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- meta/episodes/chunk-000/file-004.parquet +3 -0
- meta/info.json +107 -0
- meta/stats.json +632 -0
- meta/tasks.parquet +3 -0
README.md
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| 1 |
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---
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| 2 |
+
license: apache-2.0
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| 3 |
+
task_categories:
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| 4 |
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- robotics
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| 5 |
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tags:
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| 6 |
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- LeRobot
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| 7 |
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- robotics
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| 8 |
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- manipulation
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| 9 |
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- servo7
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| 10 |
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configs:
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| 11 |
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- config_name: default
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| 12 |
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data_files: data/*/*.parquet
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| 13 |
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---
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| 14 |
+
|
| 15 |
+
This dataset was created using [LeRobot](https://github.com/huggingface/lerobot).
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| 16 |
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| 17 |
+
## Dataset Description
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| 18 |
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|
| 19 |
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| 20 |
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- **Homepage:** [More Information Needed]
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| 22 |
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- **Paper:** [More Information Needed]
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| 23 |
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- **License:** apache-2.0
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| 24 |
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|
| 25 |
+
## Dataset Structure
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| 26 |
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|
| 27 |
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[meta/info.json](meta/info.json):
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| 28 |
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```json
|
| 29 |
+
{
|
| 30 |
+
"codebase_version": "v3.0",
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| 31 |
+
"robot_type": "so100",
|
| 32 |
+
"total_episodes": 50,
|
| 33 |
+
"total_frames": 27856,
|
| 34 |
+
"total_tasks": 1,
|
| 35 |
+
"chunks_size": 1000,
|
| 36 |
+
"data_files_size_in_mb": 100,
|
| 37 |
+
"video_files_size_in_mb": 200,
|
| 38 |
+
"fps": 30,
|
| 39 |
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"splits": {
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| 40 |
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"train": "0:50"
|
| 41 |
+
},
|
| 42 |
+
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
|
| 43 |
+
"video_path": null,
|
| 44 |
+
"features": {
|
| 45 |
+
"observation.state": {
|
| 46 |
+
"dtype": "float32",
|
| 47 |
+
"shape": [
|
| 48 |
+
6
|
| 49 |
+
],
|
| 50 |
+
"names": [
|
| 51 |
+
"shoulder_pan",
|
| 52 |
+
"shoulder_lift",
|
| 53 |
+
"elbow_flex",
|
| 54 |
+
"wrist_flex",
|
| 55 |
+
"wrist_roll",
|
| 56 |
+
"gripper"
|
| 57 |
+
]
|
| 58 |
+
},
|
| 59 |
+
"observation.images.front": {
|
| 60 |
+
"dtype": "image",
|
| 61 |
+
"shape": [
|
| 62 |
+
480,
|
| 63 |
+
640,
|
| 64 |
+
3
|
| 65 |
+
],
|
| 66 |
+
"names": [
|
| 67 |
+
"height",
|
| 68 |
+
"width",
|
| 69 |
+
"channels"
|
| 70 |
+
]
|
| 71 |
+
},
|
| 72 |
+
"observation.images.wrist": {
|
| 73 |
+
"dtype": "image",
|
| 74 |
+
"shape": [
|
| 75 |
+
480,
|
| 76 |
+
640,
|
| 77 |
+
3
|
| 78 |
+
],
|
| 79 |
+
"names": [
|
| 80 |
+
"height",
|
| 81 |
+
"width",
|
| 82 |
+
"channels"
|
| 83 |
+
]
|
| 84 |
+
},
|
| 85 |
+
"action": {
|
| 86 |
+
"dtype": "float32",
|
| 87 |
+
"shape": [
|
| 88 |
+
6
|
| 89 |
+
],
|
| 90 |
+
"names": [
|
| 91 |
+
"shoulder_pan",
|
| 92 |
+
"shoulder_lift",
|
| 93 |
+
"elbow_flex",
|
| 94 |
+
"wrist_flex",
|
| 95 |
+
"wrist_roll",
|
| 96 |
+
"gripper"
|
| 97 |
+
]
|
| 98 |
+
},
|
| 99 |
+
"timestamp": {
|
| 100 |
+
"dtype": "float32",
|
| 101 |
+
"shape": [
|
| 102 |
+
1
|
| 103 |
+
],
|
| 104 |
+
"names": null
|
| 105 |
+
},
|
| 106 |
+
"frame_index": {
|
| 107 |
+
"dtype": "int64",
|
| 108 |
+
"shape": [
|
| 109 |
+
1
|
| 110 |
+
],
|
| 111 |
+
"names": null
|
| 112 |
+
},
|
| 113 |
+
"episode_index": {
|
| 114 |
+
"dtype": "int64",
|
| 115 |
+
"shape": [
|
| 116 |
+
1
|
| 117 |
+
],
|
| 118 |
+
"names": null
|
| 119 |
+
},
|
| 120 |
+
"index": {
|
| 121 |
+
"dtype": "int64",
|
| 122 |
+
"shape": [
|
| 123 |
+
1
|
| 124 |
+
],
|
| 125 |
+
"names": null
|
| 126 |
+
},
|
| 127 |
+
"task_index": {
|
| 128 |
+
"dtype": "int64",
|
| 129 |
+
"shape": [
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| 130 |
+
1
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| 131 |
+
],
|
| 132 |
+
"names": null
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| 133 |
+
}
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| 134 |
+
}
|
| 135 |
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}
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| 136 |
+
```
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| 137 |
+
|
| 138 |
+
|
| 139 |
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## Citation
|
| 140 |
+
|
| 141 |
+
**BibTeX:**
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| 142 |
+
|
| 143 |
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```bibtex
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| 144 |
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[More Information Needed]
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| 145 |
+
```
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
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|
| 3 |
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|
| 4 |
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|
| 5 |
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|
| 6 |
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|
| 7 |
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|
| 9 |
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|
| 10 |
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|
| 11 |
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|
| 12 |
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"train": "0:47"
|
| 13 |
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},
|
| 14 |
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"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
|
| 15 |
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|
| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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6
|
| 21 |
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],
|
| 22 |
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"names": [
|
| 23 |
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|
| 24 |
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|
| 25 |
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"elbow_flex",
|
| 26 |
+
"wrist_flex",
|
| 27 |
+
"wrist_roll",
|
| 28 |
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"gripper"
|
| 29 |
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]
|
| 30 |
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},
|
| 31 |
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|
| 32 |
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|
| 33 |
+
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|
| 34 |
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|
| 35 |
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640,
|
| 36 |
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|
| 37 |
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|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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|
| 45 |
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|
| 46 |
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|
| 47 |
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480,
|
| 48 |
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640,
|
| 49 |
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|
| 50 |
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|
| 51 |
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"names": [
|
| 52 |
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"height",
|
| 53 |
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"width",
|
| 54 |
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"channels"
|
| 55 |
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|
| 56 |
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|
| 57 |
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|
| 58 |
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|
| 59 |
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|
| 60 |
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|
| 61 |
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],
|
| 62 |
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"names": [
|
| 63 |
+
"shoulder_pan",
|
| 64 |
+
"shoulder_lift",
|
| 65 |
+
"elbow_flex",
|
| 66 |
+
"wrist_flex",
|
| 67 |
+
"wrist_roll",
|
| 68 |
+
"gripper"
|
| 69 |
+
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|
| 70 |
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|
| 71 |
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|
| 72 |
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|
| 73 |
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|
| 74 |
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|
| 75 |
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|
| 76 |
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|
| 77 |
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|
| 78 |
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|
| 79 |
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|
| 80 |
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|
| 81 |
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1
|
| 82 |
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],
|
| 83 |
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|
| 84 |
+
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|
| 85 |
+
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|
| 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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|
| 91 |
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|
| 92 |
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|
| 93 |
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|
| 94 |
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|
| 95 |
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|
| 96 |
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|
| 97 |
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|
| 98 |
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|
| 99 |
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|
| 100 |
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|
| 101 |
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|
| 102 |
+
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|
| 103 |
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|
| 104 |
+
"names": null
|
| 105 |
+
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|
| 106 |
+
}
|
| 107 |
+
}
|
meta/stats.json
ADDED
|
@@ -0,0 +1,632 @@
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|
| 1 |
+
{
|
| 2 |
+
"task_index": {
|
| 3 |
+
"min": [
|
| 4 |
+
0
|
| 5 |
+
],
|
| 6 |
+
"max": [
|
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+
0
|
| 8 |
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|
| 9 |
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|
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|
| 12 |
+
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meta/tasks.parquet
ADDED
|
@@ -0,0 +1,3 @@
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|
|
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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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oid sha256:53c3ac5d99aa37fd7b679ac2914d2c4fa01c710bca36a5b8d72465ca6180de9a
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| 3 |
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size 2430
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