Add asset food/fruits/9dbdd7645fb9577d86cb9528ca7ee61a
Browse files
.gitattributes
CHANGED
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@@ -8306,3 +8306,4 @@ dataset/food/fruits/97eca6bb876e5a37855db54901ed2dc3/affordance/mesh_part_seg.gl
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| 8306 |
dataset/food/fruits/9bb9f582fd875638bb1362edfc064aad/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8307 |
dataset/food/fruits/a0bbd0938c435da2a4a1d991febc6525/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8308 |
dataset/food/fruits/a200b06af9435e4c8164d2a9f5b99fef/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8306 |
dataset/food/fruits/9bb9f582fd875638bb1362edfc064aad/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8307 |
dataset/food/fruits/a0bbd0938c435da2a4a1d991febc6525/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8308 |
dataset/food/fruits/a200b06af9435e4c8164d2a9f5b99fef/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8309 |
+
dataset/food/fruits/9dbdd7645fb9577d86cb9528ca7ee61a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/food/fruits/9dbdd7645fb9577d86cb9528ca7ee61a/affordance/affordance_annot.json
ADDED
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| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "stem of pear",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "delicately grasp the stem to orient the pear",
|
| 10 |
+
"confidence": 0.31
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the stem briefly while stabilizing the pear during inspection",
|
| 14 |
+
"confidence": 0.24
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "lift the pear by the stem",
|
| 18 |
+
"confidence": 0.1
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"connect to branch",
|
| 23 |
+
"indicate top orientation",
|
| 24 |
+
"provide a small delicate hold point"
|
| 25 |
+
],
|
| 26 |
+
"semantic_description": "Small thin brown woody stem with a matte slightly rough fibrous texture, curved upward from the narrow top of the pear and visibly much smaller than the fruit body.",
|
| 27 |
+
"id": 0,
|
| 28 |
+
"grasp_group": {
|
| 29 |
+
"grasp_14": {
|
| 30 |
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"confidence": 0.11776626855134964,
|
| 31 |
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"position": [
|
| 32 |
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-0.06105265498626977,
|
| 33 |
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0.0658121865708381,
|
| 34 |
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|
| 35 |
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],
|
| 36 |
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"orientation": {
|
| 37 |
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"w": 0.12882530188346536,
|
| 38 |
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"xyz": [
|
| 39 |
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-0.4061759111170879,
|
| 40 |
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|
| 41 |
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-0.42379857445097757
|
| 42 |
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]
|
| 43 |
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}
|
| 44 |
+
}
|
| 45 |
+
}
|
| 46 |
+
},
|
| 47 |
+
{
|
| 48 |
+
"part_name": "body of pear",
|
| 49 |
+
"mask_color": "Green",
|
| 50 |
+
"graspable": true,
|
| 51 |
+
"grasp_scenarios": [
|
| 52 |
+
{
|
| 53 |
+
"scenario": "grasp the pear body to pick it up",
|
| 54 |
+
"confidence": 0.94
|
| 55 |
+
},
|
| 56 |
+
{
|
| 57 |
+
"scenario": "hold the body to reposition or place the pear",
|
| 58 |
+
"confidence": 0.92
|
| 59 |
+
},
|
| 60 |
+
{
|
| 61 |
+
"scenario": "stabilize the pear body during inspection",
|
| 62 |
+
"confidence": 0.89
|
| 63 |
+
}
|
| 64 |
+
],
|
| 65 |
+
"functional_labels": [
|
| 66 |
+
"main grasp surface",
|
| 67 |
+
"contain edible flesh",
|
| 68 |
+
"support handling",
|
| 69 |
+
"provide fruit mass and shape"
|
| 70 |
+
],
|
| 71 |
+
"semantic_description": "Large yellow-green pear body with smooth slightly matte food skin, fine speckled texture, a bulbous lower half and tapering neck, forming the main central mass of the fruit.",
|
| 72 |
+
"id": 1,
|
| 73 |
+
"grasp_group": {
|
| 74 |
+
"grasp_20": {
|
| 75 |
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"confidence": 0.9911448359489441,
|
| 76 |
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"position": [
|
| 77 |
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|
| 78 |
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-0.0894767779391259,
|
| 79 |
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0.006492048501968384
|
| 80 |
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],
|
| 81 |
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"orientation": {
|
| 82 |
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"w": 0.7573761787692965,
|
| 83 |
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"xyz": [
|
| 84 |
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|
| 85 |
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-0.16779988057913042,
|
| 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_21": {
|
| 91 |
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"confidence": 0.9904472827911377,
|
| 92 |
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"position": [
|
| 93 |
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|
| 94 |
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-0.08742060395888984,
|
| 95 |
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|
| 96 |
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],
|
| 97 |
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"orientation": {
|
| 98 |
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"w": 0.8111536267228906,
|
| 99 |
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"xyz": [
|
| 100 |
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|
| 101 |
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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_23": {
|
| 107 |
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"confidence": 0.9902923703193665,
|
| 108 |
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"position": [
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| 109 |
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|
| 110 |
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| 111 |
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|
| 112 |
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],
|
| 113 |
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"orientation": {
|
| 114 |
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"w": 0.8392104418465772,
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| 115 |
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"xyz": [
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| 117 |
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| 118 |
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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_24": {
|
| 123 |
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"confidence": 0.9901134967803955,
|
| 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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| 129 |
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"orientation": {
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| 130 |
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| 131 |
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| 134 |
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|
| 135 |
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]
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| 136 |
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}
|
| 137 |
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},
|
| 138 |
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"grasp_25": {
|
| 139 |
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"confidence": 0.9898909330368042,
|
| 140 |
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"position": [
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| 141 |
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| 142 |
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|
| 143 |
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|
| 144 |
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],
|
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"orientation": {
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| 146 |
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"w": 0.7568819487823425,
|
| 147 |
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|
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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_26": {
|
| 155 |
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"confidence": 0.9896457195281982,
|
| 156 |
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"position": [
|
| 157 |
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|
| 158 |
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|
| 159 |
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|
| 160 |
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],
|
| 161 |
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"orientation": {
|
| 162 |
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"w": 0.7980018594337299,
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| 163 |
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"xyz": [
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|
| 167 |
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]
|
| 168 |
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}
|
| 169 |
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},
|
| 170 |
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"grasp_27": {
|
| 171 |
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"confidence": 0.9895033836364746,
|
| 172 |
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"position": [
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| 173 |
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| 174 |
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|
| 176 |
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],
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"orientation": {
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| 178 |
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"w": 0.814015062462295,
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"xyz": [
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| 180 |
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| 183 |
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]
|
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}
|
| 185 |
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},
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"grasp_28": {
|
| 187 |
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"confidence": 0.9891056418418884,
|
| 188 |
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"position": [
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],
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"orientation": {
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"xyz": [
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|
| 199 |
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]
|
| 200 |
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}
|
| 201 |
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},
|
| 202 |
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"grasp_29": {
|
| 203 |
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"confidence": 0.988884449005127,
|
| 204 |
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"position": [
|
| 205 |
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|
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|
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],
|
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"orientation": {
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|
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|
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|
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},
|
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"grasp_31": {
|
| 219 |
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"confidence": 0.9876177906990051,
|
| 220 |
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dataset/food/fruits/9dbdd7645fb9577d86cb9528ca7ee61a/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
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| 1 |
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version https://git-lfs.github.com/spec/v1
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size 111284572
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