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Title: JunghoYoo/PythonRobotics · GitHub

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Description: Python sample codes and textbook for robotics algorithms. - JunghoYoo/PythonRobotics

Open Graph Description: Python sample codes and textbook for robotics algorithms. - JunghoYoo/PythonRobotics

X Description: Python sample codes and textbook for robotics algorithms. - JunghoYoo/PythonRobotics

Opengraph URL: https://github.com/JunghoYoo/PythonRobotics/tree/master

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CONTRIBUTING.md	https://github.com/JunghoYoo/PythonRobotics/blob/master/CONTRIBUTING.md
LICENSE	https://github.com/JunghoYoo/PythonRobotics/blob/master/LICENSE
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README	https://github.com/JunghoYoo/PythonRobotics
Code of conduct	https://github.com/JunghoYoo/PythonRobotics
Contributing	https://github.com/JunghoYoo/PythonRobotics
License	https://github.com/JunghoYoo/PythonRobotics
Security	https://github.com/JunghoYoo/PythonRobotics
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	https://github.com/JunghoYoo/PythonRobotics#pythonrobotics
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textbook	https://atsushisakai.github.io/PythonRobotics/index.html
	https://github.com/JunghoYoo/PythonRobotics#table-of-contents
What is this?	https://github.com/JunghoYoo/PythonRobotics#what-is-this
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Documentation	https://github.com/JunghoYoo/PythonRobotics#documentation
How to use	https://github.com/JunghoYoo/PythonRobotics#how-to-use
Localization	https://github.com/JunghoYoo/PythonRobotics#localization
Extended Kalman Filter localization	https://github.com/JunghoYoo/PythonRobotics#extended-kalman-filter-localization
Particle filter localization	https://github.com/JunghoYoo/PythonRobotics#particle-filter-localization
Histogram filter localization	https://github.com/JunghoYoo/PythonRobotics#histogram-filter-localization
Mapping	https://github.com/JunghoYoo/PythonRobotics#mapping
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k-means object clustering	https://github.com/JunghoYoo/PythonRobotics#k-means-object-clustering
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SLAM	https://github.com/JunghoYoo/PythonRobotics#slam
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FastSLAM 1.0	https://github.com/JunghoYoo/PythonRobotics#fastslam-10
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Dynamic Window Approach	https://github.com/JunghoYoo/PythonRobotics#dynamic-window-approach
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Dijkstra algorithm	https://github.com/JunghoYoo/PythonRobotics#dijkstra-algorithm
A* algorithm	https://github.com/JunghoYoo/PythonRobotics#a-algorithm
D* algorithm	https://github.com/JunghoYoo/PythonRobotics#d-algorithm
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State Lattice Planning	https://github.com/JunghoYoo/PythonRobotics#state-lattice-planning
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Rapidly-Exploring Random Trees (RRT)	https://github.com/JunghoYoo/PythonRobotics#rapidly-exploring-random-trees-rrt
RRT*	https://github.com/JunghoYoo/PythonRobotics#rrt
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LQR-RRT*	https://github.com/JunghoYoo/PythonRobotics#lqr-rrt
Quintic polynomials planning	https://github.com/JunghoYoo/PythonRobotics#quintic-polynomials-planning
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LQR based path planning	https://github.com/JunghoYoo/PythonRobotics#lqr-based-path-planning
Optimal Trajectory in a Frenet Frame	https://github.com/JunghoYoo/PythonRobotics#optimal-trajectory-in-a-frenet-frame
Path Tracking	https://github.com/JunghoYoo/PythonRobotics#path-tracking
move to a pose control	https://github.com/JunghoYoo/PythonRobotics#move-to-a-pose-control
Stanley control	https://github.com/JunghoYoo/PythonRobotics#stanley-control
Rear wheel feedback control	https://github.com/JunghoYoo/PythonRobotics#rear-wheel-feedback-control
Linear–quadratic regulator (LQR) speed and steering control	https://github.com/JunghoYoo/PythonRobotics#linearquadratic-regulator-lqr-speed-and-steering-control
Model predictive speed and steering control	https://github.com/JunghoYoo/PythonRobotics#model-predictive-speed-and-steering-control
Nonlinear Model predictive control with C-GMRES	https://github.com/JunghoYoo/PythonRobotics#nonlinear-model-predictive-control-with-c-gmres
Arm Navigation	https://github.com/JunghoYoo/PythonRobotics#arm-navigation
N joint arm to point control	https://github.com/JunghoYoo/PythonRobotics#n-joint-arm-to-point-control
Arm navigation with obstacle avoidance	https://github.com/JunghoYoo/PythonRobotics#arm-navigation-with-obstacle-avoidance
Aerial Navigation	https://github.com/JunghoYoo/PythonRobotics#aerial-navigation
drone 3d trajectory following	https://github.com/JunghoYoo/PythonRobotics#drone-3d-trajectory-following
rocket powered landing	https://github.com/JunghoYoo/PythonRobotics#rocket-powered-landing
Bipedal	https://github.com/JunghoYoo/PythonRobotics#bipedal
bipedal planner with inverted pendulum	https://github.com/JunghoYoo/PythonRobotics#bipedal-planner-with-inverted-pendulum
License	https://github.com/JunghoYoo/PythonRobotics#license
Use-case	https://github.com/JunghoYoo/PythonRobotics#use-case
Contribution	https://github.com/JunghoYoo/PythonRobotics#contribution
Citing	https://github.com/JunghoYoo/PythonRobotics#citing
Support	https://github.com/JunghoYoo/PythonRobotics#support
Sponsors	https://github.com/JunghoYoo/PythonRobotics#sponsors
JetBrains	https://github.com/JunghoYoo/PythonRobotics#JetBrains
1Password	https://github.com/JunghoYoo/PythonRobotics#1password
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	https://github.com/JunghoYoo/PythonRobotics#what-is-pythonrobotics
textbook	https://atsushisakai.github.io/PythonRobotics/index.html
Getting Started — PythonRobotics documentation	https://atsushisakai.github.io/PythonRobotics/modules/0_getting_started/1_what_is_python_robotics.html
PythonRobotics project audio overview	https://www.youtube.com/watch?v=uMeRnNoJAfU
[1808.10703] PythonRobotics: a Python code collection of robotics algorithms	https://arxiv.org/abs/1808.10703
BibTeX	https://github.com/AtsushiSakai/PythonRoboticsPaper/blob/master/python_robotics.bib
	https://github.com/JunghoYoo/PythonRobotics#requirements-to-run-the-code
Python 3.13.x	https://www.python.org/
NumPy	https://numpy.org/
SciPy	https://scipy.org/
Matplotlib	https://matplotlib.org/
cvxpy	https://www.cvxpy.org/
pytest	https://pytest.org/
pytest-xdist	https://pypi.org/project/pytest-xdist/
mypy	https://mypy-lang.org/
sphinx	https://www.sphinx-doc.org/
pycodestyle	https://pypi.org/project/pycodestyle/
	https://github.com/JunghoYoo/PythonRobotics#documentation-textbook
Welcome to PythonRobotics’s documentation! — PythonRobotics documentation	https://atsushisakai.github.io/PythonRobotics/index.html
AtsushiSakai/PythonRoboticsGifs: Animation gifs of PythonRobotics	https://github.com/AtsushiSakai/PythonRoboticsGifs
	https://github.com/JunghoYoo/PythonRobotics#how-to-use
	https://github.com/JunghoYoo/PythonRobotics#localization
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	https://github.com/JunghoYoo/PythonRobotics#particle-filter-localization
	https://github.com/AtsushiSakai/PythonRoboticsGifs/raw/master/Localization/particle_filter/animation.gif
PROBABILISTIC ROBOTICS	http://www.probabilistic-robotics.org/
	https://github.com/JunghoYoo/PythonRobotics#histogram-filter-localization
	https://github.com/AtsushiSakai/PythonRoboticsGifs/raw/master/Localization/histogram_filter/animation.gif
PROBABILISTIC ROBOTICS	http://www.probabilistic-robotics.org/
	https://github.com/JunghoYoo/PythonRobotics#mapping
	https://github.com/JunghoYoo/PythonRobotics#gaussian-grid-map
	https://github.com/AtsushiSakai/PythonRoboticsGifs/raw/master/Mapping/gaussian_grid_map/animation.gif
	https://github.com/JunghoYoo/PythonRobotics#ray-casting-grid-map
	https://github.com/AtsushiSakai/PythonRoboticsGifs/raw/master/Mapping/raycasting_grid_map/animation.gif
	https://github.com/JunghoYoo/PythonRobotics#lidar-to-grid-map
	https://github.com/AtsushiSakai/PythonRoboticsGifs/raw/master/Mapping/lidar_to_grid_map/animation.gif
	https://github.com/JunghoYoo/PythonRobotics#k-means-object-clustering
	https://github.com/AtsushiSakai/PythonRoboticsGifs/raw/master/Mapping/kmeans_clustering/animation.gif
	https://github.com/JunghoYoo/PythonRobotics#rectangle-fitting
	https://github.com/AtsushiSakai/PythonRoboticsGifs/raw/master/Mapping/rectangle_fitting/animation.gif
	https://github.com/JunghoYoo/PythonRobotics#slam
	https://github.com/JunghoYoo/PythonRobotics#iterative-closest-point-icp-matching
	https://github.com/AtsushiSakai/PythonRoboticsGifs/raw/master/SLAM/iterative_closest_point/animation.gif
Introduction to Mobile Robotics: Iterative Closest Point Algorithm	https://cs.gmu.edu/~kosecka/cs685/cs685-icp.pdf
	https://github.com/JunghoYoo/PythonRobotics#fastslam-10
	https://github.com/AtsushiSakai/PythonRoboticsGifs/raw/master/SLAM/FastSLAM1/animation.gif
PROBABILISTIC ROBOTICS	http://www.probabilistic-robotics.org/
SLAM simulations by Tim Bailey	http://www-personal.acfr.usyd.edu.au/tbailey/software/slam_simulations.htm
	https://github.com/JunghoYoo/PythonRobotics#path-planning
	https://github.com/JunghoYoo/PythonRobotics#dynamic-window-approach
The Dynamic Window Approach to Collision Avoidance	https://www.ri.cmu.edu/pub_files/pub1/fox_dieter_1997_1/fox_dieter_1997_1.pdf
	https://github.com/AtsushiSakai/PythonRoboticsGifs/raw/master/PathPlanning/DynamicWindowApproach/animation.gif
	https://github.com/JunghoYoo/PythonRobotics#grid-based-search
	https://github.com/JunghoYoo/PythonRobotics#dijkstra-algorithm
	https://github.com/AtsushiSakai/PythonRoboticsGifs/raw/master/PathPlanning/Dijkstra/animation.gif
	https://github.com/JunghoYoo/PythonRobotics#a-algorithm
	https://github.com/AtsushiSakai/PythonRoboticsGifs/raw/master/PathPlanning/AStar/animation.gif
	https://github.com/JunghoYoo/PythonRobotics#d-algorithm
	https://github.com/AtsushiSakai/PythonRoboticsGifs/raw/master/PathPlanning/DStar/animation.gif
D* Algorithm Wikipedia	https://en.wikipedia.org/wiki/D*
	https://github.com/JunghoYoo/PythonRobotics#d-lite-algorithm
	https://github.com/AtsushiSakai/PythonRoboticsGifs/raw/master/PathPlanning/DStarLite/animation.gif
D* Lite	http://idm-lab.org/bib/abstracts/papers/aaai02b.pdf
Improved Fast Replanning for Robot Navigation in Unknown Terrain	http://www.cs.cmu.edu/~maxim/files/dlite_icra02.pdf
	https://github.com/JunghoYoo/PythonRobotics#potential-field-algorithm
	https://github.com/AtsushiSakai/PythonRoboticsGifs/raw/master/PathPlanning/PotentialFieldPlanning/animation.gif
Robotic Motion Planning:Potential Functions	https://www.cs.cmu.edu/~motionplanning/lecture/Chap4-Potential-Field_howie.pdf
	https://github.com/JunghoYoo/PythonRobotics#grid-based-coverage-path-planning
	https://github.com/AtsushiSakai/PythonRoboticsGifs/raw/master/PathPlanning/GridBasedSweepCPP/animation.gif
	https://github.com/JunghoYoo/PythonRobotics#particle-swarm-optimization-pso
	https://github.com/AtsushiSakai/PythonRoboticsGifs/raw/master/PathPlanning/ParticleSwarmOptimization/animation.gif
Particle swarm optimization - Wikipedia	https://en.wikipedia.org/wiki/Particle_swarm_optimization
Kennedy, J.; Eberhart, R. (1995). "Particle Swarm Optimization"	https://ieeexplore.ieee.org/document/488968
	https://github.com/JunghoYoo/PythonRobotics#state-lattice-planning
Optimal rough terrain trajectory generation for wheeled mobile robots	https://journals.sagepub.com/doi/pdf/10.1177/0278364906075328
State Space Sampling of Feasible Motions for High-Performance Mobile Robot Navigation in Complex Environments	https://www.cs.cmu.edu/~alonzo/pubs/papers/JFR_08_SS_Sampling.pdf
	https://github.com/JunghoYoo/PythonRobotics#biased-polar-sampling
	https://github.com/AtsushiSakai/PythonRoboticsGifs/raw/master/PathPlanning/StateLatticePlanner/BiasedPolarSampling.gif
	https://github.com/JunghoYoo/PythonRobotics#lane-sampling
	https://github.com/AtsushiSakai/PythonRoboticsGifs/raw/master/PathPlanning/StateLatticePlanner/LaneSampling.gif
	https://github.com/JunghoYoo/PythonRobotics#probabilistic-road-map-prm-planning
	https://github.com/AtsushiSakai/PythonRoboticsGifs/raw/master/PathPlanning/ProbabilisticRoadMap/animation.gif
Probabilistic roadmap - Wikipedia	https://en.wikipedia.org/wiki/Probabilistic_roadmap
	https://github.com/JunghoYoo/PythonRobotics#rapidly-exploring-random-trees-rrt
	https://github.com/JunghoYoo/PythonRobotics#rrt
	https://github.com/AtsushiSakai/PythonRoboticsGifs/raw/master/PathPlanning/RRTstar/animation.gif
Incremental Sampling-based Algorithms for Optimal Motion Planning	https://arxiv.org/abs/1005.0416
Sampling-based Algorithms for Optimal Motion Planning	https://citeseerx.ist.psu.edu/document?repid=rep1&type=pdf&doi=bddbc99f97173430aa49a0ada53ab5bade5902fa
	https://github.com/JunghoYoo/PythonRobotics#rrt-with-reeds-shepp-path
	https://github.com/AtsushiSakai/PythonRoboticsGifs/raw/master/PathPlanning/RRTStarReedsShepp/animation.gif
	https://github.com/JunghoYoo/PythonRobotics#lqr-rrt
	https://github.com/AtsushiSakai/PythonRoboticsGifs/raw/master/PathPlanning/LQRRRTStar/animation.gif
LQR-RRT*: Optimal Sampling-Based Motion Planning with Automatically Derived Extension Heuristics	https://lis.csail.mit.edu/pubs/perez-icra12.pdf
MahanFathi/LQR-RRTstar: LQR-RRT* method is used for random motion planning of a simple pendulum in its phase plot	https://github.com/MahanFathi/LQR-RRTstar
	https://github.com/JunghoYoo/PythonRobotics#quintic-polynomials-planning
	https://github.com/AtsushiSakai/PythonRoboticsGifs/raw/master/PathPlanning/QuinticPolynomialsPlanner/animation.gif
Local Path Planning And Motion Control For Agv In Positioning	https://ieeexplore.ieee.org/document/637936/
	https://github.com/JunghoYoo/PythonRobotics#reeds-shepp-planning
	https://github.com/AtsushiSakai/PythonRoboticsGifs/raw/master/PathPlanning/ReedsSheppPath/animation.gif?raw=true
15.3.2 Reeds-Shepp Curves	http://planning.cs.uiuc.edu/node822.html
optimal paths for a car that goes both forwards and backwards	https://pdfs.semanticscholar.org/932e/c495b1d0018fd59dee12a0bf74434fac7af4.pdf
ghliu/pyReedsShepp: Implementation of Reeds Shepp curve.	https://github.com/ghliu/pyReedsShepp
	https://github.com/JunghoYoo/PythonRobotics#lqr-based-path-planning
	https://github.com/AtsushiSakai/PythonRoboticsGifs/raw/master/PathPlanning/LQRPlanner/animation.gif?raw=true
	https://github.com/JunghoYoo/PythonRobotics#optimal-trajectory-in-a-frenet-frame
	https://github.com/AtsushiSakai/PythonRoboticsGifs/raw/master/PathPlanning/FrenetOptimalTrajectory/animation.gif
Optimal Trajectory Generation for Dynamic Street Scenarios in a Frenet Frame	https://www.researchgate.net/profile/Moritz_Werling/publication/224156269_Optimal_Trajectory_Generation_for_Dynamic_Street_Scenarios_in_a_Frenet_Frame/links/54f749df0cf210398e9277af.pdf
Optimal trajectory generation for dynamic street scenarios in a Frenet Frame	https://www.youtube.com/watch?v=Cj6tAQe7UCY
	https://github.com/JunghoYoo/PythonRobotics#path-tracking
	https://github.com/JunghoYoo/PythonRobotics#move-to-a-pose-control
	https://github.com/AtsushiSakai/PythonRoboticsGifs/raw/master/Control/move_to_pose/animation.gif
P. I. Corke, "Robotics, Vision and Control" \| SpringerLink p102	https://link.springer.com/book/10.1007/978-3-642-20144-8
	https://github.com/JunghoYoo/PythonRobotics#stanley-control
	https://github.com/AtsushiSakai/PythonRoboticsGifs/raw/master/PathTracking/stanley_controller/animation.gif
Stanley: The robot that won the DARPA grand challenge	http://robots.stanford.edu/papers/thrun.stanley05.pdf
Automatic Steering Methods for Autonomous Automobile Path Tracking	https://www.ri.cmu.edu/pub_files/2009/2/Automatic_Steering_Methods_for_Autonomous_Automobile_Path_Tracking.pdf
	https://github.com/JunghoYoo/PythonRobotics#rear-wheel-feedback-control
	https://github.com/AtsushiSakai/PythonRoboticsGifs/raw/master/PathTracking/rear_wheel_feedback/animation.gif
A Survey of Motion Planning and Control Techniques for Self-driving Urban Vehicles	https://arxiv.org/abs/1604.07446
	https://github.com/JunghoYoo/PythonRobotics#linearquadratic-regulator-lqr-speed-and-steering-control
	https://github.com/AtsushiSakai/PythonRoboticsGifs/raw/master/PathTracking/lqr_speed_steer_control/animation.gif
Towards fully autonomous driving: Systems and algorithms - IEEE Conference Publication	https://ieeexplore.ieee.org/document/5940562/
	https://github.com/JunghoYoo/PythonRobotics#model-predictive-speed-and-steering-control
	https://github.com/AtsushiSakai/PythonRoboticsGifs/raw/master/PathTracking/model_predictive_speed_and_steer_control/animation.gif
documentation	https://atsushisakai.github.io/PythonRobotics/modules/6_path_tracking/model_predictive_speed_and_steering_control/model_predictive_speed_and_steering_control.html
Real-time Model Predictive Control (MPC), ACADO, Python \| Work-is-Playing	http://grauonline.de/wordpress/?page_id=3244
	https://github.com/JunghoYoo/PythonRobotics#nonlinear-model-predictive-control-with-c-gmres
	https://github.com/AtsushiSakai/PythonRoboticsGifs/raw/master/PathTracking/cgmres_nmpc/animation.gif
documentation	https://atsushisakai.github.io/PythonRobotics/modules/6_path_tracking/cgmres_nmpc/cgmres_nmpc.html
	https://github.com/JunghoYoo/PythonRobotics#arm-navigation
	https://github.com/JunghoYoo/PythonRobotics#n-joint-arm-to-point-control
	https://github.com/AtsushiSakai/PythonRoboticsGifs/raw/master/ArmNavigation/n_joint_arm_to_point_control/animation.gif
	https://github.com/JunghoYoo/PythonRobotics#arm-navigation-with-obstacle-avoidance
	https://github.com/AtsushiSakai/PythonRoboticsGifs/raw/master/ArmNavigation/arm_obstacle_navigation/animation.gif
	https://github.com/JunghoYoo/PythonRobotics#aerial-navigation
	https://github.com/JunghoYoo/PythonRobotics#drone-3d-trajectory-following
	https://github.com/AtsushiSakai/PythonRoboticsGifs/raw/master/AerialNavigation/drone_3d_trajectory_following/animation.gif
	https://github.com/JunghoYoo/PythonRobotics#rocket-powered-landing
	https://github.com/AtsushiSakai/PythonRoboticsGifs/raw/master/AerialNavigation/rocket_powered_landing/animation.gif
documentation	https://atsushisakai.github.io/PythonRobotics/modules/8_aerial_navigation/rocket_powered_landing/rocket_powered_landing.html
	https://github.com/JunghoYoo/PythonRobotics#bipedal
	https://github.com/JunghoYoo/PythonRobotics#bipedal-planner-with-inverted-pendulum
	https://github.com/AtsushiSakai/PythonRoboticsGifs/raw/master/Bipedal/bipedal_planner/animation.gif
	https://github.com/JunghoYoo/PythonRobotics#license
	https://github.com/JunghoYoo/PythonRobotics#use-case
users_comments	https://github.com/AtsushiSakai/PythonRobotics/blob/master/users_comments.md
	https://github.com/JunghoYoo/PythonRobotics#contribution
How To Contribute — PythonRobotics documentation	https://atsushisakai.github.io/PythonRobotics/modules/0_getting_started/3_how_to_contribute.html
	https://github.com/JunghoYoo/PythonRobotics#citing
our papers	https://arxiv.org/abs/1808.10703
	https://github.com/JunghoYoo/PythonRobotics#supporting-this-project
Sponsor @AtsushiSakai on GitHub Sponsors	https://github.com/sponsors/AtsushiSakai
Become a backer or sponsor on Patreon	https://www.patreon.com/myenigma
One-time donation via PayPal	https://www.paypal.com/paypalme/myenigmapay/
	https://github.com/JunghoYoo/PythonRobotics#sponsors
JetBrains	https://www.jetbrains.com/
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1Password	https://github.com/1Password/for-open-source
	https://github.com/JunghoYoo/PythonRobotics#1password
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Contributors to AtsushiSakai/PythonRobotics	https://github.com/AtsushiSakai/PythonRobotics/graphs/contributors
atsushisakai.github.io/PythonRobotics/	https://atsushisakai.github.io/PythonRobotics/
Readme	https://github.com/JunghoYoo/PythonRobotics#readme-ov-file
Code of conduct	https://github.com/JunghoYoo/PythonRobotics#coc-ov-file
Contributing	https://github.com/JunghoYoo/PythonRobotics#contributing-ov-file
Security policy	https://github.com/JunghoYoo/PythonRobotics#security-ov-file
Please reload this page	https://github.com/JunghoYoo/PythonRobotics
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