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Move put_blocks_on_cup meta files into meta/ subfolder

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  1. put_blocks_on_cup/meta/1/meta.json +71 -0
  2. put_blocks_on_cup/meta/10/meta.json +71 -0
  3. put_blocks_on_cup/meta/100/meta.json +71 -0
  4. put_blocks_on_cup/meta/11/meta.json +71 -0
  5. put_blocks_on_cup/meta/12/meta.json +71 -0
  6. put_blocks_on_cup/meta/13/meta.json +71 -0
  7. put_blocks_on_cup/meta/14/meta.json +71 -0
  8. put_blocks_on_cup/meta/15/meta.json +71 -0
  9. put_blocks_on_cup/meta/16/meta.json +71 -0
  10. put_blocks_on_cup/meta/17/meta.json +71 -0
  11. put_blocks_on_cup/meta/18/meta.json +71 -0
  12. put_blocks_on_cup/meta/19/meta.json +71 -0
  13. put_blocks_on_cup/meta/2/meta.json +71 -0
  14. put_blocks_on_cup/meta/20/meta.json +71 -0
  15. put_blocks_on_cup/meta/21/meta.json +71 -0
  16. put_blocks_on_cup/meta/22/meta.json +71 -0
  17. put_blocks_on_cup/meta/23/meta.json +71 -0
  18. put_blocks_on_cup/meta/24/meta.json +71 -0
  19. put_blocks_on_cup/meta/25/meta.json +71 -0
  20. put_blocks_on_cup/meta/26/meta.json +71 -0
  21. put_blocks_on_cup/meta/27/meta.json +71 -0
  22. put_blocks_on_cup/meta/28/meta.json +71 -0
  23. put_blocks_on_cup/meta/29/meta.json +71 -0
  24. put_blocks_on_cup/meta/3/meta.json +71 -0
  25. put_blocks_on_cup/meta/30/meta.json +71 -0
  26. put_blocks_on_cup/meta/31/meta.json +71 -0
  27. put_blocks_on_cup/meta/32/meta.json +71 -0
  28. put_blocks_on_cup/meta/33/meta.json +71 -0
  29. put_blocks_on_cup/meta/34/meta.json +71 -0
  30. put_blocks_on_cup/meta/35/meta.json +71 -0
  31. put_blocks_on_cup/meta/36/meta.json +71 -0
  32. put_blocks_on_cup/meta/37/meta.json +71 -0
  33. put_blocks_on_cup/meta/38/meta.json +71 -0
  34. put_blocks_on_cup/meta/39/meta.json +71 -0
  35. put_blocks_on_cup/meta/4/meta.json +71 -0
  36. put_blocks_on_cup/meta/40/meta.json +71 -0
  37. put_blocks_on_cup/meta/41/meta.json +71 -0
  38. put_blocks_on_cup/meta/42/meta.json +71 -0
  39. put_blocks_on_cup/meta/43/meta.json +71 -0
  40. put_blocks_on_cup/meta/44/meta.json +71 -0
  41. put_blocks_on_cup/meta/45/meta.json +71 -0
  42. put_blocks_on_cup/meta/46/meta.json +71 -0
  43. put_blocks_on_cup/meta/47/meta.json +71 -0
  44. put_blocks_on_cup/meta/48/meta.json +71 -0
  45. put_blocks_on_cup/meta/49/meta.json +71 -0
  46. put_blocks_on_cup/meta/5/meta.json +71 -0
  47. put_blocks_on_cup/meta/50/meta.json +71 -0
  48. put_blocks_on_cup/meta/51/meta.json +71 -0
  49. put_blocks_on_cup/meta/52/meta.json +71 -0
  50. put_blocks_on_cup/meta/53/meta.json +71 -0
put_blocks_on_cup/meta/1/meta.json ADDED
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