Upload folder using huggingface_hub
Browse files- meta/info.json +213 -0
- meta/stats.json +1096 -0
- meta/stats.safetensors +3 -0
meta/info.json
ADDED
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| 1 |
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{
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| 2 |
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"robot_type": "tomm",
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| 3 |
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"topics": [
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| 4 |
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"/tf",
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| 5 |
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"/tomm/skin_visulization/distance_cloud_merged",
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| 6 |
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"/left_dami_force_wrench",
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| 7 |
+
"/left_dami_prox_wrench",
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| 8 |
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"/right_dami_force_wrench",
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| 9 |
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"/right_dami_prox_wrench",
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| 10 |
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"/tomm/dami/p1e/data",
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| 11 |
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"/tomm/dami/p2e/data",
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| 12 |
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"/tomm/dami/p3e/data",
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| 13 |
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"/tomm/dami/p4e/data",
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| 14 |
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"/tomm/dami/p5e/data",
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| 15 |
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"/tomm/dami/p6e/data",
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| 16 |
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"/tomm/teleop/hand_link_left_force",
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| 17 |
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"/tomm/teleop/hand_link_left_prox",
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| 18 |
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"/tomm/teleop/hand_link_left_pose",
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| 19 |
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"/sgx"
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| 20 |
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],
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| 21 |
+
"fps": 100,
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| 22 |
+
"video_path": null,
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| 23 |
+
"task_type": "classification",
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| 24 |
+
"classification_labels": {
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| 25 |
+
"negative": 0,
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| 26 |
+
"bag_medium": 1,
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| 27 |
+
"bag_heavy": 2,
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| 28 |
+
"bluecube_medium": 3,
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| 29 |
+
"bowl_light": 4,
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| 30 |
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"bowl_medium": 5,
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| 31 |
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"bowl_heavy": 6,
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| 32 |
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"can_light": 7,
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| 33 |
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"chip_light": 8,
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| 34 |
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"cleanser_light": 9,
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| 35 |
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"cleanser_medium": 10,
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| 36 |
+
"cleanser_heavy": 11,
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| 37 |
+
"cube_light": 12,
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| 38 |
+
"cube_medium": 13,
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| 39 |
+
"cube_heavy": 14,
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| 40 |
+
"cubemarsbox_light": 15,
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| 41 |
+
"cubemarsbox_medium": 16,
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| 42 |
+
"cubemarsbox_heavy": 17,
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| 43 |
+
"foam_light": 18,
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| 44 |
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"maxwell_light": 19,
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| 45 |
+
"maxwell_medium": 20,
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| 46 |
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"maxwell_heavy": 21,
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| 47 |
+
"measuringcup_light": 22,
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| 48 |
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"measuringcup_medium": 23,
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| 49 |
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"measuringcup_heavy": 24,
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| 50 |
+
"muesli_light": 25,
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| 51 |
+
"muesli_medium": 26,
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| 52 |
+
"muesli_heavy": 27,
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| 53 |
+
"mustard_light": 28,
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| 54 |
+
"mustard_medium": 29,
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| 55 |
+
"mustard_heavy": 30,
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| 56 |
+
"noodle_medium": 31,
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| 57 |
+
"papercup_light": 32,
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| 58 |
+
"papercup_medium": 33,
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| 59 |
+
"papercup_heavy": 34,
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| 60 |
+
"pitcher_medium": 35,
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| 61 |
+
"ppbox_medium": 36,
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| 62 |
+
"pringles_medium": 37,
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| 63 |
+
"redcup_light": 38,
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| 64 |
+
"ricecake_light": 39,
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| 65 |
+
"softlego_light": 40,
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| 66 |
+
"spam_light": 41,
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| 67 |
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"spam_medium": 42,
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| 68 |
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"spam_heavy": 43,
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| 69 |
+
"sugar_light": 44,
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| 70 |
+
"tape_medium": 45,
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| 71 |
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"teabox_light": 46,
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| 72 |
+
"toast_medium": 47,
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| 73 |
+
"toiletroll_light": 48,
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| 74 |
+
"tomatosoup_light": 49,
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| 75 |
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"tumbox_light": 50,
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| 76 |
+
"tumbox_medium": 51,
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| 77 |
+
"tumbox_heavy": 52,
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| 78 |
+
"udon_light": 53,
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| 79 |
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"weinglass_light": 54,
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| 80 |
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"weinglass_medium": 55,
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| 81 |
+
"weinglass_heavy": 56,
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| 82 |
+
"wood_heavy": 57,
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| 83 |
+
"youcook_light": 58,
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| 84 |
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"youcook_medium": 59,
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| 85 |
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"youcook_heavy": 60
|
| 86 |
+
},
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| 87 |
+
"features": {
|
| 88 |
+
"episode_index": {
|
| 89 |
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"dtype": "int64",
|
| 90 |
+
"shape": [
|
| 91 |
+
1
|
| 92 |
+
]
|
| 93 |
+
},
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| 94 |
+
"timestamp": {
|
| 95 |
+
"dtype": "float64",
|
| 96 |
+
"shape": [
|
| 97 |
+
1
|
| 98 |
+
]
|
| 99 |
+
},
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| 100 |
+
"obs_point_cloud_skin_contact": {
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| 101 |
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"dtype": "float64",
|
| 102 |
+
"shape": [
|
| 103 |
+
44,
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| 104 |
+
6
|
| 105 |
+
],
|
| 106 |
+
"names": [
|
| 107 |
+
"x",
|
| 108 |
+
"y",
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| 109 |
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"z",
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| 110 |
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"r",
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| 111 |
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"g",
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| 112 |
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"b"
|
| 113 |
+
],
|
| 114 |
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"description": "Point cloud data with RGB color values (44 points max)"
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| 115 |
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},
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| 116 |
+
"mask_point_cloud_skin_contact": {
|
| 117 |
+
"dtype": "bool",
|
| 118 |
+
"shape": [
|
| 119 |
+
44
|
| 120 |
+
],
|
| 121 |
+
"description": "Mask indicating valid points in point cloud"
|
| 122 |
+
},
|
| 123 |
+
"classification_label": {
|
| 124 |
+
"dtype": "int64",
|
| 125 |
+
"shape": [
|
| 126 |
+
1
|
| 127 |
+
],
|
| 128 |
+
"description": "Classification label for the push action"
|
| 129 |
+
},
|
| 130 |
+
"obs_pose_left": {
|
| 131 |
+
"dtype": "float64",
|
| 132 |
+
"shape": [
|
| 133 |
+
7
|
| 134 |
+
],
|
| 135 |
+
"names": [
|
| 136 |
+
"x",
|
| 137 |
+
"y",
|
| 138 |
+
"z",
|
| 139 |
+
"qx",
|
| 140 |
+
"qy",
|
| 141 |
+
"qz",
|
| 142 |
+
"qw"
|
| 143 |
+
],
|
| 144 |
+
"description": "Left hand pose (position + quaternion)"
|
| 145 |
+
},
|
| 146 |
+
"obs_skin_prox_left": {
|
| 147 |
+
"dtype": "float64",
|
| 148 |
+
"shape": [
|
| 149 |
+
44
|
| 150 |
+
],
|
| 151 |
+
"description": "Skin proximity sensor data from left hand (6 patches: p1:13, p2:8, p3:8, p4:7, p5:5, p6:3)"
|
| 152 |
+
},
|
| 153 |
+
"obs_skin_force_left": {
|
| 154 |
+
"dtype": "float64",
|
| 155 |
+
"shape": [
|
| 156 |
+
44
|
| 157 |
+
],
|
| 158 |
+
"description": "Skin force sensor data from left hand (6 patches: p1:13, p2:8, p3:8, p4:7, p5:5, p6:3)"
|
| 159 |
+
},
|
| 160 |
+
"obs_skin_dist_left": {
|
| 161 |
+
"dtype": "float64",
|
| 162 |
+
"shape": [
|
| 163 |
+
44
|
| 164 |
+
],
|
| 165 |
+
"description": "Skin distance sensor data from left hand (6 patches: p1:13, p2:8, p3:8, p4:7, p5:5, p6:3)"
|
| 166 |
+
},
|
| 167 |
+
"obs_dami_force_left": {
|
| 168 |
+
"dtype": "float64",
|
| 169 |
+
"shape": [
|
| 170 |
+
6
|
| 171 |
+
],
|
| 172 |
+
"names": [
|
| 173 |
+
"force_x",
|
| 174 |
+
"force_y",
|
| 175 |
+
"force_z",
|
| 176 |
+
"torque_x",
|
| 177 |
+
"torque_y",
|
| 178 |
+
"torque_z"
|
| 179 |
+
],
|
| 180 |
+
"description": "Force/torque data from left hand"
|
| 181 |
+
},
|
| 182 |
+
"obs_dami_prox_left": {
|
| 183 |
+
"dtype": "float64",
|
| 184 |
+
"shape": [
|
| 185 |
+
6
|
| 186 |
+
],
|
| 187 |
+
"names": [
|
| 188 |
+
"force_x",
|
| 189 |
+
"force_y",
|
| 190 |
+
"force_z",
|
| 191 |
+
"torque_x",
|
| 192 |
+
"torque_y",
|
| 193 |
+
"torque_z"
|
| 194 |
+
],
|
| 195 |
+
"description": "Proximity force/torque data from left hand"
|
| 196 |
+
},
|
| 197 |
+
"obs_ft_left": {
|
| 198 |
+
"dtype": "float64",
|
| 199 |
+
"shape": [
|
| 200 |
+
6
|
| 201 |
+
],
|
| 202 |
+
"names": [
|
| 203 |
+
"force_x",
|
| 204 |
+
"force_y",
|
| 205 |
+
"force_z",
|
| 206 |
+
"torque_x",
|
| 207 |
+
"torque_y",
|
| 208 |
+
"torque_z"
|
| 209 |
+
],
|
| 210 |
+
"description": "Optional force/torque data from left hand"
|
| 211 |
+
}
|
| 212 |
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}
|
| 213 |
+
}
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meta/stats.json
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@@ -0,0 +1,1096 @@
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|
| 1 |
+
{
|
| 2 |
+
"obs_point_cloud_skin_contact": {
|
| 3 |
+
"mean": [
|
| 4 |
+
0.001753642229710018,
|
| 5 |
+
0.014805464074049245,
|
| 6 |
+
-0.002951007491050695,
|
| 7 |
+
49.40374145353255,
|
| 8 |
+
205.68634464421373,
|
| 9 |
+
7.816472524689794
|
| 10 |
+
],
|
| 11 |
+
"std": [
|
| 12 |
+
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meta/stats.safetensors
ADDED
|
@@ -0,0 +1,3 @@
|
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|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
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oid sha256:8669d4c3f2463765f05591c5be6426e631533a30390bd1a60f218655c7fc10a9
|
| 3 |
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size 6968
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