Release update 2026-11-05: new sessions, instructions, annotations (part 87)
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- .gitattributes +27 -0
- actions/locomanipulation/LM53/session_010/raw/mocap/Table.trc +0 -0
- actions/locomanipulation/LM53/session_010/raw/mocap/Tracker0.csv +0 -0
- actions/locomanipulation/LM53/session_010/raw/mocap/Tracker0.trc +0 -0
- actions/locomanipulation/LM53/session_010/raw/sensors/robocap_imu_left.db +3 -0
- actions/locomanipulation/LM53/session_010/raw/sensors/robocap_imu_right.db +3 -0
- actions/locomanipulation/LM53/session_010/raw/sensors/robocap_mag_middle.db +3 -0
- actions/locomanipulation/LM53/session_010/raw/sensors/robowrist_imu_left.db +3 -0
- actions/locomanipulation/LM53/session_010/raw/sensors/robowrist_imu_right.db +3 -0
- actions/locomanipulation/LM53/session_010/raw/sensors/robowrist_mag_left.db +3 -0
- actions/locomanipulation/LM53/session_010/raw/sensors/robowrist_mag_right.db +3 -0
- actions/locomanipulation/LM53/session_010/sensors/head_imu.npz +3 -0
- actions/locomanipulation/LM53/session_010/sensors/head_mag.npz +3 -0
- actions/locomanipulation/LM53/session_010/sensors/wrist_imu.npz +3 -0
- actions/locomanipulation/LM53/session_010/sensors/wrist_mag.npz +3 -0
- actions/locomanipulation/LM53/session_010/videos/frame_timestamps.npz +3 -0
- actions/locomanipulation/LM53/session_010/videos/head_left.mp4 +3 -0
- actions/locomanipulation/LM53/session_010/videos/head_left_eye.mp4 +3 -0
- actions/locomanipulation/LM53/session_010/videos/head_left_front.mp4 +3 -0
- actions/locomanipulation/LM53/session_010/videos/head_right.mp4 +3 -0
- actions/locomanipulation/LM53/session_010/videos/head_right_eye.mp4 +3 -0
- actions/locomanipulation/LM53/session_010/videos/head_right_front.mp4 +3 -0
- actions/locomanipulation/LM53/session_010/videos/third_person.mp4 +3 -0
- actions/locomanipulation/LM53/session_010/videos/wrist_left.mp4 +3 -0
- actions/locomanipulation/LM53/session_010/videos/wrist_right.mp4 +3 -0
- actions/locomanipulation/LM54/session_001/cameras/gsi_online_calibration.json +223 -0
- actions/locomanipulation/LM54/session_001/cameras/slam.npz +3 -0
- actions/locomanipulation/LM54/session_001/meta.json +4 -0
- actions/locomanipulation/LM54/session_001/motions/hands_mano.npz +3 -0
- actions/locomanipulation/LM54/session_002/cameras/gsi_online_calibration.json +257 -0
- actions/locomanipulation/LM54/session_002/cameras/poses.npz +2 -2
- actions/locomanipulation/LM54/session_002/cameras/slam.npz +3 -0
- actions/locomanipulation/LM54/session_002/meta.json +25 -21
- actions/locomanipulation/LM54/session_002/motions/hands_mano.npz +3 -0
- actions/locomanipulation/LM54/session_002/motions/head_rig.npz +2 -2
- actions/locomanipulation/LM54/session_003/cameras/gsi_online_calibration.json +267 -0
- actions/locomanipulation/LM54/session_003/cameras/poses.npz +2 -2
- actions/locomanipulation/LM54/session_003/cameras/slam.npz +3 -0
- actions/locomanipulation/LM54/session_003/meta.json +26 -22
- actions/locomanipulation/LM54/session_003/motions/hands_mano.npz +3 -0
- actions/locomanipulation/LM54/session_003/motions/head_rig.npz +2 -2
- actions/locomanipulation/LM54/session_004/annotations.json +28 -0
- actions/locomanipulation/LM54/session_004/cameras/gsi_online_calibration.json +258 -0
- actions/locomanipulation/LM54/session_004/cameras/slam.npz +3 -0
- actions/locomanipulation/LM54/session_004/meta.json +116 -2
- actions/locomanipulation/LM54/session_004/motions/hands_mano.npz +3 -0
- actions/locomanipulation/LM54/session_004/motions/smplx.npz +2 -2
- actions/locomanipulation/LM54/session_005/annotations.json +28 -0
- actions/locomanipulation/LM54/session_005/cameras/gsi_online_calibration.json +225 -0
- actions/locomanipulation/LM54/session_005/cameras/slam.npz +3 -0
.gitattributes
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|
actions/locomanipulation/LM54/session_001/cameras/slam.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
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version https://git-lfs.github.com/spec/v1
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| 2 |
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oid sha256:3a24f5506ef9c6b5d81fd3202429ff27c2e2e4dfaadcbdb27da6563a3310879f
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| 3 |
+
size 846912
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actions/locomanipulation/LM54/session_001/meta.json
CHANGED
|
@@ -516,6 +516,10 @@
|
|
| 516 |
"primitive": "LM54",
|
| 517 |
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|
| 518 |
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|
|
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|
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|
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|
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|
|
| 519 |
"objects": [
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| 520 |
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| 521 |
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|
|
|
| 516 |
"primitive": "LM54",
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| 517 |
"source_session": "20261022/LM54/20261022_121151_session75"
|
| 518 |
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|
| 519 |
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"task": {
|
| 520 |
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"primitive": "LM54",
|
| 521 |
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"instruction": "Clear everything off the table and put it away on the shelf, in as many trips as you need. Keep going until the operator says stop; one object at a time, and do not rush between trips."
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| 522 |
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},
|
| 523 |
"objects": [
|
| 524 |
{
|
| 525 |
"name": "LittleBox1",
|
actions/locomanipulation/LM54/session_001/motions/hands_mano.npz
ADDED
|
@@ -0,0 +1,3 @@
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|
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|
|
| 1 |
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version https://git-lfs.github.com/spec/v1
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| 3 |
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size 4987375
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actions/locomanipulation/LM54/session_002/cameras/gsi_online_calibration.json
ADDED
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@@ -0,0 +1,257 @@
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|
| 267 |
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|
@@ -312,7 +312,7 @@
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|
| 315 |
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|
@@ -322,7 +322,7 @@
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| 322 |
"static_samples": 667,
|
| 323 |
"g_world_mean_m_s2": [
|
| 324 |
0.1467,
|
| 325 |
-
0.
|
| 326 |
9.7696
|
| 327 |
],
|
| 328 |
"tilt_from_z_deg": 0.861,
|
|
@@ -504,6 +504,10 @@
|
|
| 504 |
"primitive": "LM54",
|
| 505 |
"source_session": "20261023/LM54/20261023_040816_session45"
|
| 506 |
},
|
|
|
|
|
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|
|
|
|
|
|
| 507 |
"objects": [
|
| 508 |
{
|
| 509 |
"name": "LittleBox1",
|
|
|
|
| 263 |
"compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
|
| 264 |
},
|
| 265 |
"canonical": {
|
| 266 |
+
"generated_at_utc": "2026-11-03T09:17:03.949916+00:00",
|
| 267 |
"generated_by": "scripts/canonicalise_dataset.py",
|
| 268 |
"frame": "Z-up, metres, levelled per Nokov capture block; z = 0 at the Nokov origin; x/y heading as Nokov (global, not per-take)",
|
| 269 |
"R_canon_nokov": [
|
| 270 |
[
|
| 271 |
+
0.9999906538,
|
| 272 |
+
0.004323437,
|
| 273 |
+
1.33659e-05
|
| 274 |
],
|
| 275 |
[
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| 276 |
+
-1.33659e-05,
|
| 277 |
+
0.0061829029,
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| 278 |
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|
| 279 |
],
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| 280 |
[
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| 281 |
+
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| 282 |
+
0.9999715394,
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0.0061829029
|
| 284 |
]
|
| 285 |
],
|
| 286 |
"scale_nokov_to_canon": 0.001,
|
| 287 |
"T_canon_nokov_mm": [
|
| 288 |
[
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| 289 |
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|
| 291 |
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1.3366e-08,
|
| 292 |
0.0
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| 294 |
[
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|
| 296 |
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|
| 297 |
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|
| 298 |
0.0
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],
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| 300 |
[
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|
| 304 |
0.0
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| 305 |
],
|
| 306 |
[
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|
| 312 |
],
|
| 313 |
"block": "20261023-morning",
|
| 314 |
"block_assignment": "trc",
|
| 315 |
+
"tilt_removed_deg": 0.4322755857928103,
|
| 316 |
"plane_status": "ok",
|
| 317 |
"floor": {
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| 318 |
"sole_marker_p1_mm": 18.4,
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|
| 322 |
"static_samples": 667,
|
| 323 |
"g_world_mean_m_s2": [
|
| 324 |
0.1467,
|
| 325 |
+
0.0078,
|
| 326 |
9.7696
|
| 327 |
],
|
| 328 |
"tilt_from_z_deg": 0.861,
|
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| 504 |
"primitive": "LM54",
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| 505 |
"source_session": "20261023/LM54/20261023_040816_session45"
|
| 506 |
},
|
| 507 |
+
"task": {
|
| 508 |
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"primitive": "LM54",
|
| 509 |
+
"instruction": "Clear everything off the table and put it away on the shelf, in as many trips as you need. Keep going until the operator says stop; one object at a time, and do not rush between trips."
|
| 510 |
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},
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| 511 |
"objects": [
|
| 512 |
{
|
| 513 |
"name": "LittleBox1",
|
actions/locomanipulation/LM54/session_002/motions/hands_mano.npz
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size 6108236
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actions/locomanipulation/LM54/session_002/motions/head_rig.npz
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version https://git-lfs.github.com/spec/v1
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|
| 1 |
+
{
|
| 2 |
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"camera_fit": {
|
| 3 |
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"groups_dropped": [
|
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{
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| 5 |
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|
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|
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|
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|
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|
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|
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],
|
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"groups_used": 14,
|
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|
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|
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|
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|
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|
| 24 |
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|
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|
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|
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|
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|
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|
| 42 |
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|
| 43 |
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|
| 44 |
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| 45 |
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|
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|
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|
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|
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actions/locomanipulation/LM54/session_004/cameras/slam.npz
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|
@@ -0,0 +1,3 @@
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version https://git-lfs.github.com/spec/v1
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size 831179
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actions/locomanipulation/LM54/session_004/meta.json
CHANGED
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@@ -374,8 +374,8 @@
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|
| 374 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 375 |
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|
| 376 |
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| 377 |
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|
| 378 |
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| 379 |
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|
| 380 |
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| 381 |
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|
|
@@ -519,10 +519,124 @@
|
|
| 519 |
"note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
|
| 520 |
}
|
| 521 |
},
|
|
|
|
|
|
|
|
|
|
|
|
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|
| 522 |
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|
| 523 |
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|
| 524 |
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|
| 525 |
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|
| 526 |
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|
|
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|
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|
|
| 527 |
}
|
| 528 |
}
|
|
|
|
| 374 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 375 |
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 376 |
"hands": {
|
| 377 |
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"observed": true,
|
| 378 |
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"hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
|
| 379 |
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|
| 380 |
"hand_marker_offsets_m": {
|
| 381 |
"left": {
|
|
|
|
| 519 |
"note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
|
| 520 |
}
|
| 521 |
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|
| 522 |
+
"hands_registration": {
|
| 523 |
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"cameras": {},
|
| 524 |
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|
| 525 |
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|
| 526 |
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|
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|
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|
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|
actions/locomanipulation/LM54/session_005/cameras/slam.npz
ADDED
|
@@ -0,0 +1,3 @@
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version https://git-lfs.github.com/spec/v1
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size 873054
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