diff --git a/.gitattributes b/.gitattributes
index 3da6664ac3334ce21f48736687793c17a77b1b69..6647d3cb7001f64237ff26b4833668d25ea2a3f1 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -193,3 +193,9 @@ collect/20260801_184043_Carton/ep_Carton_1785599401_014/tactile_right_infer_img.
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 collect/20260801_184043_Carton/ep_Carton_1785599401_014/tactile_right_keyframes.zarr/data/2.0.0.0 filter=lfs diff=lfs merge=lfs -text
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+collect/20260724_175423_test/ep_test_1784904904_000/camera_scene_color.zarr/data/1.0.0.0 filter=lfs diff=lfs merge=lfs -text
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+collect/20260724_175423_test/ep_test_1784904904_000/tactile_left_fields_ds.zarr/data/0.0.0.0 filter=lfs diff=lfs merge=lfs -text
+collect/20260724_175423_test/ep_test_1784904904_000/tactile_left_infer_img.zarr/data/0.0.0 filter=lfs diff=lfs merge=lfs -text
diff --git a/collect/20260724_175423_test/ep_test_1784904904_000/actions_abs.zarr/.zgroup b/collect/20260724_175423_test/ep_test_1784904904_000/actions_abs.zarr/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/collect/20260724_175423_test/ep_test_1784904904_000/actions_abs.zarr/.zgroup
@@ -0,0 +1,3 @@
+{
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+}
\ No newline at end of file
diff --git a/collect/20260724_175423_test/ep_test_1784904904_000/actions_abs.zarr/data/.zarray b/collect/20260724_175423_test/ep_test_1784904904_000/actions_abs.zarr/data/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..49870f6a2c060fc5d82915328d66dcbeea26a8fa
--- /dev/null
+++ b/collect/20260724_175423_test/ep_test_1784904904_000/actions_abs.zarr/data/.zarray
@@ -0,0 +1,23 @@
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diff --git a/collect/20260724_175423_test/ep_test_1784904904_000/actions_abs.zarr/ts/.zarray b/collect/20260724_175423_test/ep_test_1784904904_000/actions_abs.zarr/ts/.zarray
new file mode 100644
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--- /dev/null
+++ b/collect/20260724_175423_test/ep_test_1784904904_000/actions_abs.zarr/ts/.zarray
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diff --git a/collect/20260724_175423_test/ep_test_1784904904_000/arm_ft.zarr/.zgroup b/collect/20260724_175423_test/ep_test_1784904904_000/arm_ft.zarr/.zgroup
new file mode 100644
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--- /dev/null
+++ b/collect/20260724_175423_test/ep_test_1784904904_000/arm_ft.zarr/.zgroup
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\ No newline at end of file
diff --git a/collect/20260724_175423_test/ep_test_1784904904_000/arm_ft.zarr/data/.zarray b/collect/20260724_175423_test/ep_test_1784904904_000/arm_ft.zarr/data/.zarray
new file mode 100644
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--- /dev/null
+++ b/collect/20260724_175423_test/ep_test_1784904904_000/arm_ft.zarr/data/.zarray
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new file mode 100644
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\ No newline at end of file
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diff --git a/collect/20260724_175423_test/ep_test_1784904904_000/arm_tcp_pose.zarr/data/6.0 b/collect/20260724_175423_test/ep_test_1784904904_000/arm_tcp_pose.zarr/data/6.0
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Binary files /dev/null and b/collect/20260724_175423_test/ep_test_1784904904_000/arm_tcp_pose.zarr/data/6.0 differ
diff --git a/collect/20260724_175423_test/ep_test_1784904904_000/arm_tcp_pose.zarr/data/7.0 b/collect/20260724_175423_test/ep_test_1784904904_000/arm_tcp_pose.zarr/data/7.0
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Binary files /dev/null and b/collect/20260724_175423_test/ep_test_1784904904_000/arm_tcp_pose.zarr/data/7.0 differ
diff --git a/collect/20260724_175423_test/ep_test_1784904904_000/arm_tcp_pose.zarr/data/8.0 b/collect/20260724_175423_test/ep_test_1784904904_000/arm_tcp_pose.zarr/data/8.0
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Binary files /dev/null and b/collect/20260724_175423_test/ep_test_1784904904_000/arm_tcp_pose.zarr/data/8.0 differ
diff --git a/collect/20260724_175423_test/ep_test_1784904904_000/arm_tcp_pose.zarr/data/9.0 b/collect/20260724_175423_test/ep_test_1784904904_000/arm_tcp_pose.zarr/data/9.0
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Binary files /dev/null and b/collect/20260724_175423_test/ep_test_1784904904_000/arm_tcp_pose.zarr/data/9.0 differ
diff --git a/collect/20260724_175423_test/ep_test_1784904904_000/arm_tcp_pose.zarr/ts/.zarray b/collect/20260724_175423_test/ep_test_1784904904_000/arm_tcp_pose.zarr/ts/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..5012839150ff5ab9caee7ec756f63e92e4a8cc2c
--- /dev/null
+++ b/collect/20260724_175423_test/ep_test_1784904904_000/arm_tcp_pose.zarr/ts/.zarray
@@ -0,0 +1,21 @@
+{
+    "chunks": [
+        120
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 3,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dimension_separator": ".",
+    "dtype": "<f8",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        1931
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/collect/20260724_175423_test/ep_test_1784904904_000/arm_tcp_pose.zarr/ts/0 b/collect/20260724_175423_test/ep_test_1784904904_000/arm_tcp_pose.zarr/ts/0
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Binary files /dev/null and b/collect/20260724_175423_test/ep_test_1784904904_000/arm_tcp_pose.zarr/ts/0 differ
diff --git a/collect/20260724_175423_test/ep_test_1784904904_000/arm_tcp_pose.zarr/ts/1 b/collect/20260724_175423_test/ep_test_1784904904_000/arm_tcp_pose.zarr/ts/1
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diff --git a/collect/20260724_175423_test/ep_test_1784904904_000/arm_tcp_pose.zarr/ts/10 b/collect/20260724_175423_test/ep_test_1784904904_000/arm_tcp_pose.zarr/ts/10
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diff --git a/collect/20260724_175423_test/ep_test_1784904904_000/arm_tcp_pose.zarr/ts/11 b/collect/20260724_175423_test/ep_test_1784904904_000/arm_tcp_pose.zarr/ts/11
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Binary files /dev/null and b/collect/20260724_175423_test/ep_test_1784904904_000/arm_tcp_pose.zarr/ts/11 differ
diff --git a/collect/20260724_175423_test/ep_test_1784904904_000/arm_tcp_pose.zarr/ts/12 b/collect/20260724_175423_test/ep_test_1784904904_000/arm_tcp_pose.zarr/ts/12
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Binary files /dev/null and b/collect/20260724_175423_test/ep_test_1784904904_000/arm_tcp_pose.zarr/ts/12 differ
diff --git a/collect/20260724_175423_test/ep_test_1784904904_000/arm_tcp_pose.zarr/ts/13 b/collect/20260724_175423_test/ep_test_1784904904_000/arm_tcp_pose.zarr/ts/13
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Binary files /dev/null and b/collect/20260724_175423_test/ep_test_1784904904_000/arm_tcp_pose.zarr/ts/13 differ
diff --git a/collect/20260724_175423_test/ep_test_1784904904_000/arm_tcp_pose.zarr/ts/14 b/collect/20260724_175423_test/ep_test_1784904904_000/arm_tcp_pose.zarr/ts/14
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diff --git a/collect/20260724_175423_test/ep_test_1784904904_000/arm_tcp_pose.zarr/ts/15 b/collect/20260724_175423_test/ep_test_1784904904_000/arm_tcp_pose.zarr/ts/15
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Binary files /dev/null and b/collect/20260724_175423_test/ep_test_1784904904_000/arm_tcp_pose.zarr/ts/15 differ
diff --git a/collect/20260724_175423_test/ep_test_1784904904_000/arm_tcp_pose.zarr/ts/16 b/collect/20260724_175423_test/ep_test_1784904904_000/arm_tcp_pose.zarr/ts/16
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Binary files /dev/null and b/collect/20260724_175423_test/ep_test_1784904904_000/arm_tcp_pose.zarr/ts/16 differ
diff --git a/collect/20260724_175423_test/ep_test_1784904904_000/arm_tcp_pose.zarr/ts/2 b/collect/20260724_175423_test/ep_test_1784904904_000/arm_tcp_pose.zarr/ts/2
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Binary files /dev/null and b/collect/20260724_175423_test/ep_test_1784904904_000/arm_tcp_pose.zarr/ts/2 differ
diff --git a/collect/20260724_175423_test/ep_test_1784904904_000/arm_tcp_pose.zarr/ts/3 b/collect/20260724_175423_test/ep_test_1784904904_000/arm_tcp_pose.zarr/ts/3
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Binary files /dev/null and b/collect/20260724_175423_test/ep_test_1784904904_000/arm_tcp_pose.zarr/ts/3 differ
diff --git a/collect/20260724_175423_test/ep_test_1784904904_000/arm_tcp_pose.zarr/ts/4 b/collect/20260724_175423_test/ep_test_1784904904_000/arm_tcp_pose.zarr/ts/4
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Binary files /dev/null and b/collect/20260724_175423_test/ep_test_1784904904_000/arm_tcp_pose.zarr/ts/4 differ
diff --git a/collect/20260724_175423_test/ep_test_1784904904_000/arm_tcp_pose.zarr/ts/5 b/collect/20260724_175423_test/ep_test_1784904904_000/arm_tcp_pose.zarr/ts/5
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Binary files /dev/null and b/collect/20260724_175423_test/ep_test_1784904904_000/arm_tcp_pose.zarr/ts/5 differ
diff --git a/collect/20260724_175423_test/ep_test_1784904904_000/arm_tcp_pose.zarr/ts/6 b/collect/20260724_175423_test/ep_test_1784904904_000/arm_tcp_pose.zarr/ts/6
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Binary files /dev/null and b/collect/20260724_175423_test/ep_test_1784904904_000/arm_tcp_pose.zarr/ts/6 differ
diff --git a/collect/20260724_175423_test/ep_test_1784904904_000/arm_tcp_pose.zarr/ts/7 b/collect/20260724_175423_test/ep_test_1784904904_000/arm_tcp_pose.zarr/ts/7
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Binary files /dev/null and b/collect/20260724_175423_test/ep_test_1784904904_000/arm_tcp_pose.zarr/ts/7 differ
diff --git a/collect/20260724_175423_test/ep_test_1784904904_000/arm_tcp_pose.zarr/ts/8 b/collect/20260724_175423_test/ep_test_1784904904_000/arm_tcp_pose.zarr/ts/8
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Binary files /dev/null and b/collect/20260724_175423_test/ep_test_1784904904_000/arm_tcp_pose.zarr/ts/8 differ
diff --git a/collect/20260724_175423_test/ep_test_1784904904_000/arm_tcp_pose.zarr/ts/9 b/collect/20260724_175423_test/ep_test_1784904904_000/arm_tcp_pose.zarr/ts/9
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Binary files /dev/null and b/collect/20260724_175423_test/ep_test_1784904904_000/arm_tcp_pose.zarr/ts/9 differ
diff --git a/collect/20260724_175423_test/ep_test_1784904904_000/arm_tcp_speed.zarr/.zgroup b/collect/20260724_175423_test/ep_test_1784904904_000/arm_tcp_speed.zarr/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/collect/20260724_175423_test/ep_test_1784904904_000/arm_tcp_speed.zarr/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/collect/20260724_175423_test/ep_test_1784904904_000/arm_tcp_speed.zarr/data/.zarray b/collect/20260724_175423_test/ep_test_1784904904_000/arm_tcp_speed.zarr/data/.zarray
new file mode 100644
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--- /dev/null
+++ b/collect/20260724_175423_test/ep_test_1784904904_000/arm_tcp_speed.zarr/data/.zarray
@@ -0,0 +1,23 @@
+{
+    "chunks": [
+        120,
+        6
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 3,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dimension_separator": ".",
+    "dtype": "<f8",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        1932,
+        6
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/collect/20260724_175423_test/ep_test_1784904904_000/arm_tcp_speed.zarr/data/0.0 b/collect/20260724_175423_test/ep_test_1784904904_000/arm_tcp_speed.zarr/data/0.0
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Binary files /dev/null and b/collect/20260724_175423_test/ep_test_1784904904_000/arm_tcp_speed.zarr/data/11.0 differ
diff --git a/collect/20260724_175423_test/ep_test_1784904904_000/arm_tcp_speed.zarr/data/12.0 b/collect/20260724_175423_test/ep_test_1784904904_000/arm_tcp_speed.zarr/data/12.0
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Binary files /dev/null and b/collect/20260724_175423_test/ep_test_1784904904_000/arm_tcp_speed.zarr/data/12.0 differ
diff --git a/collect/20260724_175423_test/ep_test_1784904904_000/arm_tcp_speed.zarr/data/13.0 b/collect/20260724_175423_test/ep_test_1784904904_000/arm_tcp_speed.zarr/data/13.0
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Binary files /dev/null and b/collect/20260724_175423_test/ep_test_1784904904_000/arm_tcp_speed.zarr/data/13.0 differ
diff --git a/collect/20260724_175423_test/ep_test_1784904904_000/arm_tcp_speed.zarr/data/14.0 b/collect/20260724_175423_test/ep_test_1784904904_000/arm_tcp_speed.zarr/data/14.0
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Binary files /dev/null and b/collect/20260724_175423_test/ep_test_1784904904_000/arm_tcp_speed.zarr/data/14.0 differ
diff --git a/collect/20260724_175423_test/ep_test_1784904904_000/arm_tcp_speed.zarr/data/15.0 b/collect/20260724_175423_test/ep_test_1784904904_000/arm_tcp_speed.zarr/data/15.0
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Binary files /dev/null and b/collect/20260724_175423_test/ep_test_1784904904_000/arm_tcp_speed.zarr/data/15.0 differ
diff --git a/collect/20260724_175423_test/ep_test_1784904904_000/arm_tcp_speed.zarr/data/16.0 b/collect/20260724_175423_test/ep_test_1784904904_000/arm_tcp_speed.zarr/data/16.0
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Binary files /dev/null and b/collect/20260724_175423_test/ep_test_1784904904_000/arm_tcp_speed.zarr/data/16.0 differ
diff --git a/collect/20260724_175423_test/ep_test_1784904904_000/arm_tcp_speed.zarr/data/2.0 b/collect/20260724_175423_test/ep_test_1784904904_000/arm_tcp_speed.zarr/data/2.0
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Binary files /dev/null and b/collect/20260724_175423_test/ep_test_1784904904_000/arm_tcp_speed.zarr/data/2.0 differ
diff --git a/collect/20260724_175423_test/ep_test_1784904904_000/arm_tcp_speed.zarr/data/3.0 b/collect/20260724_175423_test/ep_test_1784904904_000/arm_tcp_speed.zarr/data/3.0
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Binary files /dev/null and b/collect/20260724_175423_test/ep_test_1784904904_000/arm_tcp_speed.zarr/data/3.0 differ
diff --git a/collect/20260724_175423_test/ep_test_1784904904_000/arm_tcp_speed.zarr/data/4.0 b/collect/20260724_175423_test/ep_test_1784904904_000/arm_tcp_speed.zarr/data/4.0
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Binary files /dev/null and b/collect/20260724_175423_test/ep_test_1784904904_000/arm_tcp_speed.zarr/data/4.0 differ
diff --git a/collect/20260724_175423_test/ep_test_1784904904_000/arm_tcp_speed.zarr/data/5.0 b/collect/20260724_175423_test/ep_test_1784904904_000/arm_tcp_speed.zarr/data/5.0
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Binary files /dev/null and b/collect/20260724_175423_test/ep_test_1784904904_000/arm_tcp_speed.zarr/data/5.0 differ
diff --git a/collect/20260724_175423_test/ep_test_1784904904_000/arm_tcp_speed.zarr/data/6.0 b/collect/20260724_175423_test/ep_test_1784904904_000/arm_tcp_speed.zarr/data/6.0
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Binary files /dev/null and b/collect/20260724_175423_test/ep_test_1784904904_000/arm_tcp_speed.zarr/data/6.0 differ
diff --git a/collect/20260724_175423_test/ep_test_1784904904_000/arm_tcp_speed.zarr/data/7.0 b/collect/20260724_175423_test/ep_test_1784904904_000/arm_tcp_speed.zarr/data/7.0
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Binary files /dev/null and b/collect/20260724_175423_test/ep_test_1784904904_000/arm_tcp_speed.zarr/data/7.0 differ
diff --git a/collect/20260724_175423_test/ep_test_1784904904_000/arm_tcp_speed.zarr/data/8.0 b/collect/20260724_175423_test/ep_test_1784904904_000/arm_tcp_speed.zarr/data/8.0
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Binary files /dev/null and b/collect/20260724_175423_test/ep_test_1784904904_000/arm_tcp_speed.zarr/data/8.0 differ
diff --git a/collect/20260724_175423_test/ep_test_1784904904_000/arm_tcp_speed.zarr/data/9.0 b/collect/20260724_175423_test/ep_test_1784904904_000/arm_tcp_speed.zarr/data/9.0
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Binary files /dev/null and b/collect/20260724_175423_test/ep_test_1784904904_000/arm_tcp_speed.zarr/data/9.0 differ
diff --git a/collect/20260724_175423_test/ep_test_1784904904_000/arm_tcp_speed.zarr/ts/.zarray b/collect/20260724_175423_test/ep_test_1784904904_000/arm_tcp_speed.zarr/ts/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..1845aff1cb00835bf9787d26c3ca138691e6017d
--- /dev/null
+++ b/collect/20260724_175423_test/ep_test_1784904904_000/arm_tcp_speed.zarr/ts/.zarray
@@ -0,0 +1,21 @@
+{
+    "chunks": [
+        120
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 3,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dimension_separator": ".",
+    "dtype": "<f8",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        1932
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/collect/20260724_175423_test/ep_test_1784904904_000/arm_tcp_speed.zarr/ts/0 b/collect/20260724_175423_test/ep_test_1784904904_000/arm_tcp_speed.zarr/ts/0
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diff --git a/collect/20260724_175423_test/ep_test_1784904904_000/arm_tcp_speed.zarr/ts/1 b/collect/20260724_175423_test/ep_test_1784904904_000/arm_tcp_speed.zarr/ts/1
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diff --git a/collect/20260724_175423_test/ep_test_1784904904_000/arm_tcp_speed.zarr/ts/10 b/collect/20260724_175423_test/ep_test_1784904904_000/arm_tcp_speed.zarr/ts/10
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