Release update 2026-11-05: new sessions, instructions, annotations (part 120)
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- .gitattributes +9 -0
- actions/locomanipulation/LM64/session_006/raw/mocap/OpenBox.trc +0 -0
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|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"session": "EgoMotionActions/20261023/LM64/20261023_015458_session18",
|
| 4 |
+
"session_id": "20261023_015458_session18",
|
| 5 |
+
"primitive": "LM64",
|
| 6 |
+
"batch": "20261023",
|
| 7 |
+
"participant": "wangyang",
|
| 8 |
+
"participant_source": "manifest",
|
| 9 |
+
"device_ids": {
|
| 10 |
+
"main": "c9205ac6e17d2d5c",
|
| 11 |
+
"left": "cc5681142208e29a",
|
| 12 |
+
"right": "a85418f7d807dff9"
|
| 13 |
+
},
|
| 14 |
+
"generated_at_utc": "2026-11-03T05:41:11.801507+00:00",
|
| 15 |
+
"generated_by": "scripts/sync_dataset.py",
|
| 16 |
+
"time_base": {
|
| 17 |
+
"definition": "t = 0 at the first solved Body0 frame; seconds; each stream has its own t, nothing resampled",
|
| 18 |
+
"mocap_rate_hz": 120.0,
|
| 19 |
+
"mocap_rate_fix": null,
|
| 20 |
+
"first_solved_frame": 0,
|
| 21 |
+
"duration_s": 123.825,
|
| 22 |
+
"mocap_time": "frame_index / rate (Nokov Timestamp column is not a clock; kept as source_timestamp_ms)"
|
| 23 |
+
},
|
| 24 |
+
"alignment": {
|
| 25 |
+
"reference_imu": "imu_head_right",
|
| 26 |
+
"model": "offset (median of windows)",
|
| 27 |
+
"mocap_rel_s": "rig_rel + offset_s + rate * rig_rel, rig_rel = device_time - reference_imu_first_sample",
|
| 28 |
+
"offset_s": -0.088731,
|
| 29 |
+
"rate": 0.0,
|
| 30 |
+
"global_lag_s": -0.09,
|
| 31 |
+
"peak_corr": 0.9771,
|
| 32 |
+
"reference_imu_first_sample_s": 5612.03945556,
|
| 33 |
+
"windows": {
|
| 34 |
+
"n_windows": 11,
|
| 35 |
+
"window_corr_median": 0.9830921628859987,
|
| 36 |
+
"drift_ppm": -477.1962000506299,
|
| 37 |
+
"drift_se_ppm": 272.8275406043362,
|
| 38 |
+
"drift_ms_over_take": -59.08484283626883,
|
| 39 |
+
"lag_scatter_ms": 25.882693101953212,
|
| 40 |
+
"lag_range_ms": 105.00671825726555
|
| 41 |
+
}
|
| 42 |
+
},
|
| 43 |
+
"units": {
|
| 44 |
+
"mocap": "millimetres, Nokov world, Y-up (unchanged)",
|
| 45 |
+
"y_up_to_z_up": [
|
| 46 |
+
[
|
| 47 |
+
1.0,
|
| 48 |
+
0.0,
|
| 49 |
+
0.0
|
| 50 |
+
],
|
| 51 |
+
[
|
| 52 |
+
0.0,
|
| 53 |
+
0.0,
|
| 54 |
+
-1.0
|
| 55 |
+
],
|
| 56 |
+
[
|
| 57 |
+
0.0,
|
| 58 |
+
1.0,
|
| 59 |
+
0.0
|
| 60 |
+
]
|
| 61 |
+
],
|
| 62 |
+
"acc": "m/s^2 (8192 LSB/g)",
|
| 63 |
+
"gyro": "rad/s (65.536 LSB/dps)",
|
| 64 |
+
"mag": "raw counts, scale unconfirmed (data suggests 163.84 LSB/uT, see knowledge_base sanity doc)",
|
| 65 |
+
"quaternions": "xyzw, Nokov global"
|
| 66 |
+
},
|
| 67 |
+
"calibration": {
|
| 68 |
+
"device": "c9205ac6e17d2d5c",
|
| 69 |
+
"status": "ok",
|
| 70 |
+
"date": "2026-10-21"
|
| 71 |
+
},
|
| 72 |
+
"streams": {
|
| 73 |
+
"sensors": {
|
| 74 |
+
"imu_head_right": {
|
| 75 |
+
"n_acc": 25201,
|
| 76 |
+
"n_gyro": 25196,
|
| 77 |
+
"t_start": -0.10015487021223837,
|
| 78 |
+
"t_end": 124.02815514878807
|
| 79 |
+
},
|
| 80 |
+
"imu_head_left": {
|
| 81 |
+
"n_acc": 25048,
|
| 82 |
+
"n_gyro": 25041,
|
| 83 |
+
"t_start": 0.007066338788033838,
|
| 84 |
+
"t_end": 124.19832966678791
|
| 85 |
+
},
|
| 86 |
+
"imu_wrist_right": {
|
| 87 |
+
"n_acc": 24382,
|
| 88 |
+
"n_gyro": 24381,
|
| 89 |
+
"t_start": -0.8305279002122481,
|
| 90 |
+
"t_end": 122.29436147278761
|
| 91 |
+
},
|
| 92 |
+
"imu_wrist_left": {
|
| 93 |
+
"n_acc": 24346,
|
| 94 |
+
"n_gyro": 24358,
|
| 95 |
+
"t_start": -0.9443204342121609,
|
| 96 |
+
"t_end": 122.30571278778757
|
| 97 |
+
},
|
| 98 |
+
"mag_head": {
|
| 99 |
+
"n": 12427,
|
| 100 |
+
"t_start": 0.10217529678743428,
|
| 101 |
+
"t_end": 124.36216039778742
|
| 102 |
+
},
|
| 103 |
+
"mag_wrist_right": {
|
| 104 |
+
"n": 12311,
|
| 105 |
+
"t_start": -0.8116339972118587,
|
| 106 |
+
"t_end": 122.28805639278767
|
| 107 |
+
},
|
| 108 |
+
"mag_wrist_left": {
|
| 109 |
+
"n": 12325,
|
| 110 |
+
"t_start": -0.9307417442121297,
|
| 111 |
+
"t_end": 122.30898852678752
|
| 112 |
+
}
|
| 113 |
+
},
|
| 114 |
+
"videos": {
|
| 115 |
+
"left": {
|
| 116 |
+
"fps": 30.0,
|
| 117 |
+
"start_device_s": 5612.164902,
|
| 118 |
+
"frames": 3714,
|
| 119 |
+
"pts_gaps": 0,
|
| 120 |
+
"timing": "pts",
|
| 121 |
+
"timeshift_cam_imu_s": 0.0026284356473863946,
|
| 122 |
+
"file": "robocap_segment1_video_left.mp4",
|
| 123 |
+
"t_start": 0.039343641435378024,
|
| 124 |
+
"t_end": 123.80596564143548,
|
| 125 |
+
"clock": "device",
|
| 126 |
+
"calibrated": true
|
| 127 |
+
},
|
| 128 |
+
"right": {
|
| 129 |
+
"fps": 30.0,
|
| 130 |
+
"start_device_s": 5612.164872,
|
| 131 |
+
"frames": 3714,
|
| 132 |
+
"pts_gaps": 0,
|
| 133 |
+
"timing": "pts",
|
| 134 |
+
"timeshift_cam_imu_s": 0.0024181146161434135,
|
| 135 |
+
"file": "robocap_segment1_video_right.mp4",
|
| 136 |
+
"t_start": 0.03910332040436312,
|
| 137 |
+
"t_end": 123.80572532040446,
|
| 138 |
+
"clock": "device",
|
| 139 |
+
"calibrated": true
|
| 140 |
+
},
|
| 141 |
+
"left_front": {
|
| 142 |
+
"fps": 30.0,
|
| 143 |
+
"start_device_s": 5612.164894,
|
| 144 |
+
"frames": 3714,
|
| 145 |
+
"pts_gaps": 0,
|
| 146 |
+
"timing": "pts",
|
| 147 |
+
"timeshift_cam_imu_s": 0.002458947067077895,
|
| 148 |
+
"file": "robocap_segment1_video_left_front.mp4",
|
| 149 |
+
"t_start": 0.03916615285402056,
|
| 150 |
+
"t_end": 123.80578815285412,
|
| 151 |
+
"clock": "device",
|
| 152 |
+
"calibrated": true
|
| 153 |
+
},
|
| 154 |
+
"right_front": {
|
| 155 |
+
"fps": 30.0,
|
| 156 |
+
"start_device_s": 5612.164911,
|
| 157 |
+
"frames": 3714,
|
| 158 |
+
"pts_gaps": 0,
|
| 159 |
+
"timing": "pts",
|
| 160 |
+
"timeshift_cam_imu_s": 0.0021420814739499558,
|
| 161 |
+
"file": "robocap_segment1_video_right_front.mp4",
|
| 162 |
+
"t_start": 0.038866287261269256,
|
| 163 |
+
"t_end": 123.80548828726137,
|
| 164 |
+
"clock": "device",
|
| 165 |
+
"calibrated": true
|
| 166 |
+
},
|
| 167 |
+
"left_eye": {
|
| 168 |
+
"fps": 30.0,
|
| 169 |
+
"start_device_s": 5612.164883,
|
| 170 |
+
"frames": 3714,
|
| 171 |
+
"pts_gaps": 0,
|
| 172 |
+
"timing": "pts",
|
| 173 |
+
"timeshift_cam_imu_s": 0.002801984596191448,
|
| 174 |
+
"file": "robocap_segment1_video_left_eye.mp4",
|
| 175 |
+
"t_start": 0.039498190383935955,
|
| 176 |
+
"t_end": 123.80612019038404,
|
| 177 |
+
"clock": "device",
|
| 178 |
+
"calibrated": true
|
| 179 |
+
},
|
| 180 |
+
"right_eye": {
|
| 181 |
+
"fps": 30.0,
|
| 182 |
+
"start_device_s": 5612.164863,
|
| 183 |
+
"frames": 3714,
|
| 184 |
+
"pts_gaps": 0,
|
| 185 |
+
"timing": "pts",
|
| 186 |
+
"timeshift_cam_imu_s": 0.002930366888236734,
|
| 187 |
+
"file": "robocap_segment1_video_right_eye.mp4",
|
| 188 |
+
"t_start": 0.039606572675664004,
|
| 189 |
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"file": "smplx.npz",
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"gender": "male",
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"betas_source": "participant median (derived/smplx/participants.json)",
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"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
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"observed": false,
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"hand_pose": "flat (zeros, flat_hand_mean=True)",
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"median_frame": 5.09,
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|
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"worst_markers": [
|
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"LKneeIn 17mm",
|
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"LShin 10mm",
|
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"RKneeIn 10mm",
|
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"LKnee 10mm",
|
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"CLAV 9mm"
|
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"valid_fraction": 0.9995,
|
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|
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|
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|
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"weight": 1.0,
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|
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"markers_on_surface": 52,
|
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"surface_rmse_mm_median": 14.63
|
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"shape_source": "participant median",
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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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|
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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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"note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
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},
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"release": {
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"release_path": "actions/locomanipulation/LM64/session_007",
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"source_session": "20261023/LM64/20261023_015458_session18"
|
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},
|
| 512 |
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"task": {
|
| 513 |
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"primitive": "LM64",
|
| 514 |
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"instruction": "Take the objects the operator names off the crowded shelf, one at a time, and carry each one to the table. You will have to move other things out of the way to reach them. Keep going until the operator says stop; one object at a time, and do not rush between trips."
|
| 515 |
+
},
|
| 516 |
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"objects": [
|
| 517 |
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{
|
| 518 |
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"name": "LittleBox1",
|
| 519 |
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"object_type": "LittleBox",
|
| 520 |
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|
| 521 |
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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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},
|
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{
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"name": "LittleBox3",
|
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"object_type": "LittleBox",
|
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"source": "mocap",
|
| 533 |
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|
| 534 |
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},
|
| 535 |
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{
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"name": "LittleBox4",
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"object_type": "LittleBox",
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"pose_frame": "mesh"
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|
| 541 |
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{
|
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"name": "LittleBox5",
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"object_type": "LittleBox",
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|
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{
|
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"name": "LittleBox6",
|
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"object_type": "LittleBox",
|
| 550 |
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"source": "mocap",
|
| 551 |
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"pose_frame": "mesh"
|
| 552 |
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},
|
| 553 |
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{
|
| 554 |
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"name": "OpenBox",
|
| 555 |
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"object_type": "OpenBox",
|
| 556 |
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"source": "mocap",
|
| 557 |
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"pose_frame": "rigid_body"
|
| 558 |
+
},
|
| 559 |
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{
|
| 560 |
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"name": "Table2",
|
| 561 |
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"object_type": "Table",
|
| 562 |
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"source": "mocap",
|
| 563 |
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"pose_frame": "rigid_body"
|
| 564 |
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}
|
| 565 |
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]
|
| 566 |
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}
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actions/locomanipulation/LM64/session_007/motions/head_rig.npz
ADDED
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version https://git-lfs.github.com/spec/v1
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oid sha256:d7bb959b499517a2d1b5d11fa63ce71dea32fd2e072a3975d7985fe3927a35e3
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size 1108588
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actions/locomanipulation/LM64/session_007/motions/markers.npz
ADDED
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@@ -0,0 +1,3 @@
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| 187 |
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| 1 |
+
{
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| 2 |
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| 3 |
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| 4 |
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| 5 |
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| 6 |
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| 7 |
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| 8 |
+
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| 9 |
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| 10 |
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| 11 |
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| 12 |
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| 13 |
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| 14 |
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| 15 |
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| 16 |
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| 17 |
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| 18 |
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| 19 |
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| 20 |
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| 21 |
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"LittleBox5",
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| 22 |
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| 23 |
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| 24 |
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| 25 |
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|
| 26 |
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],
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| 27 |
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|
| 28 |
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| 29 |
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|
| 30 |
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|
| 31 |
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| 32 |
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|
| 33 |
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| 34 |
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| 35 |
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| 36 |
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| 37 |
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| 49 |
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| 59 |
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| 60 |
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| 61 |
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| 63 |
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| 66 |
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| 68 |
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| 70 |
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