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observation.state
list
action
list
observation.images.cam_high
imagewidth (px)
640
640
observation.images.cam_left_wrist
imagewidth (px)
640
640
observation.images.cam_right_wrist
imagewidth (px)
640
640
timestamp
float32
0
50.7
frame_index
int64
0
507
episode_index
int64
0
17
index
int64
0
8k
task_index
int64
0
0
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0.1
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0.3
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0.5
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0.6
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0.7
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0.8
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0.9
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1
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1.1
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1.2
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1.3
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1.4
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1.5
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1.6
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1.7
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1.8
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1.9
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2
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2.1
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2.2
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2.3
23
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2.4
24
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2.5
25
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25
0
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2.6
26
0
26
0
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2.7
27
0
27
0
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2.8
28
0
28
0
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2.9
29
0
29
0
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3
30
0
30
0
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3.1
31
0
31
0
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3.2
32
0
32
0
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3.3
33
0
33
0
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3.4
34
0
34
0
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3.5
35
0
35
0
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3.6
36
0
36
0
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3.7
37
0
37
0
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3.8
38
0
38
0
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3.9
39
0
39
0
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4
40
0
40
0
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4.1
41
0
41
0
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4.2
42
0
42
0
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4.3
43
0
43
0
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4.4
44
0
44
0
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4.5
45
0
45
0
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4.6
46
0
46
0
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4.7
47
0
47
0
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4.8
48
0
48
0
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4.9
49
0
49
0
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5
50
0
50
0
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5.1
51
0
51
0
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5.2
52
0
52
0
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5.3
53
0
53
0
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5.4
54
0
54
0
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5.5
55
0
55
0
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5.6
56
0
56
0
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5.7
57
0
57
0
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5.8
58
0
58
0
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5.9
59
0
59
0
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6
60
0
60
0
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6.1
61
0
61
0
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6.2
62
0
62
0
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6.3
63
0
63
0
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6.4
64
0
64
0
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6.5
65
0
65
0
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6.6
66
0
66
0
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6.7
67
0
67
0
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6.8
68
0
68
0
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6.9
69
0
69
0
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7
70
0
70
0
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7.1
71
0
71
0
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7.2
72
0
72
0
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7.3
73
0
73
0
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[ 0.029600784182548523, 0.43449971079826355, -0.2958682179450989, -0.1731192022562027, 0.24443335831165314, 0.1140747144818306, 1.4228571653366089, 0.09875799715518951, -0.0008699999889358878, 0.2597610056400299, -0.28816255927085876, -0.005245469510555267, -0.06247668340802193, 0.9979573488...
7.4
74
0
74
0
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[ 0.029600784182548523, 0.43449971079826355, -0.2958682179450989, -0.1731192022562027, 0.24443335831165314, 0.1140747144818306, 1.4228571653366089, 0.09875799715518951, -0.0008699999889358878, 0.2597610056400299, -0.28816255927085876, -0.005245469510555267, -0.06247668340802193, 0.9979573488...
7.5
75
0
75
0
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[ 0.029600784182548523, 0.43449971079826355, -0.2958682179450989, -0.1731192022562027, 0.24443335831165314, 0.1140747144818306, 1.4228571653366089, 0.09875799715518951, -0.0008699999889358878, 0.2597610056400299, -0.28816255927085876, -0.005245469510555267, -0.06247668340802193, 0.9979573488...
7.6
76
0
76
0
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[ 0.029600784182548523, 0.43449971079826355, -0.2958682179450989, -0.1731192022562027, 0.24443335831165314, 0.1140747144818306, 1.4228571653366089, 0.09875799715518951, -0.0008699999889358878, 0.2597610056400299, -0.28816255927085876, -0.005245469510555267, -0.06247668340802193, 0.9979573488...
7.7
77
0
77
0
[ 0.029600784182548523, 0.43449971079826355, -0.2958682179450989, -0.1731192022562027, 0.24443335831165314, 0.1140747144818306, 1.4228571653366089, 0.09875799715518951, -0.0008699999889358878, 0.2597610056400299, -0.28816255927085876, -0.005245469510555267, -0.06247668340802193, 0.9979573488...
[ 0.029600784182548523, 0.43449971079826355, -0.2958682179450989, -0.1731192022562027, 0.24443335831165314, 0.1140747144818306, 1.4228571653366089, 0.09875799715518951, -0.0008699999889358878, 0.2597610056400299, -0.28816255927085876, -0.005245469510555267, -0.06247668340802193, 0.9979573488...
7.8
78
0
78
0
[ 0.029600784182548523, 0.43449971079826355, -0.2958682179450989, -0.1731192022562027, 0.24443335831165314, 0.1140747144818306, 1.4228571653366089, 0.09875799715518951, -0.0008699999889358878, 0.2597610056400299, -0.28816255927085876, -0.005245469510555267, -0.06247668340802193, 0.9979573488...
[ 0.029600784182548523, 0.43449971079826355, -0.2958682179450989, -0.1731192022562027, 0.24443335831165314, 0.1140747144818306, 1.4228571653366089, 0.09875799715518951, -0.0008699999889358878, 0.2597610056400299, -0.28816255927085876, -0.005245469510555267, -0.06247668340802193, 0.9979573488...
7.9
79
0
79
0
[ 0.029600784182548523, 0.43449971079826355, -0.2958682179450989, -0.1731192022562027, 0.24443335831165314, 0.1140747144818306, 1.4228571653366089, 0.09875799715518951, -0.0008699999889358878, 0.2597610056400299, -0.28816255927085876, -0.005245469510555267, -0.06247668340802193, 0.9979573488...
[ 0.029600784182548523, 0.43449971079826355, -0.2958682179450989, -0.1731192022562027, 0.24443335831165314, 0.1140747144818306, 1.4228571653366089, 0.09875799715518951, -0.0008699999889358878, 0.2597610056400299, -0.28816255927085876, -0.005245469510555267, -0.06247668340802193, 0.9979573488...
8
80
0
80
0
[ 0.029600784182548523, 0.43449971079826355, -0.2958682179450989, -0.1731192022562027, 0.24443335831165314, 0.1140747144818306, 1.4228571653366089, 0.09875799715518951, -0.0008699999889358878, 0.2597610056400299, -0.28816255927085876, -0.005245469510555267, -0.06247668340802193, 0.9979573488...
[ 0.029600784182548523, 0.43449971079826355, -0.2958682179450989, -0.1731192022562027, 0.24443335831165314, 0.1140747144818306, 1.4228571653366089, 0.09875799715518951, -0.0008699999889358878, 0.2597610056400299, -0.28816255927085876, -0.005245469510555267, -0.06247668340802193, 0.9979573488...
8.1
81
0
81
0
[ 0.029600784182548523, 0.43449971079826355, -0.2958682179450989, -0.1731192022562027, 0.24443335831165314, 0.1140747144818306, 1.4228571653366089, 0.09875799715518951, -0.0008699999889358878, 0.2597610056400299, -0.28816255927085876, -0.005245469510555267, -0.06247668340802193, 0.9979573488...
[ 0.029600784182548523, 0.43449971079826355, -0.2958682179450989, -0.1731192022562027, 0.24443335831165314, 0.1140747144818306, 1.4228571653366089, 0.09875799715518951, -0.0008699999889358878, 0.2597610056400299, -0.28816255927085876, -0.005245469510555267, -0.06247668340802193, 0.9979573488...
8.2
82
0
82
0
[ 0.029600784182548523, 0.43449971079826355, -0.2958682179450989, -0.1731192022562027, 0.24443335831165314, 0.1140747144818306, 1.4228571653366089, 0.09875799715518951, -0.0008699999889358878, 0.2597610056400299, -0.28816255927085876, -0.005245469510555267, -0.06247668340802193, 0.9979573488...
[ 0.029600784182548523, 0.43449971079826355, -0.2958682179450989, -0.1731192022562027, 0.24443335831165314, 0.1140747144818306, 1.4228571653366089, 0.09875799715518951, -0.0008699999889358878, 0.2597610056400299, -0.28816255927085876, -0.005245469510555267, -0.06247668340802193, 0.9979573488...
8.3
83
0
83
0
[ 0.029600784182548523, 0.43449971079826355, -0.2958682179450989, -0.1731192022562027, 0.24443335831165314, 0.1140747144818306, 1.4228571653366089, 0.09875799715518951, -0.0008699999889358878, 0.2597610056400299, -0.28816255927085876, -0.005245469510555267, -0.06247668340802193, 0.9979573488...
[ 0.029600784182548523, 0.43449971079826355, -0.2958682179450989, -0.1731192022562027, 0.24443335831165314, 0.1140747144818306, 1.4228571653366089, 0.09875799715518951, -0.0008699999889358878, 0.2597610056400299, -0.28816255927085876, -0.005245469510555267, -0.06247668340802193, 0.9979573488...
8.4
84
0
84
0
[ 0.029600784182548523, 0.43449971079826355, -0.2958682179450989, -0.1731192022562027, 0.24443335831165314, 0.1140747144818306, 1.4228571653366089, 0.09875799715518951, -0.0008699999889358878, 0.2597610056400299, -0.28816255927085876, -0.005245469510555267, -0.06247668340802193, 0.9979573488...
[ 0.029600784182548523, 0.43449971079826355, -0.2958682179450989, -0.1731192022562027, 0.24443335831165314, 0.1140747144818306, 1.4228571653366089, 0.09875799715518951, -0.0008699999889358878, 0.2597610056400299, -0.28816255927085876, -0.005245469510555267, -0.06247668340802193, 0.9979573488...
8.5
85
0
85
0
[ 0.029600784182548523, 0.43449971079826355, -0.2958682179450989, -0.1731192022562027, 0.24443335831165314, 0.1140747144818306, 1.4228571653366089, 0.09875799715518951, -0.0008699999889358878, 0.2597610056400299, -0.28816255927085876, -0.005245469510555267, -0.06247668340802193, 0.9979573488...
[ 0.029600784182548523, 0.43449971079826355, -0.2958682179450989, -0.1731192022562027, 0.24443335831165314, 0.1140747144818306, 1.4228571653366089, 0.09875799715518951, -0.0008699999889358878, 0.2597610056400299, -0.28816255927085876, -0.005245469510555267, -0.06247668340802193, 0.9979573488...
8.6
86
0
86
0
[ 0.029600784182548523, 0.43449971079826355, -0.2958682179450989, -0.1731192022562027, 0.24443335831165314, 0.1140747144818306, 1.4228571653366089, 0.09875799715518951, -0.0008699999889358878, 0.2597610056400299, -0.28816255927085876, -0.005245469510555267, -0.06247668340802193, 0.9979573488...
[ 0.029600784182548523, 0.43449971079826355, -0.2958682179450989, -0.1731192022562027, 0.24443335831165314, 0.1140747144818306, 1.4228571653366089, 0.09875799715518951, -0.0008699999889358878, 0.2597610056400299, -0.28816255927085876, -0.005245469510555267, -0.06247668340802193, 0.9979573488...
8.7
87
0
87
0
[ 0.029600784182548523, 0.43449971079826355, -0.2958682179450989, -0.1731192022562027, 0.24443335831165314, 0.1140747144818306, 1.4228571653366089, 0.09875799715518951, -0.0008699999889358878, 0.2597610056400299, -0.28816255927085876, -0.005245469510555267, -0.06247668340802193, 0.9979573488...
[ 0.029600784182548523, 0.43449971079826355, -0.2958682179450989, -0.1731192022562027, 0.24443335831165314, 0.1140747144818306, 1.4228571653366089, 0.09875799715518951, -0.0008699999889358878, 0.2597610056400299, -0.28816255927085876, -0.005245469510555267, -0.06247668340802193, 0.9979573488...
8.8
88
0
88
0
[ 0.029600784182548523, 0.43449971079826355, -0.2958682179450989, -0.1731192022562027, 0.24443335831165314, 0.1140747144818306, 1.4228571653366089, 0.09875799715518951, -0.0008699999889358878, 0.2597610056400299, -0.28816255927085876, -0.005245469510555267, -0.06247668340802193, 0.9979573488...
[ 0.029600784182548523, 0.43449971079826355, -0.2958682179450989, -0.1731192022562027, 0.24443335831165314, 0.1140747144818306, 1.4228571653366089, 0.09875799715518951, -0.0008699999889358878, 0.2597610056400299, -0.28816255927085876, -0.005245469510555267, -0.06247668340802193, 0.9979573488...
8.9
89
0
89
0
[ 0.029600784182548523, 0.43449971079826355, -0.2958682179450989, -0.1731192022562027, 0.24443335831165314, 0.1140747144818306, 1.4228571653366089, 0.09875799715518951, -0.0008699999889358878, 0.2597610056400299, -0.28816255927085876, -0.005245469510555267, -0.06247668340802193, 0.9979573488...
[ 0.029600784182548523, 0.43449971079826355, -0.2958682179450989, -0.1731192022562027, 0.24443335831165314, 0.1140747144818306, 1.4228571653366089, 0.09875799715518951, -0.0008699999889358878, 0.2597610056400299, -0.28816255927085876, -0.005245469510555267, -0.06247668340802193, 0.9979573488...
9
90
0
90
0
End of preview. Expand in Data Studio

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Check out the documentation for more information.

Piper LeRobot Dataset

Generated on 2026-04-25 by convert_piper_hdf5_to_lerobot.py.

Summary

  • Repo id: ZhaoRunyi/Piper_beaker_mixer_0421
  • Robot type: aloha
  • Input dir: /home/edemlab/challenge_ws/control_your_robot/example/teleop/save/dual_piper_data/beaker_mixer
  • Output dir: /home/edemlab/challenge_ws/data/ZhaoRunyi/Piper_beaker_mixer_0421
  • FPS: 10
  • Sampling mode: full
  • Leading group: slave_cam_high
  • Crop strategy: LATEST_START
  • Default leading tolerance: 0.1 s
  • Additional constraints: []
  • Arm selection: dual -> left, right
  • Space ids: all -> ['joint', 'gripper', 'ee_pos', 'ee_rot']
  • EE rotation format: rot6d
  • Gripper format: raw
  • Image preset: all -> ['observation.images.cam_high', 'observation.images.cam_left_wrist', 'observation.images.cam_right_wrist']

State / Action Index Map

action uses the exact same index order as observation.state.

indices arm component names source
0-5 left joint left_joint_waist, left_joint_shoulder, left_joint_elbow, left_joint_forearm_roll, left_joint_wrist_angle, left_joint_wrist_rotate slave_left_arm/joint
6 left gripper left_gripper slave_left_arm/gripper
7-9 left ee_pos left_ee_pos_x, left_ee_pos_y, left_ee_pos_z slave_left_arm/ee_pose[:3]
10-15 left ee_rot left_ee_rot6d_0, left_ee_rot6d_1, left_ee_rot6d_2, left_ee_rot6d_3, left_ee_rot6d_4, left_ee_rot6d_5 slave_left_arm/ee_pose[3:6] (controller-scaled Piper xyz Euler) -> rot6d
16-21 right joint right_joint_waist, right_joint_shoulder, right_joint_elbow, right_joint_forearm_roll, right_joint_wrist_angle, right_joint_wrist_rotate slave_right_arm/joint
22 right gripper right_gripper slave_right_arm/gripper
23-25 right ee_pos right_ee_pos_x, right_ee_pos_y, right_ee_pos_z slave_right_arm/ee_pose[:3]
26-31 right ee_rot right_ee_rot6d_0, right_ee_rot6d_1, right_ee_rot6d_2, right_ee_rot6d_3, right_ee_rot6d_4, right_ee_rot6d_5 slave_right_arm/ee_pose[3:6] (controller-scaled Piper xyz Euler) -> rot6d

Notes

  • Timestamp alignment is done per HDF5 group. Each camera group and each arm group has its own timestamp dataset, which is treated like an individual topic timeline.
  • The leading group is slave_cam_high. In full mode every leading-group timestep is kept; in fps mode the leading timeline is resampled first and then all other groups are bound to it by nearest timestamp.
  • Piper HDF5 stores 6 arm joints plus one separate gripper scalar per arm. When both joint and gripper are enabled, the gripper is appended as the 7th dimension of that arm's joint block.
  • ee_pose rotation is decoded from the current PiperController convention: controller value -> multiply by 1000 -> Piper xyz Euler degrees -> convert to rot6d. When EE_ROT_FORMAT is rpy/euler, the exported values are radians.
  • GRIPPER_FORMAT="01" treats values in [0, 1] as normalized opening ratio and thresholds them with GRIPPER_FULL_WIDTH=0.05 and GRIPPER_THRESHOLD=0.01.

Image Keys

dataset key hdf5 group
observation.images.cam_high slave_cam_high
observation.images.cam_left_wrist slave_cam_left
observation.images.cam_right_wrist slave_cam_right

Feature Names

observation.state / action names:

left_joint_waist, left_joint_shoulder, left_joint_elbow, left_joint_forearm_roll, left_joint_wrist_angle, left_joint_wrist_rotate, left_gripper, left_ee_pos_x, left_ee_pos_y, left_ee_pos_z, left_ee_rot6d_0, left_ee_rot6d_1, left_ee_rot6d_2, left_ee_rot6d_3, left_ee_rot6d_4, left_ee_rot6d_5, right_joint_waist, right_joint_shoulder, right_joint_elbow, right_joint_forearm_roll, right_joint_wrist_angle, right_joint_wrist_rotate, right_gripper, right_ee_pos_x, right_ee_pos_y, right_ee_pos_z, right_ee_rot6d_0, right_ee_rot6d_1, right_ee_rot6d_2, right_ee_rot6d_3, right_ee_rot6d_4, right_ee_rot6d_5
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