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+    "order": "C",
+    "shape": [
+        1174,
+        6
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/collect/20260724_175423_test/ep_test_1784904937_001/arm_tcp_pose.zarr/data/0.0 b/collect/20260724_175423_test/ep_test_1784904937_001/arm_tcp_pose.zarr/data/0.0
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Binary files /dev/null and b/collect/20260724_175423_test/ep_test_1784904937_001/arm_tcp_pose.zarr/data/0.0 differ
diff --git a/collect/20260724_175423_test/ep_test_1784904937_001/arm_tcp_pose.zarr/data/1.0 b/collect/20260724_175423_test/ep_test_1784904937_001/arm_tcp_pose.zarr/data/1.0
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Binary files /dev/null and b/collect/20260724_175423_test/ep_test_1784904937_001/arm_tcp_pose.zarr/data/1.0 differ
diff --git a/collect/20260724_175423_test/ep_test_1784904937_001/arm_tcp_pose.zarr/data/2.0 b/collect/20260724_175423_test/ep_test_1784904937_001/arm_tcp_pose.zarr/data/2.0
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diff --git a/collect/20260724_175423_test/ep_test_1784904937_001/arm_tcp_pose.zarr/data/3.0 b/collect/20260724_175423_test/ep_test_1784904937_001/arm_tcp_pose.zarr/data/3.0
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diff --git a/collect/20260724_175423_test/ep_test_1784904937_001/arm_tcp_pose.zarr/data/4.0 b/collect/20260724_175423_test/ep_test_1784904937_001/arm_tcp_pose.zarr/data/4.0
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diff --git a/collect/20260724_175423_test/ep_test_1784904937_001/arm_tcp_pose.zarr/data/5.0 b/collect/20260724_175423_test/ep_test_1784904937_001/arm_tcp_pose.zarr/data/5.0
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diff --git a/collect/20260724_175423_test/ep_test_1784904937_001/arm_tcp_pose.zarr/data/6.0 b/collect/20260724_175423_test/ep_test_1784904937_001/arm_tcp_pose.zarr/data/6.0
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Binary files /dev/null and b/collect/20260724_175423_test/ep_test_1784904937_001/arm_tcp_pose.zarr/data/6.0 differ
diff --git a/collect/20260724_175423_test/ep_test_1784904937_001/arm_tcp_pose.zarr/data/7.0 b/collect/20260724_175423_test/ep_test_1784904937_001/arm_tcp_pose.zarr/data/7.0
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Binary files /dev/null and b/collect/20260724_175423_test/ep_test_1784904937_001/arm_tcp_pose.zarr/data/7.0 differ
diff --git a/collect/20260724_175423_test/ep_test_1784904937_001/arm_tcp_pose.zarr/data/8.0 b/collect/20260724_175423_test/ep_test_1784904937_001/arm_tcp_pose.zarr/data/8.0
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Binary files /dev/null and b/collect/20260724_175423_test/ep_test_1784904937_001/arm_tcp_pose.zarr/data/8.0 differ
diff --git a/collect/20260724_175423_test/ep_test_1784904937_001/arm_tcp_pose.zarr/data/9.0 b/collect/20260724_175423_test/ep_test_1784904937_001/arm_tcp_pose.zarr/data/9.0
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Binary files /dev/null and b/collect/20260724_175423_test/ep_test_1784904937_001/arm_tcp_pose.zarr/data/9.0 differ
diff --git a/collect/20260724_175423_test/ep_test_1784904937_001/arm_tcp_pose.zarr/ts/.zarray b/collect/20260724_175423_test/ep_test_1784904937_001/arm_tcp_pose.zarr/ts/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..ee537a7520d44f68f33b95c7c2ac122f337a8e2f
--- /dev/null
+++ b/collect/20260724_175423_test/ep_test_1784904937_001/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": [
+        1174
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/collect/20260724_175423_test/ep_test_1784904937_001/arm_tcp_pose.zarr/ts/0 b/collect/20260724_175423_test/ep_test_1784904937_001/arm_tcp_pose.zarr/ts/0
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Binary files /dev/null and b/collect/20260724_175423_test/ep_test_1784904937_001/arm_tcp_pose.zarr/ts/0 differ
diff --git a/collect/20260724_175423_test/ep_test_1784904937_001/arm_tcp_pose.zarr/ts/1 b/collect/20260724_175423_test/ep_test_1784904937_001/arm_tcp_pose.zarr/ts/1
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Binary files /dev/null and b/collect/20260724_175423_test/ep_test_1784904937_001/arm_tcp_pose.zarr/ts/1 differ
diff --git a/collect/20260724_175423_test/ep_test_1784904937_001/arm_tcp_pose.zarr/ts/2 b/collect/20260724_175423_test/ep_test_1784904937_001/arm_tcp_pose.zarr/ts/2
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diff --git a/collect/20260724_175423_test/ep_test_1784904937_001/arm_tcp_pose.zarr/ts/3 b/collect/20260724_175423_test/ep_test_1784904937_001/arm_tcp_pose.zarr/ts/3
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diff --git a/collect/20260724_175423_test/ep_test_1784904937_001/arm_tcp_pose.zarr/ts/4 b/collect/20260724_175423_test/ep_test_1784904937_001/arm_tcp_pose.zarr/ts/4
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Binary files /dev/null and b/collect/20260724_175423_test/ep_test_1784904937_001/arm_tcp_pose.zarr/ts/4 differ
diff --git a/collect/20260724_175423_test/ep_test_1784904937_001/arm_tcp_pose.zarr/ts/5 b/collect/20260724_175423_test/ep_test_1784904937_001/arm_tcp_pose.zarr/ts/5
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Binary files /dev/null and b/collect/20260724_175423_test/ep_test_1784904937_001/arm_tcp_pose.zarr/ts/5 differ
diff --git a/collect/20260724_175423_test/ep_test_1784904937_001/arm_tcp_pose.zarr/ts/6 b/collect/20260724_175423_test/ep_test_1784904937_001/arm_tcp_pose.zarr/ts/6
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Binary files /dev/null and b/collect/20260724_175423_test/ep_test_1784904937_001/arm_tcp_pose.zarr/ts/6 differ
diff --git a/collect/20260724_175423_test/ep_test_1784904937_001/arm_tcp_pose.zarr/ts/7 b/collect/20260724_175423_test/ep_test_1784904937_001/arm_tcp_pose.zarr/ts/7
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Binary files /dev/null and b/collect/20260724_175423_test/ep_test_1784904937_001/arm_tcp_pose.zarr/ts/7 differ
diff --git a/collect/20260724_175423_test/ep_test_1784904937_001/arm_tcp_pose.zarr/ts/8 b/collect/20260724_175423_test/ep_test_1784904937_001/arm_tcp_pose.zarr/ts/8
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Binary files /dev/null and b/collect/20260724_175423_test/ep_test_1784904937_001/arm_tcp_pose.zarr/ts/8 differ
diff --git a/collect/20260724_175423_test/ep_test_1784904937_001/arm_tcp_pose.zarr/ts/9 b/collect/20260724_175423_test/ep_test_1784904937_001/arm_tcp_pose.zarr/ts/9
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Binary files /dev/null and b/collect/20260724_175423_test/ep_test_1784904937_001/arm_tcp_pose.zarr/ts/9 differ
diff --git a/collect/20260724_175423_test/ep_test_1784904937_001/arm_tcp_speed.zarr/.zgroup b/collect/20260724_175423_test/ep_test_1784904937_001/arm_tcp_speed.zarr/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/collect/20260724_175423_test/ep_test_1784904937_001/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_1784904937_001/arm_tcp_speed.zarr/data/.zarray b/collect/20260724_175423_test/ep_test_1784904937_001/arm_tcp_speed.zarr/data/.zarray
new file mode 100644
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--- /dev/null
+++ b/collect/20260724_175423_test/ep_test_1784904937_001/arm_tcp_speed.zarr/data/.zarray
@@ -0,0 +1,23 @@
+{
+    "chunks": [
+        120,
+        6
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 3,
+        "cname": "zstd",
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+    },
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+    "order": "C",
+    "shape": [
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+    ],
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+}
\ No newline at end of file
diff --git a/collect/20260724_175423_test/ep_test_1784904937_001/arm_tcp_speed.zarr/data/0.0 b/collect/20260724_175423_test/ep_test_1784904937_001/arm_tcp_speed.zarr/data/0.0
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Binary files /dev/null and b/collect/20260724_175423_test/ep_test_1784904937_001/arm_tcp_speed.zarr/data/0.0 differ
diff --git a/collect/20260724_175423_test/ep_test_1784904937_001/arm_tcp_speed.zarr/data/1.0 b/collect/20260724_175423_test/ep_test_1784904937_001/arm_tcp_speed.zarr/data/1.0
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diff --git a/collect/20260724_175423_test/ep_test_1784904937_001/arm_tcp_speed.zarr/data/2.0 b/collect/20260724_175423_test/ep_test_1784904937_001/arm_tcp_speed.zarr/data/2.0
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diff --git a/collect/20260724_175423_test/ep_test_1784904937_001/arm_tcp_speed.zarr/data/3.0 b/collect/20260724_175423_test/ep_test_1784904937_001/arm_tcp_speed.zarr/data/3.0
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Binary files /dev/null and b/collect/20260724_175423_test/ep_test_1784904937_001/arm_tcp_speed.zarr/data/3.0 differ
diff --git a/collect/20260724_175423_test/ep_test_1784904937_001/arm_tcp_speed.zarr/data/4.0 b/collect/20260724_175423_test/ep_test_1784904937_001/arm_tcp_speed.zarr/data/4.0
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diff --git a/collect/20260724_175423_test/ep_test_1784904937_001/arm_tcp_speed.zarr/data/5.0 b/collect/20260724_175423_test/ep_test_1784904937_001/arm_tcp_speed.zarr/data/5.0
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Binary files /dev/null and b/collect/20260724_175423_test/ep_test_1784904937_001/arm_tcp_speed.zarr/data/5.0 differ
diff --git a/collect/20260724_175423_test/ep_test_1784904937_001/arm_tcp_speed.zarr/data/6.0 b/collect/20260724_175423_test/ep_test_1784904937_001/arm_tcp_speed.zarr/data/6.0
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Binary files /dev/null and b/collect/20260724_175423_test/ep_test_1784904937_001/arm_tcp_speed.zarr/data/6.0 differ
diff --git a/collect/20260724_175423_test/ep_test_1784904937_001/arm_tcp_speed.zarr/data/7.0 b/collect/20260724_175423_test/ep_test_1784904937_001/arm_tcp_speed.zarr/data/7.0
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Binary files /dev/null and b/collect/20260724_175423_test/ep_test_1784904937_001/arm_tcp_speed.zarr/data/7.0 differ
diff --git a/collect/20260724_175423_test/ep_test_1784904937_001/arm_tcp_speed.zarr/data/8.0 b/collect/20260724_175423_test/ep_test_1784904937_001/arm_tcp_speed.zarr/data/8.0
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Binary files /dev/null and b/collect/20260724_175423_test/ep_test_1784904937_001/arm_tcp_speed.zarr/data/8.0 differ
diff --git a/collect/20260724_175423_test/ep_test_1784904937_001/arm_tcp_speed.zarr/data/9.0 b/collect/20260724_175423_test/ep_test_1784904937_001/arm_tcp_speed.zarr/data/9.0
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Binary files /dev/null and b/collect/20260724_175423_test/ep_test_1784904937_001/arm_tcp_speed.zarr/data/9.0 differ
diff --git a/collect/20260724_175423_test/ep_test_1784904937_001/arm_tcp_speed.zarr/ts/.zarray b/collect/20260724_175423_test/ep_test_1784904937_001/arm_tcp_speed.zarr/ts/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..2594f0a58010f43e899a22fb376bc6c66b16232c
--- /dev/null
+++ b/collect/20260724_175423_test/ep_test_1784904937_001/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": [
+        1175
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/collect/20260724_175423_test/ep_test_1784904937_001/arm_tcp_speed.zarr/ts/0 b/collect/20260724_175423_test/ep_test_1784904937_001/arm_tcp_speed.zarr/ts/0
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diff --git a/collect/20260724_175423_test/ep_test_1784904937_001/arm_tcp_speed.zarr/ts/1 b/collect/20260724_175423_test/ep_test_1784904937_001/arm_tcp_speed.zarr/ts/1
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diff --git a/collect/20260724_175423_test/ep_test_1784904937_001/arm_tcp_speed.zarr/ts/4 b/collect/20260724_175423_test/ep_test_1784904937_001/arm_tcp_speed.zarr/ts/4
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diff --git a/collect/20260724_175423_test/ep_test_1784904937_001/arm_tcp_speed.zarr/ts/5 b/collect/20260724_175423_test/ep_test_1784904937_001/arm_tcp_speed.zarr/ts/5
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diff --git a/collect/20260724_175423_test/ep_test_1784904937_001/arm_tcp_speed.zarr/ts/6 b/collect/20260724_175423_test/ep_test_1784904937_001/arm_tcp_speed.zarr/ts/6
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diff --git a/collect/20260724_175423_test/ep_test_1784904937_001/arm_tcp_speed.zarr/ts/7 b/collect/20260724_175423_test/ep_test_1784904937_001/arm_tcp_speed.zarr/ts/7
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Binary files /dev/null and b/collect/20260724_175423_test/ep_test_1784904937_001/arm_tcp_speed.zarr/ts/7 differ
diff --git a/collect/20260724_175423_test/ep_test_1784904937_001/arm_tcp_speed.zarr/ts/8 b/collect/20260724_175423_test/ep_test_1784904937_001/arm_tcp_speed.zarr/ts/8
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Binary files /dev/null and b/collect/20260724_175423_test/ep_test_1784904937_001/arm_tcp_speed.zarr/ts/8 differ
diff --git a/collect/20260724_175423_test/ep_test_1784904937_001/arm_tcp_speed.zarr/ts/9 b/collect/20260724_175423_test/ep_test_1784904937_001/arm_tcp_speed.zarr/ts/9
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Binary files /dev/null and b/collect/20260724_175423_test/ep_test_1784904937_001/arm_tcp_speed.zarr/ts/9 differ
diff --git a/collect/20260724_175423_test/ep_test_1784904937_001/camera_scene_color.zarr/.zgroup b/collect/20260724_175423_test/ep_test_1784904937_001/camera_scene_color.zarr/.zgroup
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