Add asset food/ingredients/d5f4db4655e1592280a33ed1d97ba75f
Browse files
.gitattributes
CHANGED
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@@ -6830,3 +6830,4 @@ dataset/food/ingredients/cd8b68ca2cd05bbdbfb96f939ccc4293/affordance/mesh_part_s
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| 6830 |
dataset/food/ingredients/d0213701033552fdb970ddfbb799a5c4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6831 |
dataset/food/ingredients/d31a6a4dbb3859f5983e68aa8b27cc8c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6832 |
dataset/food/ingredients/d5a09d6a88e453b5953b4a6dff3ba6ef/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6830 |
dataset/food/ingredients/d0213701033552fdb970ddfbb799a5c4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6831 |
dataset/food/ingredients/d31a6a4dbb3859f5983e68aa8b27cc8c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6832 |
dataset/food/ingredients/d5a09d6a88e453b5953b4a6dff3ba6ef/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6833 |
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dataset/food/ingredients/d5f4db4655e1592280a33ed1d97ba75f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/food/ingredients/d5f4db4655e1592280a33ed1d97ba75f/affordance/affordance_annot.json
ADDED
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| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "mushroom cap",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
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"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
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"scenario": "grasp the cap from the sides to pick up the mushroom",
|
| 10 |
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"confidence": 0.62
|
| 11 |
+
},
|
| 12 |
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{
|
| 13 |
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"scenario": "hold the cap gently to stabilize the mushroom during inspection",
|
| 14 |
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"confidence": 0.57
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
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"functional_labels": [
|
| 18 |
+
"cover the spore-bearing underside",
|
| 19 |
+
"provide the main top surface",
|
| 20 |
+
"protect the gills",
|
| 21 |
+
"provide a broad contact surface"
|
| 22 |
+
],
|
| 23 |
+
"semantic_description": "Large domed yellow-orange cap with a matte slightly velvety surface, dense net-like raised patterning, and a broad rounded shape forming the top of the mushroom.",
|
| 24 |
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"id": 0,
|
| 25 |
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"grasp_group": {
|
| 26 |
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"grasp_0": {
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| 27 |
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"confidence": 0.7722028493881226,
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| 28 |
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"position": [
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| 29 |
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| 30 |
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| 31 |
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| 32 |
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],
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| 33 |
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"orientation": {
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"w": 0.06673124855560594,
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"xyz": [
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| 38 |
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| 39 |
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]
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| 40 |
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}
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| 41 |
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},
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| 42 |
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"grasp_5": {
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| 43 |
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"confidence": 0.6854071617126465,
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| 44 |
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"position": [
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| 46 |
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| 47 |
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| 48 |
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],
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| 49 |
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"orientation": {
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"w": 0.10368721679013283,
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| 51 |
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"xyz": [
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| 54 |
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| 55 |
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]
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| 56 |
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}
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| 57 |
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},
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| 58 |
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"grasp_6": {
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| 59 |
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"confidence": 0.6799994111061096,
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| 60 |
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"position": [
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],
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"orientation": {
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}
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},
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"grasp_8": {
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}
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},
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"grasp_9": {
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"confidence": 0.6617358326911926,
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| 96 |
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],
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"orientation": {
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| 103 |
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]
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}
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},
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"grasp_10": {
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"confidence": 0.6557427048683167,
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],
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"orientation": {
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"grasp_13": {
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| 123 |
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"confidence": 0.6455312967300415,
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],
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"orientation": {
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| 135 |
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]
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}
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},
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"grasp_14": {
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"confidence": 0.6431127190589905,
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"position": [
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| 141 |
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| 142 |
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],
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"orientation": {
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"w": 0.052856314689198464,
|
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"xyz": [
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|
| 150 |
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|
| 151 |
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]
|
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}
|
| 153 |
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},
|
| 154 |
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"grasp_15": {
|
| 155 |
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"confidence": 0.6428890824317932,
|
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"position": [
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| 157 |
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| 158 |
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|
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|
| 160 |
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],
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"w": 0.05199419555728174,
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| 166 |
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| 167 |
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]
|
| 168 |
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}
|
| 169 |
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}
|
| 170 |
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}
|
| 171 |
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},
|
| 172 |
+
{
|
| 173 |
+
"part_name": "mushroom stem",
|
| 174 |
+
"mask_color": "Green",
|
| 175 |
+
"graspable": true,
|
| 176 |
+
"grasp_scenarios": [
|
| 177 |
+
{
|
| 178 |
+
"scenario": "grasp the stem to pick up and move the mushroom",
|
| 179 |
+
"confidence": 0.9
|
| 180 |
+
},
|
| 181 |
+
{
|
| 182 |
+
"scenario": "hold the stem to orient the mushroom for viewing the underside",
|
| 183 |
+
"confidence": 0.86
|
| 184 |
+
},
|
| 185 |
+
{
|
| 186 |
+
"scenario": "pinch the stem to stabilize the mushroom while cutting or placing it",
|
| 187 |
+
"confidence": 0.82
|
| 188 |
+
}
|
| 189 |
+
],
|
| 190 |
+
"functional_labels": [
|
| 191 |
+
"support the cap",
|
| 192 |
+
"elevate the cap above the ground",
|
| 193 |
+
"provide the main grasp point",
|
| 194 |
+
"connect cap to base"
|
| 195 |
+
],
|
| 196 |
+
"semantic_description": "Short thick yellow-orange stem with a matte bumpy texture and tapered cylindrical shape, centered beneath the cap and smaller than the cap but substantial for support.",
|
| 197 |
+
"id": 1,
|
| 198 |
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"grasp_group": {
|
| 199 |
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"grasp_29": {
|
| 200 |
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"confidence": 0.9748499393463135,
|
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"position": [
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| 203 |
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| 204 |
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|
| 205 |
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],
|
| 206 |
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"orientation": {
|
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"w": 0.6305003108059752,
|
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"xyz": [
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]
|
| 213 |
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}
|
| 214 |
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},
|
| 215 |
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"grasp_30": {
|
| 216 |
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"confidence": 0.9742112755775452,
|
| 217 |
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"position": [
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|
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],
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| 222 |
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"orientation": {
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"w": 0.6918479922085863,
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"xyz": [
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| 228 |
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]
|
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}
|
| 230 |
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},
|
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"grasp_31": {
|
| 232 |
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"confidence": 0.9740530252456665,
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| 233 |
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"position": [
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| 234 |
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],
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"orientation": {
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},
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"grasp_34": {
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| 248 |
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| 279 |
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| 280 |
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|
| 281 |
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| 282 |
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| 283 |
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|
| 284 |
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|
| 285 |
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| 286 |
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|
dataset/food/ingredients/d5f4db4655e1592280a33ed1d97ba75f/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
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|
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|
| 1 |
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version https://git-lfs.github.com/spec/v1
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| 2 |
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oid sha256:2526e7ea70a282ddc7ab45e78b36420dea3dd258fa462be6cefbc5e426bd739d
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| 3 |
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size 928464
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