Michel Breyer
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eca61e7297
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Clear IG markers after exploring
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2021-12-06 10:22:51 +01:00 |
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Michel Breyer
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55658948d6
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Precompile raycast fn
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2021-12-06 10:06:53 +01:00 |
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Michel Breyer
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90ef7e98d2
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Wait for user input between runs
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2021-12-06 09:46:46 +01:00 |
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Michel Breyer
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d7cf72b1bc
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Merge branch 'devel' of github.com:mbreyer/active_grasp into devel
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2021-12-06 08:38:49 +01:00 |
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Michel Breyer
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6f735531e0
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Improve visualization of ray casting
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2021-12-06 08:38:32 +01:00 |
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Michel Breyer
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571b382654
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Open gripper after each run
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2021-12-03 14:48:51 +01:00 |
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Michel Breyer
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c0ae6e2333
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Fix depth img encoding
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2021-12-03 14:06:26 +01:00 |
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Michel Breyer
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d8ea9683db
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Load scene config
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2021-12-03 13:52:07 +01:00 |
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Michel Breyer
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e7aa81fed3
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Minor
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2021-12-03 11:49:50 +01:00 |
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Michel Breyer
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2f6fdf9c76
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Remove unused imports
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2021-11-24 16:26:38 +01:00 |
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Michel Breyer
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bcd270414f
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Read cartesian controller topic from rosparam
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2021-11-24 11:34:12 +01:00 |
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Michel Breyer
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64730721cd
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Update min IG stopping criterion
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2021-11-11 15:19:49 +01:00 |
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Michel Breyer
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524f4465dd
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Minor
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2021-11-11 10:39:57 +01:00 |
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Michel Breyer
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3c39453aa8
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Relax stopping criterion
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2021-11-10 16:46:34 +01:00 |
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Michel Breyer
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e521ec4b0f
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Update angular velocity gain
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2021-11-10 16:38:59 +01:00 |
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Michel Breyer
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406c53b309
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Fix transform
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2021-11-10 14:52:48 +01:00 |
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Michel Breyer
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0ac5ca20aa
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Minor
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2021-11-10 12:15:33 +01:00 |
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Michel Breyer
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5f9c52bc19
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Rename nbv policy
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2021-11-10 10:50:51 +01:00 |
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Michel Breyer
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d351416b6d
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Change order of bbox visualization
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2021-11-10 10:48:50 +01:00 |
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Michel Breyer
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533e6db06d
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Log motion plan failures
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2021-11-09 23:00:59 +01:00 |
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Michel Breyer
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c53378d33d
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Compute IG only for voxels within the bounding box
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2021-11-09 19:21:39 +01:00 |
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Michel Breyer
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2b8c66b318
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Clear the whole planning scene before approaching
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2021-11-09 17:10:39 +01:00 |
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Michel Breyer
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db681cea01
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Increase time for the planning scene to update
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2021-11-09 15:27:36 +01:00 |
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Michel Breyer
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b5f12baaba
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Update dbscan parameters
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2021-11-09 15:10:42 +01:00 |
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Michel Breyer
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97517fb755
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Remove unused configs
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2021-11-09 12:01:35 +01:00 |
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Michel Breyer
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8052784cc0
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Check whether the target is graspable
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2021-11-09 11:53:16 +01:00 |
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Michel Breyer
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39e17ca5b7
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Remove unused variables
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2021-11-09 11:48:54 +01:00 |
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Michel Breyer
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945c912347
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Specify MoveIt velocity scaling
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2021-11-08 15:09:27 +01:00 |
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Michel Breyer
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2df4f09d0b
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Fix
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2021-11-08 14:39:44 +01:00 |
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Michel Breyer
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9fccea5681
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Check whether grasp can be reached
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2021-11-08 13:13:43 +01:00 |
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Michel Breyer
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c82e7bde50
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Minor
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2021-11-08 11:43:06 +01:00 |
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Michel Breyer
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6d7a9fc3e2
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Minor
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2021-11-06 15:06:28 +01:00 |
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Michel Breyer
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3c268c7a5d
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Change definition of ROI wrt target bbox
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2021-11-06 13:39:53 +01:00 |
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Michel Breyer
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9580b5c620
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Use trac_ik solver
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2021-11-05 15:53:15 +01:00 |
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Michel Breyer
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3d7a8c8ba9
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Catch rare qhull errors
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2021-11-04 20:08:16 +01:00 |
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Michel Breyer
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33d123e3ee
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Minor
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2021-11-04 20:07:57 +01:00 |
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Michel Breyer
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7db03ff39e
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Specify xyz bounds for randomizing object location
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2021-11-04 18:20:47 +01:00 |
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Michel Breyer
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cdd3cfb686
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Update urdf paths
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2021-11-04 17:49:42 +01:00 |
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Michel Breyer
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51ace4db01
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Update score function
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2021-11-04 17:37:51 +01:00 |
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Michel Breyer
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5d635cb540
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Improve seeding behavior
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2021-11-04 16:48:25 +01:00 |
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Michel Breyer
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3b44940e36
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Prevent division by zero
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2021-11-04 15:21:36 +01:00 |
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Michel Breyer
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c9b6ecbad1
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Merge branch 'devel' of github.com:mbreyer/active_grasp into devel
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2021-11-04 15:15:22 +01:00 |
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Michel Breyer
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0cafc20ead
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Use the Open3D wrapper of qhull
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2021-11-04 15:04:10 +01:00 |
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Michel Breyer
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d307d7d57e
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Add TODO
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2021-10-28 13:43:08 +02:00 |
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Michel Breyer
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4a884fdc11
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WIP
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2021-10-27 15:43:01 +02:00 |
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Michel Breyer
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8f6f18d296
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Minor
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2021-10-27 14:52:07 +02:00 |
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Michel Breyer
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f311ac4eed
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Decrease MoveIt planning time
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2021-10-27 14:29:34 +02:00 |
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Michel Breyer
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b1eef0d6ef
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Option to add random noise to object locations
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2021-10-27 14:29:18 +02:00 |
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Michel Breyer
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cc42ff66e8
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Add collision object for the support plane
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2021-10-25 11:09:13 +02:00 |
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Michel Breyer
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a7f05f9354
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Switch to RRTStar
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2021-10-25 10:47:01 +02:00 |
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