Add asset desktop_supplies/electronic_accessories/79c166184b3d53c7a95de3ad0ca255c9
Browse files- .gitattributes +1 -0
- dataset/desktop_supplies/electronic_accessories/79c166184b3d53c7a95de3ad0ca255c9/79c166184b3d53c7a95de3ad0ca255c9.urdf +1 -0
- dataset/desktop_supplies/electronic_accessories/79c166184b3d53c7a95de3ad0ca255c9/affordance/affordance_annot.json +410 -0
- dataset/desktop_supplies/electronic_accessories/79c166184b3d53c7a95de3ad0ca255c9/affordance/mesh_part_seg.glb +3 -0
.gitattributes
CHANGED
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@@ -6237,3 +6237,4 @@ dataset/desktop_supplies/electronic_accessories/6fe6ced6f867560abaa684acbb20743c
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| 6237 |
dataset/desktop_supplies/electronic_accessories/70b091a067cd5acebf335cb66192d364/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6238 |
dataset/desktop_supplies/electronic_accessories/79298122afa05ebaa9a803e9e7881441/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6239 |
dataset/desktop_supplies/electronic_accessories/79564ac8965954cfa126ae5a2c31fda0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6237 |
dataset/desktop_supplies/electronic_accessories/70b091a067cd5acebf335cb66192d364/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6238 |
dataset/desktop_supplies/electronic_accessories/79298122afa05ebaa9a803e9e7881441/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6239 |
dataset/desktop_supplies/electronic_accessories/79564ac8965954cfa126ae5a2c31fda0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6240 |
+
dataset/desktop_supplies/electronic_accessories/79c166184b3d53c7a95de3ad0ca255c9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/desktop_supplies/electronic_accessories/79c166184b3d53c7a95de3ad0ca255c9/79c166184b3d53c7a95de3ad0ca255c9.urdf
CHANGED
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@@ -52,6 +52,7 @@
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| 52 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
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| 53 |
</geometry>
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| 54 |
</visual_seg>
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| 55 |
</affordance>
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| 56 |
</custom_data>
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| 57 |
</robot>
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| 52 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
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| 53 |
</geometry>
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| 54 |
</visual_seg>
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| 55 |
+
<affordance_annot>affordance/affordance_annot.json</affordance_annot>
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| 56 |
</affordance>
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| 57 |
</custom_data>
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| 58 |
</robot>
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dataset/desktop_supplies/electronic_accessories/79c166184b3d53c7a95de3ad0ca255c9/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,410 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "case top lid",
|
| 5 |
+
"mask_color": "Orange",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the top half from the sides together with the base to pick up the case",
|
| 10 |
+
"confidence": 0.84
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the lid area while stabilizing the case during repositioning",
|
| 14 |
+
"confidence": 0.71
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"cover the interior",
|
| 19 |
+
"form the upper enclosure",
|
| 20 |
+
"provide exterior handling surface",
|
| 21 |
+
"protect contents when closed"
|
| 22 |
+
],
|
| 23 |
+
"semantic_description": "Rounded rectangular top lid in reddish-brown plastic with a glossy smooth surface and subtle dark streak-like markings, covering the upper face of the small case.",
|
| 24 |
+
"id": 4,
|
| 25 |
+
"grasp_group": {
|
| 26 |
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"grasp_20": {
|
| 27 |
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"confidence": 0.7290592193603516,
|
| 28 |
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"position": [
|
| 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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"orientation": {
|
| 34 |
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"w": 0.11133946648046732,
|
| 35 |
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"xyz": [
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| 36 |
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| 37 |
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|
| 38 |
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| 39 |
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]
|
| 40 |
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}
|
| 41 |
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},
|
| 42 |
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"grasp_21": {
|
| 43 |
+
"confidence": 0.7077171206474304,
|
| 44 |
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"position": [
|
| 45 |
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|
| 46 |
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|
| 47 |
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|
| 48 |
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],
|
| 49 |
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"orientation": {
|
| 50 |
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"w": 0.04726753274112846,
|
| 51 |
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"xyz": [
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| 52 |
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|
| 53 |
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|
| 54 |
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|
| 55 |
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]
|
| 56 |
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}
|
| 57 |
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},
|
| 58 |
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"grasp_22": {
|
| 59 |
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"confidence": 0.6985335350036621,
|
| 60 |
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"position": [
|
| 61 |
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|
| 62 |
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|
| 63 |
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| 64 |
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],
|
| 65 |
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"orientation": {
|
| 66 |
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"w": 0.07829613988555889,
|
| 67 |
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"xyz": [
|
| 68 |
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|
| 69 |
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|
| 70 |
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|
| 71 |
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]
|
| 72 |
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}
|
| 73 |
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},
|
| 74 |
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"grasp_23": {
|
| 75 |
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"confidence": 0.6983649730682373,
|
| 76 |
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"position": [
|
| 77 |
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|
| 78 |
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|
| 79 |
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|
| 80 |
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],
|
| 81 |
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"orientation": {
|
| 82 |
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"w": 0.0028297426762802376,
|
| 83 |
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"xyz": [
|
| 84 |
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|
| 85 |
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|
| 86 |
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|
| 87 |
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]
|
| 88 |
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}
|
| 89 |
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},
|
| 90 |
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"grasp_24": {
|
| 91 |
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"confidence": 0.6955459117889404,
|
| 92 |
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"position": [
|
| 93 |
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|
| 94 |
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|
| 95 |
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|
| 96 |
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],
|
| 97 |
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"orientation": {
|
| 98 |
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"w": 0.011617355005444923,
|
| 99 |
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"xyz": [
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| 100 |
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|
| 102 |
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|
| 103 |
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]
|
| 104 |
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}
|
| 105 |
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},
|
| 106 |
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"grasp_25": {
|
| 107 |
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"confidence": 0.6615473628044128,
|
| 108 |
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"position": [
|
| 109 |
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|
| 110 |
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|
| 111 |
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|
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],
|
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"orientation": {
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| 114 |
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|
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"xyz": [
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|
| 119 |
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]
|
| 120 |
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}
|
| 121 |
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},
|
| 122 |
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"grasp_26": {
|
| 123 |
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"confidence": 0.6231330633163452,
|
| 124 |
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"position": [
|
| 125 |
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|
| 126 |
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|
| 127 |
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|
| 128 |
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],
|
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"orientation": {
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"w": 0.01855894305973559,
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"xyz": [
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|
| 134 |
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|
| 135 |
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]
|
| 136 |
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}
|
| 137 |
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},
|
| 138 |
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"grasp_27": {
|
| 139 |
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"confidence": 0.5981912612915039,
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| 140 |
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"position": [
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| 141 |
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| 144 |
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],
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"orientation": {
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| 146 |
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"w": 0.7301747766158544,
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"xyz": [
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| 150 |
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|
| 151 |
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]
|
| 152 |
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}
|
| 153 |
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},
|
| 154 |
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"grasp_28": {
|
| 155 |
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"confidence": 0.580826461315155,
|
| 156 |
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"position": [
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| 157 |
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| 158 |
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| 160 |
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| 163 |
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"xyz": [
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| 164 |
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|
dataset/desktop_supplies/electronic_accessories/79c166184b3d53c7a95de3ad0ca255c9/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
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|
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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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oid sha256:a7fd5f4d384f96fba050f3ca7d42c4898afb3fd9bdfe769b88f9fbe52815c1eb
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| 3 |
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size 1708488
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