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--- /dev/null
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Binary files /dev/null and b/train/00081-5biL7VEkByM/5biL7VEkByM.basis.navmesh differ
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new file mode 100644
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--- /dev/null
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diff --git a/train/00105-xWvSkKiWQpC/xWvSkKiWQpC.semantic.txt b/train/00105-xWvSkKiWQpC/xWvSkKiWQpC.semantic.txt
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--- /dev/null
+++ b/train/00105-xWvSkKiWQpC/xWvSkKiWQpC.semantic.txt
@@ -0,0 +1,734 @@
+HM3D Semantic Annotations
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--- /dev/null
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diff --git a/train/00241-h6nwVLpAKQz/h6nwVLpAKQz.basis.navmesh b/train/00241-h6nwVLpAKQz/h6nwVLpAKQz.basis.navmesh
new file mode 100644
index 0000000000000000000000000000000000000000..638a68cefd7875f42e741a024c8162cdeea324b3
Binary files /dev/null and b/train/00241-h6nwVLpAKQz/h6nwVLpAKQz.basis.navmesh differ
diff --git a/train/00241-h6nwVLpAKQz/h6nwVLpAKQz.semantic.txt b/train/00241-h6nwVLpAKQz/h6nwVLpAKQz.semantic.txt
new file mode 100644
index 0000000000000000000000000000000000000000..b83d9e4516bd584254079809c0bd3dacc6e1597f
--- /dev/null
+++ b/train/00241-h6nwVLpAKQz/h6nwVLpAKQz.semantic.txt
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--- /dev/null
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--- /dev/null
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+1386,E953BF,"hat",11
+1387,78C68A,"clothes container",11
+1388,EB45E9,"clothes container",11
+1389,FD709D,"clothes container",11
+1390,169EED,"clothes bag",11
+1391,C32512,"clothes bag",11
+1392,C6FD16,"clothes bag",11
+1393,9A0238,"clothes bag",11
+1394,2D0E9F,"cardboard box",11
+1395,79D9BC,"bag",11
+1396,7F332A,"cardboard box",11
+1397,587FDE,"cardboard box",11
+1398,791284,"shoe",11
+1399,2E7A92,"shoe",11
+1400,A6E702,"shoe",11
+1401,404519,"shoe",11
+1402,4423AC,"hanging clothes",11
+1403,47A659,"hanging clothes",11
+1404,F85801,"hanging clothes",11
+1405,B8F706,"hanging clothes",11
+1406,8E3557,"hanging clothes",11
+1407,8D2F70,"hanging clothes",11
+1408,4E6339,"hanging clothes",11
+1409,105721,"hanging clothes",11
+1410,31805B,"hanging clothes",11
+1411,41302D,"hanging clothes",11
+1412,F0CEC8,"hanging clothes",11
+1413,D1D10A,"hanging clothes",11
+1414,32FBD0,"hanging clothes",11
+1415,0B4014,"hanging clothes",11
+1416,953BCA,"hanging clothes",11
+1417,CA250E,"hanging clothes",11
+1418,541081,"hanging clothes",11
+1419,A5B1DC,"hanging clothes",11
+1420,8D7F76,"hanging clothes",11
+1421,529500,"hanging clothes",11
+1422,898061,"hanging clothes",11
+1423,9E6557,"hanging clothes",11
+1424,711E45,"hanging clothes",11
+1425,28093D,"hanging clothes",11
+1426,94009C,"hanging clothes",11
+1427,4655BE,"hanging clothes",11
+1428,B04A96,"hanging clothes",11
+1429,D9B6B7,"hanging clothes",11
+1430,3F0B82,"hanging clothes",11
+1431,129B61,"hanging clothes",11
+1432,961341,"hanging clothes",11
+1433,CE2723,"hanging clothes",11
+1434,BD0728,"clothes",11
+1435,BEA916,"clothes",11
+1436,98125A,"clothes",11
+1437,E06D95,"clothes",11
+1438,D4188F,"clothes",11
+1439,AE9A89,"clothes",11
+1440,039219,"clothes",11
+1441,090F2C,"clothes",11
+1442,1CAB17,"closet rod",11
+1443,97C480,"shelf",11
+1444,A5E1DD,"unknown",11
+1445,3B4BD1,"unknown",11
+1446,EB3846,"unknown",11
+1447,250ABD,"unknown",11
+1448,73A5DC,"unknown",11
+1449,8B54C7,"bag",11
+1450,EC2DE1,"bag",11
+1451,E4099B,"hanging clothes",11
+1452,595768,"closet rod",11
+1453,BE675C,"towel",11
+1454,C3B3F6,"wall",11
+1455,8046BC,"wall",11
+1456,EB6929,"wall",11
+1457,3EC86C,"wall",11
+1458,278A5F,"wall",11
+1459,880340,"unknown",11
+1460,8A591A,"unknown",11
+1461,ECA129,"unknown",11
+1462,2CC4A5,"ceiling",11
+1463,CA01FC,"unknown",11
+1464,E92696,"ceiling light fixture connection",11
+1465,64EF1B,"ceiling light fixture connection",11
+1466,78CE82,"unknown",11
+1467,588DDA,"floor",11
+1468,112C13,"bag",11
+1469,B53902,"wall",1
+1470,89C8F5,"wall",13
+1471,100E52,"wall",13
+1472,81383F,"shower curtain rod",7
+1473,8FBEAC,"shower wall",7
+1474,929224,"wall",7
+1475,8CC114,"wall",7
+1476,D37D6E,"wall",7
+1477,7D1852,"wall",7
+1478,C74983,"wall",8
+1479,D50682,"doorway",8
+1480,D51FF5,"floor",9
+1481,22EADF,"carpet",9
+1482,5C3A51,"doorstep",9
+1483,4D3F73,"unknown",12
+1484,595749,"wall electronics",12
+1485,6CCEC5,"unknown",17
+1486,229083,"unknown",1
+1487,1305B8,"air conditioner",19
+1488,70A611,"shower dial",7
+1489,861E15,"showerhead",7
+1490,12E74C,"shower hose",7
+1491,1F0DAF,"clothes hanger",11
+1492,E3ED7B,"clothes hanger",11
+1493,186700,"unknown",11
+1494,60D448,"unknown",11
+1495,CD9531,"unknown",11
+1496,FCE1FB,"unknown",11
+1497,21C394,"carpet",12
+1498,A681D1,"pillow",12
+1499,17A016,"wall",13
+1500,5C0B9E,"picture",15
\ No newline at end of file
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new file mode 100644
index 0000000000000000000000000000000000000000..d9f4569d8d80ca86f63a64c956efc9db371fac3e
--- /dev/null
+++ b/train/00407-NPHxDe6VeCc/NPHxDe6VeCc.semantic.txt
@@ -0,0 +1,830 @@
+HM3D Semantic Annotations
+1,EC1044,"floor",1
+2,08B5DB,"ceiling",1
+3,2B3EBB,"ceiling lamp",1
+4,B81AEE,"ceiling lamp",1
+5,4A5D97,"ceiling lamp",1
+6,306AEE,"ceiling lamp",1
+7,A2B8BF,"ceiling lamp",1
+8,EA8160,"ceiling lamp",1
+9,523383,"ceiling lamp",1
+10,1B3CD9,"ceiling lamp",1
+11,59D728,"ceiling lamp",1
+12,5F9063,"ceiling lamp",1
+13,EC3696,"ceiling lamp",1
+14,5B93AF,"ceiling lamp",1
+15,B1C298,"wall",1
+16,111E4A,"door frame",1
+17,15ABD3,"wall lamp",1
+18,60B245,"wall lamp",1
+19,F76BED,"wall",1
+20,1255E1,"wall",1
+21,5718B9,"wall lamp",1
+22,94C6A7,"wall lamp",1
+23,48E877,"wall",1
+24,18D64B,"radiator",1
+25,F32EF0,"radiator",1
+26,73E8D3,"table",1
+27,D55C6C,"cabinet",1
+28,31E1DE,"unknown",1
+29,2618B7,"led tv",1
+30,72CB79,"dresser",1
+31,F96449,"dresser",1
+32,42B9D4,"unknown",1
+33,ADC61D,"speaker",1
+34,7971CF,"speaker",1
+35,EB89C2,"electric box",1
+36,6502A2,"fireplace wall",1
+37,7B6CD0,"candle",1
+38,A816BD,"candle",1
+39,4DB2C1,"candle",1
+40,7F9E4C,"candle",1
+41,C6D34C,"unknown",1
+42,19E65A,"firewood holder",1
+43,98C125,"firewood",1
+44,E0D238,"fireplace",1
+45,D187D1,"flower",1
+46,748443,"rug",1
+47,D2A0C2,"floor mat",1
+48,A894B8,"floor mat",1
+49,C99893,"coffee table",1
+50,1238F5,"decorative plate",1
+51,2C483F,"footrest",1
+52,782EFA,"coffee table",1
+53,219A27,"lamp table",1
+54,345ACC,"basket",1
+55,361F7F,"electrical controller",1
+56,2E1D52,"electrical controller",1
+57,7B799D,"couch",1
+58,1BBC17,"pillow",1
+59,DB2125,"pillow",1
+60,D96E06,"pillow",1
+61,303B6E,"pillow",1
+62,EA1BA5,"pillow",1
+63,73417C,"pillow",1
+64,F24A79,"throw blanket",1
+65,339D01,"throw blanket",1
+66,D61D9F,"couch",1
+67,E67303,"pillow",1
+68,938AC7,"pillow",1
+69,E0E388,"pillow",1
+70,E85514,"pillow",1
+71,4A8486,"pillow",1
+72,73CD94,"pillow",1
+73,AED3DE,"throw blanket",1
+74,51113A,"throw blanket",1
+75,0D4E62,"table",1
+76,18EC0A,"unknown",1
+77,C0F928,"radiator",1
+78,AC80A6,"window frame",1
+79,F07191,"window",1
+80,8FBF8D,"window frame",1
+81,B3996E,"window shutter",1
+82,30E993,"window shutter",1
+83,4EF19B,"window frame",1
+84,9DEBD4,"door",1
+85,B63E36,"sensor",1
+86,76A91A,"window",1
+87,0E343F,"window",1
+88,D4D9AF,"window",1
+89,024EC6,"floor",2
+90,768B03,"floor",2  
+91,5D8138,"wall",2
+92,2A2A8D,"door",2
+93,90A8C2,"door frame",2
+94,63B953,"door frame",2
+95,6A6693,"wall lamp",2
+96,7DD9E9,"wall lamp",2
+97,CC03AF,"wall",2
+98,372B10,"ceiling",2
+99,4C10B3,"wall",2
+100,BBBD2D,"wall",2
+101,E56087,"wall",2
+102,A11D53,"floor mat",2
+103,3F2377,"floor mat",2
+104,83E01E,"stair step",2
+105,BEDD32,"stair step",2
+106,A21E0B,"wall",2
+107,1385C5,"wall lamp",2
+108,9532D4,"picture",2 
+109,244457,"unknown",2
+110,C24F25,"radiator",2
+111,7489C3,"ceiling",2
+112,1E0785,"door frame",2
+113,F6AA23,"wall",2
+114,F180AF,"wall lamp",2
+115,192B88,"mirror frame",2
+116,26D5BA,"wall hanging decoration",2
+117,FD578B,"wall",2
+118,930ABD,"door",2
+119,098521,"door frame",2
+120,A22773,"wall",2
+121,3A7F4B,"wall",2
+122,6849F2,"wall",2
+123,84A4DF,"wall",2
+124,45840C,"sensor",2
+125,B28ED0,"door frame",2
+126,146A55,"door",2 
+127,D25FA2,"wall",2
+128,8E7D3F,"wall",2
+129,19FDF8,"glass",2
+130,FA22AE,"glass",2
+131,A858F0,"door",2
+132,06C5FE,"unknown",2
+133,6D9DDE,"wall hanging decoration",2
+134,B9023F,"wall hanging decoration",2
+135,669006,"wall hanging decoration",2
+136,9BF358,"unknown",2
+137,2F9802,"chair",2
+138,CCCACE,"hat",2
+139,C62579,"hat",2
+140,8C58CB,"hat",2
+141,13A1B2,"unknown",2
+142,5AB9E0,"floor",3
+143,2B74E7,"floor mat",3
+144,4AF647,"ceiling",3
+145,C05698,"ceiling lamp",3
+146,1A1987,"wall",3
+147,6CF74D,"radiator",3
+148,3A9FE2,"picture",3
+149,444660,"toilet",3
+150,D7F28A,"wall",3
+151,5435B6,"door",3
+152,37354D,"door frame",3
+153,B9041B,"ceiling",4
+154,681E04,"ceiling light",4
+155,6FD5B8,"ceiling light",4
+156,E92AA6,"ceiling light",4
+157,491E51,"ceiling light",4
+158,AF3DC2,"ceiling light",4
+159,69EB4A,"ceiling light",4
+160,3D0969,"ceiling light",4
+161,E14AB8,"ceiling light",4
+162,533B7D,"ceiling light",4
+163,99A01A,"ceiling light",4
+164,33916C,"ceiling light",4
+165,527527,"ceiling light",4
+166,EA8ECE,"ceiling light",4
+167,E784DA,"ceiling light",4
+168,8BF2EB,"ceiling light",4
+169,46944C,"ceiling light",4
+170,EBD562,"ceiling light",4
+171,69EA0D,"ceiling light",4
+172,B229F1,"ceiling light",4
+173,E3BDEE,"ceiling light",4
+174,8F5F25,"ceiling light",4
+175,905C16,"floor",4
+176,9366BD,"wall",4
+177,1C5F5B,"wall",4
+178,F9E552,"wall",4
+179,9D5EF7,"wall",4
+180,5693FE,"wall",4
+181,8EFEDA,"wall",4
+182,879E5E,"wall",4
+183,CFCB7F,"wall",4
+184,4CABB5,"radiator",4
+185,B3C042,"door",4
+186,9DB07C,"door frame",4
+187,CE2E30,"door frame",4
+188,7E820B,"door",4
+189,B41672,"led tv",4
+190,801215,"sensor",4
+191,68C4F5,"couch",4
+192,6C2EE1,"pillow",4
+193,16CBD0,"pillow",4
+194,43D5C9,"pillow",4
+195,F75534,"pillow",4
+196,53851C,"unknown",4
+197,3D02B4,"window frame",4
+198,E56F9B,"blinds",4
+199,D4BF67,"cabinet",4
+200,B3689E,"kitchen appliance",4
+201,1922F6,"kitchen appliance",4
+202,7F77F4,"cabinet",4
+203,19F883,"basket",4
+204,D10B48,"basket",4
+205,6A2437,"basket",4
+206,E4870A,"kitchen appliance",4
+207,C9CECA,"kitchen appliance",4
+208,8E4ED5,"unknown",4
+209,5A2381,"sink",4
+210,5679BB,"stove",4
+211,33A292,"oven",4
+212,A56D78,"window frame",4
+213,18EB85,"window frame",4
+214,7FC262,"window",4
+215,5565C8,"window",4
+216,182097,"window",4
+217,8E8966,"tap",4
+218,EDF6A5,"cabinet",4
+219,2E2FBC,"kitchen appliance",4
+220,0A310E,"kitchen appliance",4
+221,B224D4,"kitchen appliance",4
+222,01E198,"kitchen appliance",4
+223,489B16,"kitchen appliance",4
+224,E31059,"kitchen appliance",4
+225,FA79E0,"kitchen appliance",4
+226,9911E9,"kitchen appliance",4
+227,55BC8B,"unknown",4
+228,4B15F1,"unknown",4
+229,8D1BBC,"chair",4
+230,029B89,"chair",4
+231,51322D,"chair",4
+232,FB13A9,"chair",4
+233,E31580,"chair",4
+234,49FDF3,"chair",4
+235,DCDB8B,"table",4
+236,505AEA,"flower",4
+237,882620,"flower",4
+238,FFF803,"flower",4
+239,44C3C5,"decorative plate",4
+240,53F7A1,"floor",5
+241,C722DD,"wall",5
+242,567122,"sensor",5
+243,9060C0,"sensor",5
+244,8DCA41,"ventilation",5
+245,CA276F,"ceiling",5
+246,314F30,"ceiling",5
+247,EF934E,"ceiling",5
+248,FF1CBD,"ceiling",5
+249,E39496,"ceiling",5
+250,C0C3BE,"wall",5
+251,6C1658,"wall",5
+252,AFF0C7,"ceiling lamp",5
+253,E342AC,"ceiling lamp",5
+254,F2EBEA,"ceiling lamp",5
+255,97E90A,"ceiling lamp",5
+256,74B914,"wall",5 
+257,E9C617,"wall",5
+258,F2D1AA,"wall",5
+259,CE5411,"wall",5
+260,B14EDC,"wall",5
+261,82B9B7,"door frame",5
+262,17CAE5,"door frame",5
+263,FCE5B3,"door frame",5
+264,0D4D42,"door frame",5
+265,B1F3B2,"door frame",5
+266,E92726,"door frame",5
+267,6874BD,"door frame",5
+268,ADDDC7,"sensor",5
+269,FB5F39,"attic door",5
+270,AE8AED,"floor",6
+271,AA3F75,"wall",6
+272,72FD08,"wall",6
+273,E629AF,"trashcan",6
+274,FCDDD2,"trashcan",6
+275,F59372,"door",6
+276,F4040A,"wall",6
+277,313CBF,"ceiling",6
+278,1EC630,"ceiling light",6
+279,0EF761,"ceiling light",6
+280,E338E7,"ceiling light",6
+281,E27508,"ceiling light",6
+282,7B3432,"ceiling light",6
+283,22B977,"ceiling light",6
+284,632592,"ceiling",6
+285,A71BAF,"wall",6
+286,93D2EA,"wall",6
+287,6FD39C,"cabinet",6
+288,F2FC6D,"cabinet",6
+289,531D11,"cabinet",6
+290,34C515,"floor mat",6
+291,3A03C2,"washing machine",6
+292,F9AFBA,"washing machine",6
+293,415B1E,"washer-dryer",6
+294,932361,"wall",6
+295,46800B,"sensor",6
+296,DBADB4,"microwave",6
+297,5FEBC0,"mini fridge",6
+298,3CB7B1,"plate",6
+299,96D2C0,"wall",6
+300,94CA38,"door",6
+301,995D03,"door frame",6
+302,6B7C5E,"radiator",6
+303,E3AA1B,"wall",6
+304,2107CA,"wall",6
+305,A53086,"door frame",6 
+306,0ABCFD,"shelf",6
+307,B994B2,"wall",6
+308,D74618,"door",6
+309,CEC943,"window frame",6
+310,CE139F,"shoe",6
+311,45BD3E,"shoe",6
+312,894690,"shoe",6
+313,F0F1D8,"shoe",6
+314,63A029,"shoe",6
+315,686C2B,"shoe",6
+316,F24EEE,"window frame",6
+317,4CD698,"window frame",6
+318,124EC5,"window",6
+319,C422E0,"window",6
+320,125FA6,"window",6 
+321,CE59A1,"vase",6
+322,5C31F2,"clothes",6
+323,0939F0,"rod",6
+324,560966,"rod",6
+325,225C1C,"ceiling",7
+326,DB0DEC,"ceiling light",7
+327,8BCAA8,"ceiling light",7
+328,856E35,"ceiling light",7
+329,EE8EF0,"ceiling light",7
+330,C167E7,"wall",7
+331,15470E,"floor",7
+332,10DDE6,"rug",7
+333,1136A0,"footrest",7
+334,D72FE1,"basket",7
+335,AC5906,"couch",7
+336,3B3ADD,"pillow",7
+337,920E5C,"pillow",7
+338,1655CD,"pillow",7
+339,9339C7,"pillow",7
+340,B0B6EA,"dresser",7
+341,4C84FE,"unknown",7
+342,DBE559,"unknown",7
+343,A4325E,"wall",7
+344,DAD0C0,"painting",7
+345,046CBB,"window frame",7
+346,FC8E34,"blinds",7
+347,4E346B,"window frame",7
+348,96B643,"window",7
+349,3FC32E,"window",7
+350,5B9915,"window",7
+351,8417EB,"wall",7
+352,C594BA,"window curtain",7
+353,797EBD,"window curtain",7
+354,039C54,"window frame",7
+355,D97BAD,"window frame",7
+356,32773A,"window",7
+357,FF41AF,"window",7
+358,DD7D38,"telescope",7
+359,14C0CB,"guitar",7
+360,13BFD5,"guitar",7
+361,C8C004,"guitar",7
+362,D88E92,"stand",7
+363,FA9F97,"radiator",7
+364,D84D9D,"wall",7
+365,00C02F,"picture",7
+366,8C6754,"led tv",7
+367,C66A56,"table lamp",7
+368,DEA507,"lamp",7
+369,650408,"unknown",7
+370,C64BCE,"door frame",7
+371,EE8FBF,"case",7
+372,E51372,"case",7
+373,49D532,"air conditioner",7
+374,2A2DE5,"unknown",7
+375,1C5024,"ceiling",8
+376,8D6B7B,"wall",8
+377,30BA19,"wall",8
+378,6F4CD6,"floor",8
+379,308FB7,"wall",8
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diff --git a/train/00417-nGhNxKrgBPb/nGhNxKrgBPb.basis.navmesh b/train/00417-nGhNxKrgBPb/nGhNxKrgBPb.basis.navmesh
new file mode 100644
index 0000000000000000000000000000000000000000..e3815bf8e38b4d446df01fb1747ae3c09defce70
Binary files /dev/null and b/train/00417-nGhNxKrgBPb/nGhNxKrgBPb.basis.navmesh differ
diff --git a/train/00417-nGhNxKrgBPb/nGhNxKrgBPb.semantic.txt b/train/00417-nGhNxKrgBPb/nGhNxKrgBPb.semantic.txt
new file mode 100644
index 0000000000000000000000000000000000000000..2d737b50147bdcbb9f5fad1afdb0a35b23955ccd
--- /dev/null
+++ b/train/00417-nGhNxKrgBPb/nGhNxKrgBPb.semantic.txt
@@ -0,0 +1,436 @@
+HM3D Semantic Annotations
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diff --git a/train/00476-NtnvZSMK3en/NtnvZSMK3en.basis.navmesh b/train/00476-NtnvZSMK3en/NtnvZSMK3en.basis.navmesh
new file mode 100644
index 0000000000000000000000000000000000000000..9538cb2c872de0350707aa8e23f07d0dda577756
Binary files /dev/null and b/train/00476-NtnvZSMK3en/NtnvZSMK3en.basis.navmesh differ
diff --git a/train/00476-NtnvZSMK3en/NtnvZSMK3en.semantic.txt b/train/00476-NtnvZSMK3en/NtnvZSMK3en.semantic.txt
new file mode 100644
index 0000000000000000000000000000000000000000..24387e13bc2b10488a56d2606b5f198fd94f690a
--- /dev/null
+++ b/train/00476-NtnvZSMK3en/NtnvZSMK3en.semantic.txt
@@ -0,0 +1,600 @@
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diff --git a/train/00696-DsEJeNPcZtE/DsEJeNPcZtE.semantic.txt b/train/00696-DsEJeNPcZtE/DsEJeNPcZtE.semantic.txt
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index 0000000000000000000000000000000000000000..1b2e7a8821fe539f1e59b1310ec37e281941676a
--- /dev/null
+++ b/train/00696-DsEJeNPcZtE/DsEJeNPcZtE.semantic.txt
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