ffe5
+size 256
diff --git a/scans/20260420_rock_from_1_viewpoint/scan00/pose_00018.npy b/scans/20260420_rock_from_1_viewpoint/scan00/pose_00018.npy
new file mode 100644
index 0000000000000000000000000000000000000000..5d85da65b7847886502b68d446518c1ec5b171aa
--- /dev/null
+++ b/scans/20260420_rock_from_1_viewpoint/scan00/pose_00018.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3837ca2eb332212e4b4abfefc85d9bc7356831eda4abc209027da261eb78611a
+size 256
diff --git a/scans/20260420_rock_from_1_viewpoint/scan00/pose_00019.npy b/scans/20260420_rock_from_1_viewpoint/scan00/pose_00019.npy
new file mode 100644
index 0000000000000000000000000000000000000000..6d42786c38bfacedd1a15ef75c962d83c85c8908
--- /dev/null
+++ b/scans/20260420_rock_from_1_viewpoint/scan00/pose_00019.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0df0d103b1e11d6af4fded188ac73822d4b16e6ba4d023589fec51c151410959
+size 256
diff --git a/scans/20260420_rock_from_1_viewpoint/scan00/pose_00020.npy b/scans/20260420_rock_from_1_viewpoint/scan00/pose_00020.npy
new file mode 100644
index 0000000000000000000000000000000000000000..aae389e59879b12608c896b76100dfb9243a17ce
--- /dev/null
+++ b/scans/20260420_rock_from_1_viewpoint/scan00/pose_00020.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5ce712096123723239a1bf224a07a9f25851b98abc6663d01c98922b4dac572e
+size 256
diff --git a/scans/20260420_rock_from_1_viewpoint/scan00/pose_00021.npy b/scans/20260420_rock_from_1_viewpoint/scan00/pose_00021.npy
new file mode 100644
index 0000000000000000000000000000000000000000..7dd906af32a5a629ef522eb42f8c404aeee48b83
--- /dev/null
+++ b/scans/20260420_rock_from_1_viewpoint/scan00/pose_00021.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:647abf9a242c49964ff260886c324f5da19acf4a7966537740c66a6887a89809
+size 256
diff --git a/scans/20260420_rock_from_1_viewpoint/scan00/pose_00022.npy b/scans/20260420_rock_from_1_viewpoint/scan00/pose_00022.npy
new file mode 100644
index 0000000000000000000000000000000000000000..62930f0bcd104b8b4386ffe52fdfa8100086db94
--- /dev/null
+++ b/scans/20260420_rock_from_1_viewpoint/scan00/pose_00022.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:57dc48f4d18eea1d2c29a8ac9dd8d6f6ca2a5b13566bc20a47d1b8002317a2b8
+size 256
diff --git a/scans/20260420_rock_from_1_viewpoint/scan00/pose_00023.npy b/scans/20260420_rock_from_1_viewpoint/scan00/pose_00023.npy
new file mode 100644
index 0000000000000000000000000000000000000000..c7776c2e96bd141107852d21713c7c43134f0e4a
--- /dev/null
+++ b/scans/20260420_rock_from_1_viewpoint/scan00/pose_00023.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e1b9f0fec0b9c3fb7cd9a435dec8e7d25bd385369fc2187e53ee680f2ed5634c
+size 256
diff --git a/scans/20260420_rock_from_1_viewpoint/scan00/pose_00024.npy b/scans/20260420_rock_from_1_viewpoint/scan00/pose_00024.npy
new file mode 100644
index 0000000000000000000000000000000000000000..6fc167b88a525547749a6125473417a2c0462880
--- /dev/null
+++ b/scans/20260420_rock_from_1_viewpoint/scan00/pose_00024.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:070c3f0be1fc0c63f86beffc6796efb13e2ddbfd170849d11e4b257108b8d3e9
+size 256
diff --git a/scans/20260420_rock_from_1_viewpoint/scan00/pose_00025.npy b/scans/20260420_rock_from_1_viewpoint/scan00/pose_00025.npy
new file mode 100644
index 0000000000000000000000000000000000000000..8efec7db56e88a1b68b7dbc4d072ad65fe816285
--- /dev/null
+++ b/scans/20260420_rock_from_1_viewpoint/scan00/pose_00025.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d6ff6754002c44ff2e0649cc5d20da115f0c5b799d73b3d1214983521d5aab8e
+size 256
diff --git a/scans/20260420_rock_from_1_viewpoint/scan00/pose_00026.npy b/scans/20260420_rock_from_1_viewpoint/scan00/pose_00026.npy
new file mode 100644
index 0000000000000000000000000000000000000000..87d064c793a802a5b046a8a284e7baa8bda022e0
--- /dev/null
+++ b/scans/20260420_rock_from_1_viewpoint/scan00/pose_00026.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c44f852fe4e76ed888f2e3b9065d8774ca2e8fbc246eead4149eca7afc2b5f40
+size 256
diff --git a/scans/20260420_rock_from_1_viewpoint/scan00/pose_00027.npy b/scans/20260420_rock_from_1_viewpoint/scan00/pose_00027.npy
new file mode 100644
index 0000000000000000000000000000000000000000..7928ed9698ee2bdec88236858fe9483c4a0d7a99
--- /dev/null
+++ b/scans/20260420_rock_from_1_viewpoint/scan00/pose_00027.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f1db40bf6fcacbe23a14138f4bce95cd1b2bca71daf1f44427b2fa6dc5d087f5
+size 256
diff --git a/scans/20260420_rock_from_1_viewpoint/scan00/pose_00028.npy b/scans/20260420_rock_from_1_viewpoint/scan00/pose_00028.npy
new file mode 100644
index 0000000000000000000000000000000000000000..24dfbe1fcd6c374c1fe98cca516e798a0ee1202f
--- /dev/null
+++ b/scans/20260420_rock_from_1_viewpoint/scan00/pose_00028.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:db09c345802b639bea68f20734fdf3fb600a6a52b45dad182f0360db3a7ba75c
+size 256
diff --git a/scans/20260420_rock_from_1_viewpoint/scan00/pose_00029.npy b/scans/20260420_rock_from_1_viewpoint/scan00/pose_00029.npy
new file mode 100644
index 0000000000000000000000000000000000000000..a03bf5b4a7d28cbac660cf1a13fbcb49fb049f44
--- /dev/null
+++ b/scans/20260420_rock_from_1_viewpoint/scan00/pose_00029.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9a863dcd713064d0eed364cb4d837f1814e5a8cdbf4c6e4fbb9056edeb0961a2
+size 256
diff --git a/scans/20260420_rock_from_1_viewpoint/scan00/scan_00.png b/scans/20260420_rock_from_1_viewpoint/scan00/scan_00.png
new file mode 100644
index 0000000000000000000000000000000000000000..26000720187fe704c901e359461220caaca40e9d
--- /dev/null
+++ b/scans/20260420_rock_from_1_viewpoint/scan00/scan_00.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6d48fdb0ff61b467d99fb95b22829cd882c7b5dacd195ec9d31ea099b765e374
+size 145231
diff --git a/scans/20260420_rock_from_1_viewpoint/scan_params.txt b/scans/20260420_rock_from_1_viewpoint/scan_params.txt
new file mode 100644
index 0000000000000000000000000000000000000000..51e9f9ef18df5718f09a2037955c91ab242e8948
--- /dev/null
+++ b/scans/20260420_rock_from_1_viewpoint/scan_params.txt
@@ -0,0 +1,22 @@
+date: 20260420_163318
+hemisphere_dist: 0.8
+hemisphere_angle_deg: 0.0
+hemisphere_radius: 0.08
+hemisphere_z: 0.36
+hemisphere_pos: [0.761285, -0.002479, 0.363935]
+num_scan_points: 2
+coverage: 1.0
+distance_along_optical_axis: 0.035
+num_pictures: 30
+elbow_angle_deg: 135.00
+use_hardware: True
+skip_opt: False
+no_wait: True
+start_idx: 0
+
+# Timing
+total_run_time_s: 30.33
+num_moves: 1
+move_times_s: [0.004]
+avg_move_time_s: 0.004
+optical_axis_traj_time_s: 5.628
diff --git a/scans/20260420_rock_from_1_viewpoint/trajectory_data/waypoint_00000/joint_positions.csv b/scans/20260420_rock_from_1_viewpoint/trajectory_data/waypoint_00000/joint_positions.csv
new file mode 100644
index 0000000000000000000000000000000000000000..cfac2ac3cd8be6a1735908e10fdada67fc3b670b
--- /dev/null
+++ b/scans/20260420_rock_from_1_viewpoint/trajectory_data/waypoint_00000/joint_positions.csv
@@ -0,0 +1,4 @@
+time,q0,q1,q2,q3,q4,q5,q6
+0.000000000000000000e+00,-5.694178921713141106e-01,1.009881867168292535e+00,8.486722834526185810e-01,-1.951607275723958645e+00,-2.165557060311745427e-02,-1.175410103235215109e+00,-6.803692889975230251e-01
+1.794014395103170475e-03,-5.696349358605572455e-01,1.009903035516585890e+00,8.488133345354563764e-01,-1.951661885373244143e+00,-2.184140449799465075e-02,-1.175184462866400992e+00,-6.804107718605144628e-01
+3.588028790206340950e-03,-5.698519813866964601e-01,1.009924235944269499e+00,8.489543904346850134e-01,-1.951716447845525337e+00,-2.202722173397797523e-02,-1.174958756393709169e+00,-6.804522544584031829e-01
diff --git a/scans/20260420_rock_from_1_viewpoint/trajectory_data/waypoint_00000/joint_positions.png b/scans/20260420_rock_from_1_viewpoint/trajectory_data/waypoint_00000/joint_positions.png
new file mode 100644
index 0000000000000000000000000000000000000000..cfb07b3ec5709e7dd1338c08393f92ba76d63052
--- /dev/null
+++ b/scans/20260420_rock_from_1_viewpoint/trajectory_data/waypoint_00000/joint_positions.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2274f30b644d7a9930ab7de01a2f99832a8c6c9ad2f1994a07d9b4f938ea466c
+size 167515
diff --git a/scans/20260420_rock_from_1_viewpoint/trajectory_data/waypoint_00000/joint_velocities.csv b/scans/20260420_rock_from_1_viewpoint/trajectory_data/waypoint_00000/joint_velocities.csv
new file mode 100644
index 0000000000000000000000000000000000000000..108c405e4206c645fef2e7401d6526b2a5ca7f5b
--- /dev/null
+++ b/scans/20260420_rock_from_1_viewpoint/trajectory_data/waypoint_00000/joint_velocities.csv
@@ -0,0 +1,3 @@
+time_mid,dq0,dq1,dq2,dq3,dq4,dq5,dq6
+8.970071975515852376e-04,-1.209821336080489501e-01,1.179943056819067644e-02,7.862316111999967383e-02,-3.043991700097645886e-02,-1.035855093384072390e-01,1.257740012733516155e-01,-2.312292649639082626e-02
+2.691021592654755604e-03,-1.209831575106913720e-01,1.181731191314691100e-02,7.862584582021994728e-02,-3.041362010813552369e-02,-1.035762235188968233e-01,1.258108481781955446e-01,-2.312277872571614351e-02
diff --git a/scans/20260420_rock_from_1_viewpoint/trajectory_data/waypoint_00000/joint_velocities.png b/scans/20260420_rock_from_1_viewpoint/trajectory_data/waypoint_00000/joint_velocities.png
new file mode 100644
index 0000000000000000000000000000000000000000..9367e7dd1481231e865f8bc51657bb77983833a8
--- /dev/null
+++ b/scans/20260420_rock_from_1_viewpoint/trajectory_data/waypoint_00000/joint_velocities.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:13042d7ce5992aaada0de52c28788ddf2702f08b331b89ddcd87d9b30f452123
+size 92876
diff --git a/scans/20260420_toy_from_1_viewpoint/scan00/frame_00000.jpg b/scans/20260420_toy_from_1_viewpoint/scan00/frame_00000.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..6684e5749cba82cb44147e5ebb66f72b4bd7150a
--- /dev/null
+++ b/scans/20260420_toy_from_1_viewpoint/scan00/frame_00000.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b04d468db67593826d09939abe8464772fc023d69b829fe1c6aef0a9866d6950
+size 487607
diff --git a/scans/20260420_toy_from_1_viewpoint/scan00/frame_00001.jpg b/scans/20260420_toy_from_1_viewpoint/scan00/frame_00001.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..5b151d5b612dd45bbb09ad64c667559ebd3cb4d0
--- /dev/null
+++ b/scans/20260420_toy_from_1_viewpoint/scan00/frame_00001.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6e45c761df9d49d8206840acdf07f316264fc250d7f624f36e9c0ceddd9d9449
+size 221042
diff --git a/scans/20260420_toy_from_1_viewpoint/scan00/frame_00002.jpg b/scans/20260420_toy_from_1_viewpoint/scan00/frame_00002.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..99cf68ff7c47ed499aaec58cf63cbff666a05978
--- /dev/null
+++ b/scans/20260420_toy_from_1_viewpoint/scan00/frame_00002.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:94f5565215491466617581f6c865246d2d009920b8ac8766090e09248b8a07d6
+size 194124
diff --git a/scans/20260420_toy_from_1_viewpoint/scan00/frame_00003.jpg b/scans/20260420_toy_from_1_viewpoint/scan00/frame_00003.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..b254440a5105f30951afe8f6c80d9a2bb8522d14
--- /dev/null
+++ b/scans/20260420_toy_from_1_viewpoint/scan00/frame_00003.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4bc2459b8072c38c2b45ae753d21977202e8fb636269e04a13536dbf328690cc
+size 206565
diff --git a/scans/20260420_toy_from_1_viewpoint/scan00/frame_00004.jpg b/scans/20260420_toy_from_1_viewpoint/scan00/frame_00004.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..11f8c6dc25dc224cc2f037b1d4cdd9795d8bdd6d
--- /dev/null
+++ b/scans/20260420_toy_from_1_viewpoint/scan00/frame_00004.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ee24dcec72e6c907e34931e6bf8b98c34ef1aa5a4800b9f2520951a02c29c67a
+size 147814
diff --git a/scans/20260420_toy_from_1_viewpoint/scan00/frame_00005.jpg b/scans/20260420_toy_from_1_viewpoint/scan00/frame_00005.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..6a4555ab1b6476d08ae3e052b7c72928ee2f3dde
--- /dev/null
+++ b/scans/20260420_toy_from_1_viewpoint/scan00/frame_00005.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:58cdd91690eeaa31f6a1fe4c4c2eb5a1bf6ada48c7cbc27ab25e5ce2ae6b9ab5
+size 148911
diff --git a/scans/20260420_toy_from_1_viewpoint/scan00/frame_00006.jpg b/scans/20260420_toy_from_1_viewpoint/scan00/frame_00006.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..acfd7f7af0ca6fbcef5341d362394c9b09e5cddf
--- /dev/null
+++ b/scans/20260420_toy_from_1_viewpoint/scan00/frame_00006.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bc0fdbd9f8e4f96bcf0919f483680e8d01c4736227e901976f4674dd3ad6e677
+size 149972
diff --git a/scans/20260420_toy_from_1_viewpoint/scan00/frame_00007.jpg b/scans/20260420_toy_from_1_viewpoint/scan00/frame_00007.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..dbb34b2fe6d8f473de074ad6dedc201adaf4faaf
--- /dev/null
+++ b/scans/20260420_toy_from_1_viewpoint/scan00/frame_00007.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4e74fc6a94dc980c2e67ba55bccff71bd4288de7f905bc973b7d4d565ad6652c
+size 150582
diff --git a/scans/20260420_toy_from_1_viewpoint/scan00/frame_00008.jpg b/scans/20260420_toy_from_1_viewpoint/scan00/frame_00008.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..07955d4e37e4d181d228b323d68d2aedb7d2f752
--- /dev/null
+++ b/scans/20260420_toy_from_1_viewpoint/scan00/frame_00008.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e1ca53eb534f125344393a6e1fc3f4510ca24cc20a9e557fb240c5f0af8c921a
+size 144060
diff --git a/scans/20260420_toy_from_1_viewpoint/scan00/frame_00009.jpg b/scans/20260420_toy_from_1_viewpoint/scan00/frame_00009.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..389ff9d1707ced6e8f473d015bffdf0dea3d2fec
--- /dev/null
+++ b/scans/20260420_toy_from_1_viewpoint/scan00/frame_00009.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:93db6ab65176c55b3f27e53a4d1fd52aa06dfa1bc1b7ccc418d8f21c10f852b6
+size 144365
diff --git a/scans/20260420_toy_from_1_viewpoint/scan00/frame_00010.jpg b/scans/20260420_toy_from_1_viewpoint/scan00/frame_00010.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..f402c6c5cf72b052a755a09890f6b610c734ca11
--- /dev/null
+++ b/scans/20260420_toy_from_1_viewpoint/scan00/frame_00010.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:87aceae08a8238718e36cc4fcde983401d3ebdf6ad29676a001fe4d4010d79ea
+size 144970
diff --git a/scans/20260420_toy_from_1_viewpoint/scan00/frame_00011.jpg b/scans/20260420_toy_from_1_viewpoint/scan00/frame_00011.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..2f6b78a8d2178fdba5963c434eeb60bf17c28334
--- /dev/null
+++ b/scans/20260420_toy_from_1_viewpoint/scan00/frame_00011.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:91ebef2a29ad3b7cca60b2608d0090dd124e7ee5e828c9dc4e1826473473871c
+size 166095
diff --git a/scans/20260420_toy_from_1_viewpoint/scan00/frame_00012.jpg b/scans/20260420_toy_from_1_viewpoint/scan00/frame_00012.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..a84f115e1aedbb60c4ca2f7bb45f20bce214e20f
--- /dev/null
+++ b/scans/20260420_toy_from_1_viewpoint/scan00/frame_00012.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4ba5a3955c60d976136c1b417b46affc3c40c1d815d263210e62d4f3ae32420c
+size 167517
diff --git a/scans/20260420_toy_from_1_viewpoint/scan00/frame_00013.jpg b/scans/20260420_toy_from_1_viewpoint/scan00/frame_00013.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..0448f2930d2de8147f30dec8f28934b78c266f0a
--- /dev/null
+++ b/scans/20260420_toy_from_1_viewpoint/scan00/frame_00013.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6776eb2aafef0018be58f7666383f66492b602cb21d804463fa4872848fa8280
+size 169169
diff --git a/scans/20260420_toy_from_1_viewpoint/scan00/frame_00014.jpg b/scans/20260420_toy_from_1_viewpoint/scan00/frame_00014.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..fa0a0f114468f4a95873934d7c01473bac3f264a
--- /dev/null
+++ b/scans/20260420_toy_from_1_viewpoint/scan00/frame_00014.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4827e844ac783eeb8cdabfabff23963fab544b55e2011da52c2ae24ea7a20666
+size 171384
diff --git a/scans/20260420_toy_from_1_viewpoint/scan00/frame_00015.jpg b/scans/20260420_toy_from_1_viewpoint/scan00/frame_00015.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..96c45512213806ca5b2b7915e62acb1dde64efef
--- /dev/null
+++ b/scans/20260420_toy_from_1_viewpoint/scan00/frame_00015.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fd2fe680f43f427031eb63d2298f9f649a555db4d50b15d92393c60a1005c065
+size 202839
diff --git a/scans/20260420_toy_from_1_viewpoint/scan00/frame_00016.jpg b/scans/20260420_toy_from_1_viewpoint/scan00/frame_00016.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..6c91eb7f927eeefa0821b591406b5ab7c33a1d70
--- /dev/null
+++ b/scans/20260420_toy_from_1_viewpoint/scan00/frame_00016.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cb74e707af40ee4fed4944769b2837693fddd606920ad983cb7f8229cc4dc293
+size 211357
diff --git a/scans/20260420_toy_from_1_viewpoint/scan00/frame_00017.jpg b/scans/20260420_toy_from_1_viewpoint/scan00/frame_00017.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..f1a3ea6b92f33d80aed4a387b7a992626078bb7f
--- /dev/null
+++ b/scans/20260420_toy_from_1_viewpoint/scan00/frame_00017.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ed1436d57fa2d0cc4e32c5a22d4a4296b6ec505f9e7d54355977051c7d092919
+size 179911
diff --git a/scans/20260420_toy_from_1_viewpoint/scan00/frame_00018.jpg b/scans/20260420_toy_from_1_viewpoint/scan00/frame_00018.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..3fdc5cf3fcc0457347717264dba60dfed853d937
--- /dev/null
+++ b/scans/20260420_toy_from_1_viewpoint/scan00/frame_00018.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4e9bf6bc8f89234009b4df5ec9ad5dd7ff1a116a6f20182b85f0ebef68c85cee
+size 185763
diff --git a/scans/20260420_toy_from_1_viewpoint/scan00/frame_00019.jpg b/scans/20260420_toy_from_1_viewpoint/scan00/frame_00019.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..eb212f9aaf3dc1cdc8d9a2fd53f37413a06e60a6
--- /dev/null
+++ b/scans/20260420_toy_from_1_viewpoint/scan00/frame_00019.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:39e2eeca49365911d689b79f806f9bdfc82f07442a29eb6c431760b2333bc70c
+size 192201
diff --git a/scans/20260420_toy_from_1_viewpoint/scan00/frame_00020.jpg b/scans/20260420_toy_from_1_viewpoint/scan00/frame_00020.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..fb3c8a3e9c11cbdbd66f5db76414f549ec971e43
--- /dev/null
+++ b/scans/20260420_toy_from_1_viewpoint/scan00/frame_00020.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:78bd091c56f18de98a621691381b303490b524fc01b273b5429b31f26e86c469
+size 191070
diff --git a/scans/20260420_toy_from_1_viewpoint/scan00/frame_00021.jpg b/scans/20260420_toy_from_1_viewpoint/scan00/frame_00021.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..519e4413e60c3ff4454c413626c1d19a0c57785e
--- /dev/null
+++ b/scans/20260420_toy_from_1_viewpoint/scan00/frame_00021.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:de0c596af66050cc83cd79eff6b84ea6f3109845a499091f50896d4e738abc00
+size 228737
diff --git a/scans/20260420_toy_from_1_viewpoint/scan00/frame_00022.jpg b/scans/20260420_toy_from_1_viewpoint/scan00/frame_00022.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..285ea5b6781ac6feff214cb735cd03dc1ad3e2c2
--- /dev/null
+++ b/scans/20260420_toy_from_1_viewpoint/scan00/frame_00022.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e7cf48827c5aae3ecd06b61558e21fbaab77d293df2ab66c0aa43eab51a310e9
+size 155980
diff --git a/scans/20260420_toy_from_1_viewpoint/scan00/frame_00023.jpg b/scans/20260420_toy_from_1_viewpoint/scan00/frame_00023.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..fa9006e1b512ed441cbfac472f24aa2ab2679d7b
--- /dev/null
+++ b/scans/20260420_toy_from_1_viewpoint/scan00/frame_00023.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5a9a8c462fbf8ca030dcbdef2275d90a16ed2579f0f3aeffde26f6e8f68073ef
+size 152581
diff --git a/scans/20260420_toy_from_1_viewpoint/scan00/frame_00024.jpg b/scans/20260420_toy_from_1_viewpoint/scan00/frame_00024.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..f47a483663bfe88d705b7c14e26a6484a258be56
--- /dev/null
+++ b/scans/20260420_toy_from_1_viewpoint/scan00/frame_00024.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e4b54233a83548065101c5306eeb558b6338984728824186cff53edd4cee452c
+size 167567
diff --git a/scans/20260420_toy_from_1_viewpoint/scan00/frame_00025.jpg b/scans/20260420_toy_from_1_viewpoint/scan00/frame_00025.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..c4d2b5a8f3e82b9578a6afe5d07a3be301cbc972
--- /dev/null
+++ b/scans/20260420_toy_from_1_viewpoint/scan00/frame_00025.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:286b7a3fc00ff6664677c479d75c271adf23594b01687c65cb9c689caeb25447
+size 142016
diff --git a/scans/20260420_toy_from_1_viewpoint/scan00/frame_00026.jpg b/scans/20260420_toy_from_1_viewpoint/scan00/frame_00026.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..d8ec28ded5b4332db60485724bc331349d92014c
--- /dev/null
+++ b/scans/20260420_toy_from_1_viewpoint/scan00/frame_00026.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6530b14dbe03e7a000aded34b9850554ec333e1c65d931493536102ecda208ac
+size 144766
diff --git a/scans/20260420_toy_from_1_viewpoint/scan00/frame_00027.jpg b/scans/20260420_toy_from_1_viewpoint/scan00/frame_00027.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..75bd1feeb9b451708e75b7209ce825aa013dad8b
--- /dev/null
+++ b/scans/20260420_toy_from_1_viewpoint/scan00/frame_00027.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6d09f06de3c8cf357f7c16e3a27f02fb211845dbe06ca98bc1ce0857b2cb6d51
+size 132779
diff --git a/scans/20260420_toy_from_1_viewpoint/scan00/frame_00028.jpg b/scans/20260420_toy_from_1_viewpoint/scan00/frame_00028.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..117d850e270bedac13fc33c363dfcff4f76dd9d2
--- /dev/null
+++ b/scans/20260420_toy_from_1_viewpoint/scan00/frame_00028.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:54e00325f4e4bfa427b608cf3221669f13ba8c11a6428b8c01c92fce3bf33f5c
+size 131326
diff --git a/scans/20260420_toy_from_1_viewpoint/scan00/frame_00029.jpg b/scans/20260420_toy_from_1_viewpoint/scan00/frame_00029.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..df3744232eb35c3bdf6b1028dab5bf46018e59a9
--- /dev/null
+++ b/scans/20260420_toy_from_1_viewpoint/scan00/frame_00029.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f0202e4ab39c19356aadb81fe65a624533df6646195021151bf03f15816dec33
+size 129502
diff --git a/scans/20260420_toy_from_1_viewpoint/scan00/pose_00000.npy b/scans/20260420_toy_from_1_viewpoint/scan00/pose_00000.npy
new file mode 100644
index 0000000000000000000000000000000000000000..a8ba881c1108f08b6b15117a66ac27504b35a2cb
--- /dev/null
+++ b/scans/20260420_toy_from_1_viewpoint/scan00/pose_00000.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f7c70aa1badcc4a70748da19319b2aa3e3a333d502422ef929370145046dc66e
+size 256
diff --git a/scans/20260420_toy_from_1_viewpoint/scan00/pose_00001.npy b/scans/20260420_toy_from_1_viewpoint/scan00/pose_00001.npy
new file mode 100644
index 0000000000000000000000000000000000000000..87caf26dc1565fe875e808b7c08a776bc1581ee1
--- /dev/null
+++ b/scans/20260420_toy_from_1_viewpoint/scan00/pose_00001.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:393a631a87be20529619cf8c644041b6820b37824382ee8f355055cd6fd9f80e
+size 256
diff --git a/scans/20260420_toy_from_1_viewpoint/scan00/pose_00002.npy b/scans/20260420_toy_from_1_viewpoint/scan00/pose_00002.npy
new file mode 100644
index 0000000000000000000000000000000000000000..fb553cfb9b12409a9fbce688f4921fbcba7e0e8d
--- /dev/null
+++ b/scans/20260420_toy_from_1_viewpoint/scan00/pose_00002.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e0005101659fa39619b49fff573787750e2c6f00b5d29bf61430ff32357d0c0b
+size 256
diff --git a/scans/20260420_toy_from_1_viewpoint/scan00/pose_00003.npy b/scans/20260420_toy_from_1_viewpoint/scan00/pose_00003.npy
new file mode 100644
index 0000000000000000000000000000000000000000..cf8aaeb1f582c3d3584bc64935ae7ed39d1552a4
--- /dev/null
+++ b/scans/20260420_toy_from_1_viewpoint/scan00/pose_00003.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a49ee05c82b2d0a79da42554e168fa12c180043d9f76a7d0e817376e2833f217
+size 256
diff --git a/scans/20260420_toy_from_1_viewpoint/scan00/pose_00004.npy b/scans/20260420_toy_from_1_viewpoint/scan00/pose_00004.npy
new file mode 100644
index 0000000000000000000000000000000000000000..0cd8e28badb3574c8ad37ad28f5c15a2fe684e45
--- /dev/null
+++ b/scans/20260420_toy_from_1_viewpoint/scan00/pose_00004.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4c5f478a5099c05b4172607494c701b694da9294adf75b3150afa1fa429f8eb1
+size 256
diff --git a/scans/20260420_toy_from_1_viewpoint/scan00/pose_00005.npy b/scans/20260420_toy_from_1_viewpoint/scan00/pose_00005.npy
new file mode 100644
index 0000000000000000000000000000000000000000..ac5e59da638b64f4e1d2760300fc020d76010bf5
--- /dev/null
+++ b/scans/20260420_toy_from_1_viewpoint/scan00/pose_00005.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1ade3da0a692c2cfcc11b8793e56ca7e3601db4c3b485edac34b92034d1b2078
+size 256
diff --git a/scans/20260420_toy_from_1_viewpoint/scan00/pose_00006.npy b/scans/20260420_toy_from_1_viewpoint/scan00/pose_00006.npy
new file mode 100644
index 0000000000000000000000000000000000000000..3a2f4ca322614864dcd4b1d461a8ab51875e87f3
--- /dev/null
+++ b/scans/20260420_toy_from_1_viewpoint/scan00/pose_00006.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0780fad2fe8cb8417b10e5490a288035f78961f1633e94a0b6dfff477ffe74ce
+size 256
diff --git a/scans/20260420_toy_from_1_viewpoint/scan00/pose_00007.npy b/scans/20260420_toy_from_1_viewpoint/scan00/pose_00007.npy
new file mode 100644
index 0000000000000000000000000000000000000000..d82aa1989336a2df193d73dfac4bdba61f4e2e5d
--- /dev/null
+++ b/scans/20260420_toy_from_1_viewpoint/scan00/pose_00007.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:af945b1a1d556bd290cc267eea0f6665d185c36a8482b77b3862e2e9fa2dc3a2
+size 256
diff --git a/scans/20260420_toy_from_1_viewpoint/scan00/pose_00008.npy b/scans/20260420_toy_from_1_viewpoint/scan00/pose_00008.npy
new file mode 100644
index 0000000000000000000000000000000000000000..766b001011fd0ca010a96c18c42f2283f78a74d7
--- /dev/null
+++ b/scans/20260420_toy_from_1_viewpoint/scan00/pose_00008.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6ecb866ff940b31a54bd73ce5bfd7e4a47d5115aaf6cf61a73e4859d93dd776b
+size 256
diff --git a/scans/20260420_toy_from_1_viewpoint/scan00/pose_00009.npy b/scans/20260420_toy_from_1_viewpoint/scan00/pose_00009.npy
new file mode 100644
index 0000000000000000000000000000000000000000..c63d56b3d91c14140dfba6b66f3c7f2d7227ebb6
--- /dev/null
+++ b/scans/20260420_toy_from_1_viewpoint/scan00/pose_00009.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3ae1c7e15d2c63639fb7ee1894f98b908505db77b307e577cb392b976bc5757a
+size 256
diff --git a/scans/20260420_toy_from_1_viewpoint/scan00/pose_00010.npy b/scans/20260420_toy_from_1_viewpoint/scan00/pose_00010.npy
new file mode 100644
index 0000000000000000000000000000000000000000..781d15f7a766cf52824876ca8ef101b30dc87317
--- /dev/null
+++ b/scans/20260420_toy_from_1_viewpoint/scan00/pose_00010.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b79ff7a7ad2f16ed2345c9c5df1c81aefcac915bd69de012d9095b1f24c8351b
+size 256
diff --git a/scans/20260420_toy_from_1_viewpoint/scan00/pose_00011.npy b/scans/20260420_toy_from_1_viewpoint/scan00/pose_00011.npy
new file mode 100644
index 0000000000000000000000000000000000000000..276adbe008981b83385d9f13f91fb0369fd24209
--- /dev/null
+++ b/scans/20260420_toy_from_1_viewpoint/scan00/pose_00011.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cb019974c1e21bf6ec14e8a5ce90176897132af44c24a362064e6924e7394064
+size 256
diff --git a/scans/20260420_toy_from_1_viewpoint/scan00/pose_00012.npy b/scans/20260420_toy_from_1_viewpoint/scan00/pose_00012.npy
new file mode 100644
index 0000000000000000000000000000000000000000..af38277a2f94d40d1d301434ba4137e9bc21ad7f
--- /dev/null
+++ b/scans/20260420_toy_from_1_viewpoint/scan00/pose_00012.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5ba4859d328888674243995bac98aa241b873adcffdf92c12bf0aaf1d70131b2
+size 256
diff --git a/scans/20260420_toy_from_1_viewpoint/scan00/pose_00013.npy b/scans/20260420_toy_from_1_viewpoint/scan00/pose_00013.npy
new file mode 100644
index 0000000000000000000000000000000000000000..b3485872529bdf55dafa7477f346a34f0809fbd9
--- /dev/null
+++ b/scans/20260420_toy_from_1_viewpoint/scan00/pose_00013.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d0aef0d833d175a1d6a1a0192846fcc1c006e69d296f133256359ca045ada32c
+size 256
diff --git a/scans/20260420_toy_from_1_viewpoint/scan00/pose_00014.npy b/scans/20260420_toy_from_1_viewpoint/scan00/pose_00014.npy
new file mode 100644
index 0000000000000000000000000000000000000000..6c508fa1dd17fa8716380d5a1143df186d863ffe
--- /dev/null
+++ b/scans/20260420_toy_from_1_viewpoint/scan00/pose_00014.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:78405e36e7ad9be3a5ac5096402d3f2ddf0f9a135fd8b2ad7b75f075efd6ca81
+size 256
diff --git a/scans/20260420_toy_from_1_viewpoint/scan00/pose_00015.npy b/scans/20260420_toy_from_1_viewpoint/scan00/pose_00015.npy
new file mode 100644
index 0000000000000000000000000000000000000000..0940db79cead84400f9f5f3597964a3c42f558b8
--- /dev/null
+++ b/scans/20260420_toy_from_1_viewpoint/scan00/pose_00015.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:714c7c8bff97fd0ad1678215281032e57596cfdb635e9f6afa0c797ad8ed8eb8
+size 256
diff --git a/scans/20260420_toy_from_1_viewpoint/scan00/pose_00016.npy b/scans/20260420_toy_from_1_viewpoint/scan00/pose_00016.npy
new file mode 100644
index 0000000000000000000000000000000000000000..4edd229550578812e6590ccd625d05093ae5184a
--- /dev/null
+++ b/scans/20260420_toy_from_1_viewpoint/scan00/pose_00016.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7c9154836443336cc73af6626f50d7538a13c071b327ac89961a3d6c4476a170
+size 256
diff --git a/scans/20260420_toy_from_1_viewpoint/scan00/pose_00017.npy b/scans/20260420_toy_from_1_viewpoint/scan00/pose_00017.npy
new file mode 100644
index 0000000000000000000000000000000000000000..7a4ef228ae6c3dbbdb7e9ca4a1d153d94ec69be1
--- /dev/null
+++ b/scans/20260420_toy_from_1_viewpoint/scan00/pose_00017.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:adb9498aaccae660dbb521eb82af6d47c8d126d6c4b235a6cb8080ff46cf9c93
+size 256
diff --git a/scans/20260420_toy_from_1_viewpoint/scan00/pose_00018.npy b/scans/20260420_toy_from_1_viewpoint/scan00/pose_00018.npy
new file mode 100644
index 0000000000000000000000000000000000000000..96815e0cfb18b187137de2b6d336927176fcbb2c
--- /dev/null
+++ b/scans/20260420_toy_from_1_viewpoint/scan00/pose_00018.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f30888b9fe027dc7a7a8eab569159878646df3f97ad8acd8a5687e19a4236184
+size 256
diff --git a/scans/20260420_toy_from_1_viewpoint/scan00/pose_00019.npy b/scans/20260420_toy_from_1_viewpoint/scan00/pose_00019.npy
new file mode 100644
index 0000000000000000000000000000000000000000..6845c6c3e323e37279daa6d1ba5caf4625cf4240
--- /dev/null
+++ b/scans/20260420_toy_from_1_viewpoint/scan00/pose_00019.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b73d405d0be490485032e873020cc60802d44a2ae0fd538744610a25a1a6f9cc
+size 256
diff --git a/scans/20260420_toy_from_1_viewpoint/scan00/pose_00020.npy b/scans/20260420_toy_from_1_viewpoint/scan00/pose_00020.npy
new file mode 100644
index 0000000000000000000000000000000000000000..878212edac398879d402a0c9e8c659da73dc1779
--- /dev/null
+++ b/scans/20260420_toy_from_1_viewpoint/scan00/pose_00020.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:34f924f3a730534e33ad8d36778644cfafab10c12bfda606791f9ce056590dde
+size 256
diff --git a/scans/20260420_toy_from_1_viewpoint/scan00/pose_00021.npy b/scans/20260420_toy_from_1_viewpoint/scan00/pose_00021.npy
new file mode 100644
index 0000000000000000000000000000000000000000..3e67b6def15c1a9a6aad15d2b1f6a9fc4edb9cd6
--- /dev/null
+++ b/scans/20260420_toy_from_1_viewpoint/scan00/pose_00021.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b42a72e6d33a80422fa14114b6cecac670ae4b04d6dbd7cd34bb85ceaa80efb4
+size 256
diff --git a/scans/20260420_toy_from_1_viewpoint/scan00/pose_00022.npy b/scans/20260420_toy_from_1_viewpoint/scan00/pose_00022.npy
new file mode 100644
index 0000000000000000000000000000000000000000..ce6e585a619e4a7e55d949c08fb38eca8f710b26
--- /dev/null
+++ b/scans/20260420_toy_from_1_viewpoint/scan00/pose_00022.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c5f5f533290c90a1d469500107a8c124f4747da99c751084d2d744ecf6d434a2
+size 256
diff --git a/scans/20260420_toy_from_1_viewpoint/scan00/pose_00023.npy b/scans/20260420_toy_from_1_viewpoint/scan00/pose_00023.npy
new file mode 100644
index 0000000000000000000000000000000000000000..93a16bb408132775a092a8c5b41c76ca05aee400
--- /dev/null
+++ b/scans/20260420_toy_from_1_viewpoint/scan00/pose_00023.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:16dd589610b855407df0a3fc4ad2a1005cd368c210fb8a7865cbc7c909657bb8
+size 256
diff --git a/scans/20260420_toy_from_1_viewpoint/scan00/pose_00024.npy b/scans/20260420_toy_from_1_viewpoint/scan00/pose_00024.npy
new file mode 100644
index 0000000000000000000000000000000000000000..6f4ece37be8ac495c1ccbad0ca86398ecd3bcd86
--- /dev/null
+++ b/scans/20260420_toy_from_1_viewpoint/scan00/pose_00024.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f85e2101a5417e7aab11da3219cddba44d2fa0e4e1121bd3c9c12e6e818ccb12
+size 256
diff --git a/scans/20260420_toy_from_1_viewpoint/scan00/pose_00025.npy b/scans/20260420_toy_from_1_viewpoint/scan00/pose_00025.npy
new file mode 100644
index 0000000000000000000000000000000000000000..09800ec4bf0c61b145291642cf099b605345b2c7
--- /dev/null
+++ b/scans/20260420_toy_from_1_viewpoint/scan00/pose_00025.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:467e1d9e6bb365c551ece48255326b2e7dc5930a71a012a60fae40428f20d0ff
+size 256
diff --git a/scans/20260420_toy_from_1_viewpoint/scan00/pose_00026.npy b/scans/20260420_toy_from_1_viewpoint/scan00/pose_00026.npy
new file mode 100644
index 0000000000000000000000000000000000000000..97b432218ea77c630c9f8d4881c561dc38879fd5
--- /dev/null
+++ b/scans/20260420_toy_from_1_viewpoint/scan00/pose_00026.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:abe4a938f2558494c19bba30909a04fe629ad230b0b17711d29e0f37a1d7170e
+size 256
diff --git a/scans/20260420_toy_from_1_viewpoint/scan00/pose_00027.npy b/scans/20260420_toy_from_1_viewpoint/scan00/pose_00027.npy
new file mode 100644
index 0000000000000000000000000000000000000000..e541f4ac0576b33217db6c9babe0c1557d2153f8
--- /dev/null
+++ b/scans/20260420_toy_from_1_viewpoint/scan00/pose_00027.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:40031e51d51171c36fd672fe500ce3399ed83b1326ef51c027927265c07a3a61
+size 256
diff --git a/scans/20260420_toy_from_1_viewpoint/scan00/pose_00028.npy b/scans/20260420_toy_from_1_viewpoint/scan00/pose_00028.npy
new file mode 100644
index 0000000000000000000000000000000000000000..d4f0e27f37af7e62a92c79a0cdea3e434b926ce5
--- /dev/null
+++ b/scans/20260420_toy_from_1_viewpoint/scan00/pose_00028.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6880e02dd077f57148c00615dea1bdda165c65da71961818d6a226a0eee8d2bc
+size 256
diff --git a/scans/20260420_toy_from_1_viewpoint/scan00/pose_00029.npy b/scans/20260420_toy_from_1_viewpoint/scan00/pose_00029.npy
new file mode 100644
index 0000000000000000000000000000000000000000..0e1e25da12924496432d85dbf70bafab376c57e6
--- /dev/null
+++ b/scans/20260420_toy_from_1_viewpoint/scan00/pose_00029.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f39457717b82fa81fc7d24086bc7d478539718d3338277ebecc5aead50635514
+size 256
diff --git a/scans/20260420_toy_from_1_viewpoint/scan00/scan_00.png b/scans/20260420_toy_from_1_viewpoint/scan00/scan_00.png
new file mode 100644
index 0000000000000000000000000000000000000000..ed808039ac256183ba2825b315d463615417ddbc
--- /dev/null
+++ b/scans/20260420_toy_from_1_viewpoint/scan00/scan_00.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0bb0b28ec1098913b686af0ef326a25ac4cb3eb95d646c25cc4db47f9314cec8
+size 141701
diff --git a/scans/20260420_toy_from_1_viewpoint/scan_params.txt b/scans/20260420_toy_from_1_viewpoint/scan_params.txt
new file mode 100644
index 0000000000000000000000000000000000000000..6d9acaa2c346b3dfbd2846ea551738fc9f556a0e
--- /dev/null
+++ b/scans/20260420_toy_from_1_viewpoint/scan_params.txt
@@ -0,0 +1,22 @@
+date: 20260420_165306
+hemisphere_dist: 0.8
+hemisphere_angle_deg: 0.0
+hemisphere_radius: 0.08
+hemisphere_z: 0.36
+hemisphere_pos: [0.761285, -0.002479, 0.363935]
+num_scan_points: 2
+coverage: 1.0
+distance_along_optical_axis: 0.035
+num_pictures: 30
+elbow_angle_deg: 135.00
+use_hardware: True
+skip_opt: False
+no_wait: True
+start_idx: 0
+
+# Timing
+total_run_time_s: 30.61
+num_moves: 1
+move_times_s: [0.006]
+avg_move_time_s: 0.006
+optical_axis_traj_time_s: 5.628
diff --git a/scans/20260420_toy_from_1_viewpoint/trajectory_data/waypoint_00000/joint_positions.csv b/scans/20260420_toy_from_1_viewpoint/trajectory_data/waypoint_00000/joint_positions.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4262bac72c12e93fd06c9121cd969f782bd6a2fe
--- /dev/null
+++ b/scans/20260420_toy_from_1_viewpoint/trajectory_data/waypoint_00000/joint_positions.csv
@@ -0,0 +1,4 @@
+time,q0,q1,q2,q3,q4,q5,q6
+0.000000000000000000e+00,-5.692211536355490376e-01,1.009645473927268000e+00,8.486414890865293659e-01,-1.951635229911814484e+00,-2.100558034271829411e-02,-1.175372700505467494e+00,-6.804708995236830038e-01
+2.960430271401818560e-03,-5.695365878417605332e-01,1.009784824248239454e+00,8.487979585023619489e-01,-1.951675904358613600e+00,-2.151639513002862394e-02,-1.175165814290669575e+00,-6.804616130607659130e-01
+5.920860542803637119e-03,-5.698519813866964601e-01,1.009924235944269499e+00,8.489543904346850134e-01,-1.951716447845525337e+00,-2.202722173397797523e-02,-1.174958756393709169e+00,-6.804522544584031829e-01
diff --git a/scans/20260420_toy_from_1_viewpoint/trajectory_data/waypoint_00000/joint_positions.png b/scans/20260420_toy_from_1_viewpoint/trajectory_data/waypoint_00000/joint_positions.png
new file mode 100644
index 0000000000000000000000000000000000000000..5f6fda5341c58cebbd4ed05cd51e22ed38f36b82
--- /dev/null
+++ b/scans/20260420_toy_from_1_viewpoint/trajectory_data/waypoint_00000/joint_positions.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:00463def3199651cfb7a7f21886cd1c8ab5ba595c9e9f37c93ea7c7318fbfa00
+size 184499
diff --git a/scans/20260420_toy_from_1_viewpoint/trajectory_data/waypoint_00000/joint_velocities.csv b/scans/20260420_toy_from_1_viewpoint/trajectory_data/waypoint_00000/joint_velocities.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a16fd32d4753bb79010f9bbf62c2405945585ed9
--- /dev/null
+++ b/scans/20260420_toy_from_1_viewpoint/trajectory_data/waypoint_00000/joint_velocities.csv
@@ -0,0 +1,3 @@
+time_mid,dq0,dq1,dq2,dq3,dq4,dq5,dq6
+1.480215135700909280e-03,-1.065501218720249499e-01,4.707096881071588801e-02,5.285360622883100018e-02,-1.373936998011303368e-02,-1.725474814404088508e-01,6.988383303483600151e-02,3.136862572579179626e-03
+4.440645407102728273e-03,-1.065363869511380818e-01,4.709170061419182957e-02,5.284094472152221778e-02,-1.369513320526176588e-02,-1.725514729679701043e-01,6.994182533553124081e-02,3.161230464752222066e-03
diff --git a/scans/20260420_toy_from_1_viewpoint/trajectory_data/waypoint_00000/joint_velocities.png b/scans/20260420_toy_from_1_viewpoint/trajectory_data/waypoint_00000/joint_velocities.png
new file mode 100644
index 0000000000000000000000000000000000000000..5656d934b5163bea06e852139db7585cf163abab
--- /dev/null
+++ b/scans/20260420_toy_from_1_viewpoint/trajectory_data/waypoint_00000/joint_velocities.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1fe1689fb811d9aaba5397d9b889ac5e9a53018aa5fb509771587762164f16a2
+size 89247