diff --git a/.gitattributes b/.gitattributes
index bed0738c7eeb449bca98b5d2f33c89a1ee56349a..7f6f349323729105b650fdb73dddae841993c2e9 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -58,3 +58,10 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
 # Video files - compressed
 *.mp4 filter=lfs diff=lfs merge=lfs -text
 *.webm filter=lfs diff=lfs merge=lfs -text
+collect/20260731_191851_t/ep_t_1785514760_000/camera_scene_color.zarr/data/0 filter=lfs diff=lfs merge=lfs -text
+collect/20260731_191851_t/ep_t_1785514760_000/tactile_left_fields_ds.zarr/data/0.0.0.0 filter=lfs diff=lfs merge=lfs -text
+collect/20260731_191851_t/ep_t_1785514760_000/tactile_left_infer_img.zarr/data/0.0.0 filter=lfs diff=lfs merge=lfs -text
+collect/20260731_191851_t/ep_t_1785514760_000/tactile_left_keyframes.zarr/data/0.0.0.0 filter=lfs diff=lfs merge=lfs -text
+collect/20260731_191851_t/ep_t_1785514760_000/tactile_right_fields_ds.zarr/data/0.0.0.0 filter=lfs diff=lfs merge=lfs -text
+collect/20260731_191851_t/ep_t_1785514760_000/tactile_right_infer_img.zarr/data/0.0.0 filter=lfs diff=lfs merge=lfs -text
+collect/20260731_191851_t/ep_t_1785514760_000/tactile_right_keyframes.zarr/data/0.0.0.0 filter=lfs diff=lfs merge=lfs -text
diff --git a/collect/20260731_191851_t/ep_t_1785514760_000/actions.zarr/.zgroup b/collect/20260731_191851_t/ep_t_1785514760_000/actions.zarr/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/collect/20260731_191851_t/ep_t_1785514760_000/actions.zarr/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/collect/20260731_191851_t/ep_t_1785514760_000/actions.zarr/data/.zarray b/collect/20260731_191851_t/ep_t_1785514760_000/actions.zarr/data/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..228a4911638c0cec65aa665bc307f874faf25501
--- /dev/null
+++ b/collect/20260731_191851_t/ep_t_1785514760_000/actions.zarr/data/.zarray
@@ -0,0 +1,23 @@
+{
+    "chunks": [
+        120,
+        7
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 3,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dimension_separator": ".",
+    "dtype": "<f4",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        35,
+        7
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/collect/20260731_191851_t/ep_t_1785514760_000/actions.zarr/data/0.0 b/collect/20260731_191851_t/ep_t_1785514760_000/actions.zarr/data/0.0
new file mode 100644
index 0000000000000000000000000000000000000000..8d4ce77ac1bd92a65e1ea0e60653197356324945
Binary files /dev/null and b/collect/20260731_191851_t/ep_t_1785514760_000/actions.zarr/data/0.0 differ
diff --git a/collect/20260731_191851_t/ep_t_1785514760_000/actions.zarr/ts/.zarray b/collect/20260731_191851_t/ep_t_1785514760_000/actions.zarr/ts/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..ed75b9f9893959da03e4dfa1496d5341aa57c255
--- /dev/null
+++ b/collect/20260731_191851_t/ep_t_1785514760_000/actions.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": [
+        35
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/collect/20260731_191851_t/ep_t_1785514760_000/actions.zarr/ts/0 b/collect/20260731_191851_t/ep_t_1785514760_000/actions.zarr/ts/0
new file mode 100644
index 0000000000000000000000000000000000000000..1a1d2299a96ea8445093d7376095d37c43b7b828
Binary files /dev/null and b/collect/20260731_191851_t/ep_t_1785514760_000/actions.zarr/ts/0 differ
diff --git a/collect/20260731_191851_t/ep_t_1785514760_000/actions_abs.zarr/.zgroup b/collect/20260731_191851_t/ep_t_1785514760_000/actions_abs.zarr/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/collect/20260731_191851_t/ep_t_1785514760_000/actions_abs.zarr/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/collect/20260731_191851_t/ep_t_1785514760_000/actions_abs.zarr/data/.zarray b/collect/20260731_191851_t/ep_t_1785514760_000/actions_abs.zarr/data/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..7624929251e59ece9e0305e7144fc33d4b15e11f
--- /dev/null
+++ b/collect/20260731_191851_t/ep_t_1785514760_000/actions_abs.zarr/data/.zarray
@@ -0,0 +1,23 @@
+{
+    "chunks": [
+        120,
+        7
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 3,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dimension_separator": ".",
+    "dtype": "<f4",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        36,
+        7
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/collect/20260731_191851_t/ep_t_1785514760_000/actions_abs.zarr/data/0.0 b/collect/20260731_191851_t/ep_t_1785514760_000/actions_abs.zarr/data/0.0
new file mode 100644
index 0000000000000000000000000000000000000000..bfd8e5bc3305f199024d1074f0221c8c31978e4e
Binary files /dev/null and b/collect/20260731_191851_t/ep_t_1785514760_000/actions_abs.zarr/data/0.0 differ
diff --git a/collect/20260731_191851_t/ep_t_1785514760_000/actions_abs.zarr/ts/.zarray b/collect/20260731_191851_t/ep_t_1785514760_000/actions_abs.zarr/ts/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..36dca3ca094783efff1f2b2436f62fcfeed319e6
--- /dev/null
+++ b/collect/20260731_191851_t/ep_t_1785514760_000/actions_abs.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": [
+        36
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/collect/20260731_191851_t/ep_t_1785514760_000/actions_abs.zarr/ts/0 b/collect/20260731_191851_t/ep_t_1785514760_000/actions_abs.zarr/ts/0
new file mode 100644
index 0000000000000000000000000000000000000000..6e209709b9e85107d1bf2f57ef92039a997100b3
Binary files /dev/null and b/collect/20260731_191851_t/ep_t_1785514760_000/actions_abs.zarr/ts/0 differ
diff --git a/collect/20260731_191851_t/ep_t_1785514760_000/arm_ft.zarr/.zgroup b/collect/20260731_191851_t/ep_t_1785514760_000/arm_ft.zarr/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/collect/20260731_191851_t/ep_t_1785514760_000/arm_ft.zarr/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/collect/20260731_191851_t/ep_t_1785514760_000/arm_ft.zarr/data/.zarray b/collect/20260731_191851_t/ep_t_1785514760_000/arm_ft.zarr/data/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..d3cd1d1ce957305f1b6095b16d651005006b357a
--- /dev/null
+++ b/collect/20260731_191851_t/ep_t_1785514760_000/arm_ft.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": [
+        578,
+        6
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/collect/20260731_191851_t/ep_t_1785514760_000/arm_ft.zarr/data/0.0 b/collect/20260731_191851_t/ep_t_1785514760_000/arm_ft.zarr/data/0.0
new file mode 100644
index 0000000000000000000000000000000000000000..fc9e0f9a08f163c919229e24478ec379fab86705
Binary files /dev/null and b/collect/20260731_191851_t/ep_t_1785514760_000/arm_ft.zarr/data/0.0 differ
diff --git a/collect/20260731_191851_t/ep_t_1785514760_000/arm_ft.zarr/data/1.0 b/collect/20260731_191851_t/ep_t_1785514760_000/arm_ft.zarr/data/1.0
new file mode 100644
index 0000000000000000000000000000000000000000..98c14b3f0e21e716884b258e9c4d4a7b4025ef98
Binary files /dev/null and b/collect/20260731_191851_t/ep_t_1785514760_000/arm_ft.zarr/data/1.0 differ
diff --git a/collect/20260731_191851_t/ep_t_1785514760_000/arm_ft.zarr/data/2.0 b/collect/20260731_191851_t/ep_t_1785514760_000/arm_ft.zarr/data/2.0
new file mode 100644
index 0000000000000000000000000000000000000000..7fda8b377a997a05efa91a6df1d62753df49c24a
Binary files /dev/null and b/collect/20260731_191851_t/ep_t_1785514760_000/arm_ft.zarr/data/2.0 differ
diff --git a/collect/20260731_191851_t/ep_t_1785514760_000/arm_ft.zarr/data/3.0 b/collect/20260731_191851_t/ep_t_1785514760_000/arm_ft.zarr/data/3.0
new file mode 100644
index 0000000000000000000000000000000000000000..e2d48fb492f7dc8b244b1826f362a179d2a77284
Binary files /dev/null and b/collect/20260731_191851_t/ep_t_1785514760_000/arm_ft.zarr/data/3.0 differ
diff --git a/collect/20260731_191851_t/ep_t_1785514760_000/arm_ft.zarr/data/4.0 b/collect/20260731_191851_t/ep_t_1785514760_000/arm_ft.zarr/data/4.0
new file mode 100644
index 0000000000000000000000000000000000000000..2fd93ca1204bfa7a88bea0bc9c7f2898bf06e202
Binary files /dev/null and b/collect/20260731_191851_t/ep_t_1785514760_000/arm_ft.zarr/data/4.0 differ
diff --git a/collect/20260731_191851_t/ep_t_1785514760_000/arm_ft.zarr/ts/.zarray b/collect/20260731_191851_t/ep_t_1785514760_000/arm_ft.zarr/ts/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..41d7101a7f3182a611718942ae82082a8e3e9f14
--- /dev/null
+++ b/collect/20260731_191851_t/ep_t_1785514760_000/arm_ft.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": [
+        578
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/collect/20260731_191851_t/ep_t_1785514760_000/arm_ft.zarr/ts/0 b/collect/20260731_191851_t/ep_t_1785514760_000/arm_ft.zarr/ts/0
new file mode 100644
index 0000000000000000000000000000000000000000..44c30f5f0b1ec84aa32fd04a3705f2de15f692e0
Binary files /dev/null and b/collect/20260731_191851_t/ep_t_1785514760_000/arm_ft.zarr/ts/0 differ
diff --git a/collect/20260731_191851_t/ep_t_1785514760_000/arm_ft.zarr/ts/1 b/collect/20260731_191851_t/ep_t_1785514760_000/arm_ft.zarr/ts/1
new file mode 100644
index 0000000000000000000000000000000000000000..508c91dae2d56e765367e554392a6f47e13da57a
Binary files /dev/null and b/collect/20260731_191851_t/ep_t_1785514760_000/arm_ft.zarr/ts/1 differ
diff --git a/collect/20260731_191851_t/ep_t_1785514760_000/arm_ft.zarr/ts/2 b/collect/20260731_191851_t/ep_t_1785514760_000/arm_ft.zarr/ts/2
new file mode 100644
index 0000000000000000000000000000000000000000..0fad8822e0b736e005b89929fe14713a889bcfe2
Binary files /dev/null and b/collect/20260731_191851_t/ep_t_1785514760_000/arm_ft.zarr/ts/2 differ
diff --git a/collect/20260731_191851_t/ep_t_1785514760_000/arm_ft.zarr/ts/3 b/collect/20260731_191851_t/ep_t_1785514760_000/arm_ft.zarr/ts/3
new file mode 100644
index 0000000000000000000000000000000000000000..648ea2e4f1bd4afdbbf57f948a6de41378ae1703
Binary files /dev/null and b/collect/20260731_191851_t/ep_t_1785514760_000/arm_ft.zarr/ts/3 differ
diff --git a/collect/20260731_191851_t/ep_t_1785514760_000/arm_ft.zarr/ts/4 b/collect/20260731_191851_t/ep_t_1785514760_000/arm_ft.zarr/ts/4
new file mode 100644
index 0000000000000000000000000000000000000000..bdfebd304f7e752b28bbb6e3a22e7ba5eacef004
Binary files /dev/null and b/collect/20260731_191851_t/ep_t_1785514760_000/arm_ft.zarr/ts/4 differ
diff --git a/collect/20260731_191851_t/ep_t_1785514760_000/arm_q.zarr/.zgroup b/collect/20260731_191851_t/ep_t_1785514760_000/arm_q.zarr/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/collect/20260731_191851_t/ep_t_1785514760_000/arm_q.zarr/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/collect/20260731_191851_t/ep_t_1785514760_000/arm_q.zarr/data/.zarray b/collect/20260731_191851_t/ep_t_1785514760_000/arm_q.zarr/data/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..a958b91ae8178a19c92c6d5a6261a172111d2af5
--- /dev/null
+++ b/collect/20260731_191851_t/ep_t_1785514760_000/arm_q.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": [
+        574,
+        6
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/collect/20260731_191851_t/ep_t_1785514760_000/arm_q.zarr/data/0.0 b/collect/20260731_191851_t/ep_t_1785514760_000/arm_q.zarr/data/0.0
new file mode 100644
index 0000000000000000000000000000000000000000..a6bc0d946f7fa9f4807f889216f545a71918475f
Binary files /dev/null and b/collect/20260731_191851_t/ep_t_1785514760_000/arm_q.zarr/data/0.0 differ
diff --git a/collect/20260731_191851_t/ep_t_1785514760_000/arm_q.zarr/data/1.0 b/collect/20260731_191851_t/ep_t_1785514760_000/arm_q.zarr/data/1.0
new file mode 100644
index 0000000000000000000000000000000000000000..6b7df13359f14b955ededc69ac4094ebe6441982
Binary files /dev/null and b/collect/20260731_191851_t/ep_t_1785514760_000/arm_q.zarr/data/1.0 differ
diff --git a/collect/20260731_191851_t/ep_t_1785514760_000/arm_q.zarr/data/2.0 b/collect/20260731_191851_t/ep_t_1785514760_000/arm_q.zarr/data/2.0
new file mode 100644
index 0000000000000000000000000000000000000000..4e8a9f0cb243b0ed0c6730825a01e882c75807d1
Binary files /dev/null and b/collect/20260731_191851_t/ep_t_1785514760_000/arm_q.zarr/data/2.0 differ
diff --git a/collect/20260731_191851_t/ep_t_1785514760_000/arm_q.zarr/data/3.0 b/collect/20260731_191851_t/ep_t_1785514760_000/arm_q.zarr/data/3.0
new file mode 100644
index 0000000000000000000000000000000000000000..ebfec474bc6dc9e5e0f2de528f9c879c583eee1b
Binary files /dev/null and b/collect/20260731_191851_t/ep_t_1785514760_000/arm_q.zarr/data/3.0 differ
diff --git a/collect/20260731_191851_t/ep_t_1785514760_000/arm_q.zarr/data/4.0 b/collect/20260731_191851_t/ep_t_1785514760_000/arm_q.zarr/data/4.0
new file mode 100644
index 0000000000000000000000000000000000000000..f787973d838feede8f0c7f0dd64e92e8fc5489f2
Binary files /dev/null and b/collect/20260731_191851_t/ep_t_1785514760_000/arm_q.zarr/data/4.0 differ
diff --git a/collect/20260731_191851_t/ep_t_1785514760_000/arm_q.zarr/ts/.zarray b/collect/20260731_191851_t/ep_t_1785514760_000/arm_q.zarr/ts/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..d3b00cab15e24129f348d6cf8a54e992f8715468
--- /dev/null
+++ b/collect/20260731_191851_t/ep_t_1785514760_000/arm_q.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": [
+        574
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/collect/20260731_191851_t/ep_t_1785514760_000/arm_q.zarr/ts/0 b/collect/20260731_191851_t/ep_t_1785514760_000/arm_q.zarr/ts/0
new file mode 100644
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Binary files /dev/null and b/collect/20260731_191851_t/ep_t_1785514760_000/arm_q.zarr/ts/0 differ
diff --git a/collect/20260731_191851_t/ep_t_1785514760_000/arm_q.zarr/ts/1 b/collect/20260731_191851_t/ep_t_1785514760_000/arm_q.zarr/ts/1
new file mode 100644
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Binary files /dev/null and b/collect/20260731_191851_t/ep_t_1785514760_000/arm_q.zarr/ts/1 differ
diff --git a/collect/20260731_191851_t/ep_t_1785514760_000/arm_q.zarr/ts/2 b/collect/20260731_191851_t/ep_t_1785514760_000/arm_q.zarr/ts/2
new file mode 100644
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Binary files /dev/null and b/collect/20260731_191851_t/ep_t_1785514760_000/arm_q.zarr/ts/2 differ
diff --git a/collect/20260731_191851_t/ep_t_1785514760_000/arm_q.zarr/ts/3 b/collect/20260731_191851_t/ep_t_1785514760_000/arm_q.zarr/ts/3
new file mode 100644
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Binary files /dev/null and b/collect/20260731_191851_t/ep_t_1785514760_000/arm_q.zarr/ts/3 differ
diff --git a/collect/20260731_191851_t/ep_t_1785514760_000/arm_q.zarr/ts/4 b/collect/20260731_191851_t/ep_t_1785514760_000/arm_q.zarr/ts/4
new file mode 100644
index 0000000000000000000000000000000000000000..82b256595befd34cb4481d53d07b01a66dc3efe6
Binary files /dev/null and b/collect/20260731_191851_t/ep_t_1785514760_000/arm_q.zarr/ts/4 differ
diff --git a/collect/20260731_191851_t/ep_t_1785514760_000/arm_qd.zarr/.zgroup b/collect/20260731_191851_t/ep_t_1785514760_000/arm_qd.zarr/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/collect/20260731_191851_t/ep_t_1785514760_000/arm_qd.zarr/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
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diff --git a/collect/20260731_191851_t/ep_t_1785514760_000/tactile_right_wrench.zarr/data/.zarray b/collect/20260731_191851_t/ep_t_1785514760_000/tactile_right_wrench.zarr/data/.zarray
new file mode 100644
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--- /dev/null
+++ b/collect/20260731_191851_t/ep_t_1785514760_000/tactile_right_wrench.zarr/data/.zarray
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+}
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new file mode 100644
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diff --git a/collect/20260731_191851_t/ep_t_1785514760_000/tactile_right_wrench.zarr/ts/.zarray b/collect/20260731_191851_t/ep_t_1785514760_000/tactile_right_wrench.zarr/ts/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..947592a7a17c716c37535d2938fa37cf67772ef0
--- /dev/null
+++ b/collect/20260731_191851_t/ep_t_1785514760_000/tactile_right_wrench.zarr/ts/.zarray
@@ -0,0 +1,21 @@
+{
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+}
\ No newline at end of file
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