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Unitree Robotics
Unitree R1-A5-D Smart E
Mobile-Base Dual-Arm Humanoid Robot with BrainCo Revo 2 Tactile 5-Finger Hands & Wrist RGB Cameras. 16 DOF, Orin Nano 40 TOPS, MID360 LiDAR, stereo vision & full-stack open SDK. The ultimate anthropomorphic mobile manipulation platform.
R1-A5-D Smart E — mobile-base humanoid with BrainCo Revo 2 Tactile 5-finger hands, wrist RGB cameras, MID360 LiDAR & stereo vision
16
Total DOF
5+5
Arm DOF
60
Nm Torque
~2
kg Payload
40
TOPS AI
What's in This Configuration
The R1-A5-D Smart E is the convergence of anthropomorphic form and tactile sensing. It pairs BrainCo Revo 2 Tactile 5-finger hands — with independently actuated digits and force-sensitive fingertips — with the autonomous R1-A5-D mobile base, MID360 LiDAR, stereo vision, and wrist RGB cameras. The built-in Orin Nano 40 TOPS fuses tactile pressure maps, wrist-camera RGB, head binocular vision, and 360° LiDAR point clouds for the most complete multi-modal mobile manipulation pipeline in the R1-A5-D lineup.
✓ R1-A5-D Mobile Base Body
Full upper-body humanoid on a wheeled autonomous chassis: dual 5-DOF arms, 1-DOF waist, 2-DOF head, 1-DOF pillar, 2-DOF base. 683×520×440 mm collapsed, ~30 kg with battery.
✓ BrainCo Revo 2 Tactile 5-Finger Hands
Five-finger anthropomorphic hands with integrated tactile sensors pre-installed on both arms for force-aware human-like grasping on a mobile platform.
✓ Tactile Sensor Array
Force-sensitive fingertips and palm regions on each hand enabling pressure mapping, contact detection, and slip prediction during 5-finger mobile manipulation.
✓ Wrist RGB Cameras
Dedicated RGB cameras mounted on each wrist for close-up visual feedback, finger-pose estimation, and grasp verification during navigation and manipulation.
✓ MID360 LiDAR
360° surround LiDAR integrated into the mobile chassis for real-time SLAM, obstacle avoidance, and autonomous navigation.
✓ Orin Nano 40 TOPS
Built-in NVIDIA Jetson Orin Nano delivering 40 TOPS for tactile-visual-LiDAR fusion, navigation, 5-finger hand control, and wrist-camera processing.
BrainCo Revo 2 Tactile — Five Fingers That Feel
The BrainCo Revo 2 Tactile combines the anthropomorphic five-finger architecture of the Revo 2 Basic with an array of force-sensitive tactile sensors integrated into the fingertips and palm surfaces. Each of the five independently actuated digits — thumb, index, middle, ring, and pinky — now senses contact force, enabling real-time pressure mapping and adaptive grip strength across human-like grasp configurations. This unique combination makes Smart E the ultimate platform for research in tactile anthropomorphic manipulation, force-aware tool use, and physical human-robot interaction on a navigating mobile base.
BrainCo Revo 2 Tactile five-finger hands with force-sensitive sensors and wrist RGB cameras
Tactile Anthropomorphic Grasping — The Best of Both Worlds
Smart E unites five-finger human-like kinematics with integrated tactile sensing — the only R1-A5-D configuration to offer both. The Revo 2 Tactile hands can execute complex multi-point contact strategies, in-hand reorientation with force feedback, and compliant grasping of fragile objects in articulated poses — all while sensing contact forces to prevent damage and adapt grip strength in real time. The tactile stream fuses with wrist camera RGB data, head binocular vision, and MID360 LiDAR on the Orin Nano 40 TOPS for a complete multi-modal perception pipeline that closes the loop between anthropomorphic dexterity, touch, and autonomous navigation.
Tactile-Visual-LiDAR Fusion — Complete Multi-Modal Perception
Smart E processes synchronized streams from five sensor modalities on the Orin Nano 40 TOPS: tactile pressure maps from each 5-finger hand, close-up RGB from wrist cameras, scene-level depth from the head binocular camera, 360° point clouds from the MID360 LiDAR, and proprioceptive data from dual encoders on every joint. This rich multi-modal fusion enables research in tactile-visual-LiDAR servoing for mobile manipulation, affordance prediction with force awareness across human-like hand poses, slip-compensated grasping with five articulated fingers while navigating, and sensorimotor learning in high-dimensional action spaces — domains where any single modality is insufficient.
Autonomous Mobile Base — Navigate, Then Manipulate
The R1-A5-D chassis adds 3 degrees of freedom to the upper body: a telescopic pillar for height adjustment and a 2-DOF wheeled base for omnidirectional navigation. Combined with the MID360 LiDAR and stereo camera head, the robot builds real-time maps, plans paths, and avoids obstacles autonomously — then stops precisely to manipulate. The removable lithium-ion battery in the chassis delivers approximately 1.5 hours of untethered operation.
Orin Nano 40 TOPS — AI Compute for Tactile 5-Finger Mobile Control
The built-in NVIDIA Jetson Orin Nano delivers 40 TOPS of AI compute, handling simultaneous streams from tactile sensors, wrist RGB cameras, head binocular vision, and MID360 LiDAR while executing high-dimensional control policies for 5-finger hands. Run tactile-visual-LiDAR fusion networks, grasp stability predictors, anthropomorphic policy optimization, and reinforcement learning algorithms with large action spaces locally with sub-millisecond latency. No external GPU server, no cloud dependency — just power on and deploy.
Binocular Vision & Multi-Camera Perception
A binocular camera head delivers a 146° × 124° field of view with a 60 mm stereo baseline for scene-level understanding. RGB streams at 1280×720@30 Hz and depth at 544×448@10 Hz. Combined with the MID360 LiDAR, wrist RGB cameras, and tactile arrays on each BrainCo Revo 2 Tactile hand, the R1-A5-D Smart E offers the most complete perception stack for research in multi-modal mobile manipulation and active perception.
Voice Collaboration & Natural Interaction
Four-array beamforming microphones and dual 3 W speakers enable clear voice capture and synthesis in noisy labs, warehouses, or classrooms. The open audio framework supports custom wake words, multilingual TTS, and integration with LLMs for conversational command-and-control — even while the base is in motion.
Collapsible. Mobile. Ready to Deploy.
At 683 × 520 × 440 mm collapsed (1323 mm elevated), the R1-A5-D Smart E navigates standard doorways, elevators, and lab aisles. The telescopic pillar lowers the upper body for transport and raises it for manipulation. At approximately 30 kg with battery, it is a self-contained mobile research platform — no external compute rack, no tether cables during operation.
Collapsed (683 mm) and elevated (1323 mm) configurations for navigation and manipulation
Full-Stack Open Development
Unitree provides a mature, Linux-based robot development framework with open APIs for the underlying system, robotic arms, mobile base, audio, lighting, visual control, and tactile sensing. ROS 2 native support, dual encoders on every arm joint, and hollow internal wiring make the R1-A5-D Smart E a clean slate for reinforcement learning, tactile anthropomorphic mobile manipulation research, embodied AI, and autonomous navigation studies. The built-in Orin Nano 40 TOPS handles multi-modal perception and planning locally without external hardware.
Upgrade Path — Grow With Your Research
Smart E is the top anthropomorphic tactile mobile configuration. Expand further with platform-level upgrades:
- Compute Module — Swap to the 100 TOPS expansion for large-model inference, multi-modal learning, and multi-robot coordination.
Designed For
Tactile Anthropomorphic Manipulation
Force-controlled 5-finger grasping, compliant manipulation of fragile objects, and human-like tool use while navigating.
Physical Human-Robot Interaction
Safe physical HRI with force-aware compliance, contact detection, and adaptive grip strength on a mobile platform.
Multi-Modal Sensorimotor Learning
RL and imitation learning combining tactile, visual, LiDAR, and proprioceptive feedback across locomotion and 5-finger manipulation.
Advanced University Research
Cutting-edge mobile manipulation, tactile control theory, neuroscience-inspired robotics, and AI integration.
Technical Specifications
| Model | Unitree R1-A5-D Smart E (Mobile Base) |
| Dimensions (Collapsed) | 683 × 520 × 440 mm (H × W × D) |
| Dimensions (Elevated) | 1323 × 520 × 440 mm (H × W × D) |
| Weight (with Battery) | ~30 kg |
| Total DOF | 16 (Arm 5×2, Waist 1, Head 2, Pillar 1, Base 2) |
| Arm Reach | 420 mm (forearm + upper arm) |
| Peak Shoulder Torque | 60 Nm |
| Max Arm Payload | ~2 kg (posture-dependent) |
| End-Effector Precision | ±0.1 mm |
| End Effectors | BrainCo Revo 2 Tactile 5-finger anthropomorphic hands with wrist RGB cameras (both arms, pre-installed) |
| Finger Configuration | 5 independently actuated fingers per hand (thumb + index + middle + ring + pinky) |
| Wrist Cameras | RGB camera integrated into each BrainCo Revo 2 Tactile hand for close-up visual feedback |
| Tactile Sensing | Force-sensitive fingertips and palm arrays on each hand for pressure mapping, contact detection, and slip prediction in 5-finger configurations |
| Vision | Binocular camera — RGB 1280×720@30 Hz, Depth 544×448@10 Hz, FOV 146°×124° |
| LiDAR | MID360 360° LiDAR (chassis-integrated) |
| Head Compute | 8-core high-performance CPU + 10 TOPS NPU |
| Body Compute | 8-core high-performance CPU |
| Onboard AI Compute | NVIDIA Jetson Orin Nano 40 TOPS (built-in) |
| Audio | 4-array microphone + dual 3 W speakers |
| Connectivity | Wi-Fi 6, Bluetooth 5.2, OTA updates |
| Power | Removable chassis Li-ion battery (~1.5 h) + external DC PSU. Upper body does not accept a battery. |
| SDK & Interfaces | Linux-based framework, ROS 2, open APIs for arm/base/audio/vision/tactile/lighting |
| Controllers | Standard dual-hand controllers included |
| Warranty | 12 months on the entire unit |
What's in the Box
- Unitree R1-A5-D Smart E Humanoid Robot (mobile base)
- BrainCo Revo 2 Tactile 5-finger anthropomorphic hands with wrist RGB cameras (pre-installed, both arms)
- NVIDIA Jetson Orin Nano 40 TOPS compute module (pre-installed)
- Removable chassis lithium-ion battery pack
- External power supply & AC cable
- MID360 LiDAR module (pre-installed in chassis)
- Binocular vision head module (pre-installed)
- 4-array microphone + dual speaker module (pre-installed)
- Standard dual-hand remote controllers
- Quick-start guide & safety manual
- Secondary development documentation access
R1-A5-D Configuration Guide
Every configuration shares the same R1-A5-D mobile base — the difference is the end effector. Choose the one that matches your research goals:
| Config | Hand | Features |
|---|---|---|
| Smart A | Dex1-1 V2 | Entry-level parallel grippers, Orin Nano 40 TOPS, MID360 LiDAR |
| Smart B | Dex3-1 (RGB) | 3-finger dexterous hand with wrist RGB camera |
| Smart C | Dex3-1 Tactile (RGB) | 3-finger hand with tactile sensors + wrist RGB camera |
| Smart D | BrainCo Revo 2 Basic (RGB) | 5-finger anthropomorphic hand with wrist RGB camera |
| Smart E | BrainCo Revo 2 Tactile (RGB) | 5-finger hand with tactile sensors + wrist RGB camera |
| Smart F | LinkerBot O6 (RGB) | 6-DOF dexterous hand with wrist RGB camera |
| Smart G | LinkerBot O6 Tactile (RGB) | 6-DOF hand with tactile sensors + wrist RGB camera |
| Smart H | Tendon-driven dexterous hand | Advanced tendon-driven mechanism for research-grade dexterity |
* Specifications are based on manufacturer data and may vary slightly by production batch. Optional compute modules and alternative end effectors sold separately.
Unitree® is a registered trademark of Unitree Robotics. Images are for reference; actual product appearance may differ.
Users must maintain a sufficient safety distance. This is a civilian robot — comply with local laws and regulations.
Description
Unitree Robotics
Unitree R1-A5-D Smart E
Mobile-Base Dual-Arm Humanoid Robot with BrainCo Revo 2 Tactile 5-Finger Hands & Wrist RGB Cameras. 16 DOF, Orin Nano 40 TOPS, MID360 LiDAR, stereo vision & full-stack open SDK. The ultimate anthropomorphic mobile manipulation platform.
R1-A5-D Smart E — mobile-base humanoid with BrainCo Revo 2 Tactile 5-finger hands, wrist RGB cameras, MID360 LiDAR & stereo vision
16
Total DOF
5+5
Arm DOF
60
Nm Torque
~2
kg Payload
40
TOPS AI
What's in This Configuration
The R1-A5-D Smart E is the convergence of anthropomorphic form and tactile sensing. It pairs BrainCo Revo 2 Tactile 5-finger hands — with independently actuated digits and force-sensitive fingertips — with the autonomous R1-A5-D mobile base, MID360 LiDAR, stereo vision, and wrist RGB cameras. The built-in Orin Nano 40 TOPS fuses tactile pressure maps, wrist-camera RGB, head binocular vision, and 360° LiDAR point clouds for the most complete multi-modal mobile manipulation pipeline in the R1-A5-D lineup.
✓ R1-A5-D Mobile Base Body
Full upper-body humanoid on a wheeled autonomous chassis: dual 5-DOF arms, 1-DOF waist, 2-DOF head, 1-DOF pillar, 2-DOF base. 683×520×440 mm collapsed, ~30 kg with battery.
✓ BrainCo Revo 2 Tactile 5-Finger Hands
Five-finger anthropomorphic hands with integrated tactile sensors pre-installed on both arms for force-aware human-like grasping on a mobile platform.
✓ Tactile Sensor Array
Force-sensitive fingertips and palm regions on each hand enabling pressure mapping, contact detection, and slip prediction during 5-finger mobile manipulation.
✓ Wrist RGB Cameras
Dedicated RGB cameras mounted on each wrist for close-up visual feedback, finger-pose estimation, and grasp verification during navigation and manipulation.
✓ MID360 LiDAR
360° surround LiDAR integrated into the mobile chassis for real-time SLAM, obstacle avoidance, and autonomous navigation.
✓ Orin Nano 40 TOPS
Built-in NVIDIA Jetson Orin Nano delivering 40 TOPS for tactile-visual-LiDAR fusion, navigation, 5-finger hand control, and wrist-camera processing.
BrainCo Revo 2 Tactile — Five Fingers That Feel
The BrainCo Revo 2 Tactile combines the anthropomorphic five-finger architecture of the Revo 2 Basic with an array of force-sensitive tactile sensors integrated into the fingertips and palm surfaces. Each of the five independently actuated digits — thumb, index, middle, ring, and pinky — now senses contact force, enabling real-time pressure mapping and adaptive grip strength across human-like grasp configurations. This unique combination makes Smart E the ultimate platform for research in tactile anthropomorphic manipulation, force-aware tool use, and physical human-robot interaction on a navigating mobile base.
BrainCo Revo 2 Tactile five-finger hands with force-sensitive sensors and wrist RGB cameras
Tactile Anthropomorphic Grasping — The Best of Both Worlds
Smart E unites five-finger human-like kinematics with integrated tactile sensing — the only R1-A5-D configuration to offer both. The Revo 2 Tactile hands can execute complex multi-point contact strategies, in-hand reorientation with force feedback, and compliant grasping of fragile objects in articulated poses — all while sensing contact forces to prevent damage and adapt grip strength in real time. The tactile stream fuses with wrist camera RGB data, head binocular vision, and MID360 LiDAR on the Orin Nano 40 TOPS for a complete multi-modal perception pipeline that closes the loop between anthropomorphic dexterity, touch, and autonomous navigation.
Tactile-Visual-LiDAR Fusion — Complete Multi-Modal Perception
Smart E processes synchronized streams from five sensor modalities on the Orin Nano 40 TOPS: tactile pressure maps from each 5-finger hand, close-up RGB from wrist cameras, scene-level depth from the head binocular camera, 360° point clouds from the MID360 LiDAR, and proprioceptive data from dual encoders on every joint. This rich multi-modal fusion enables research in tactile-visual-LiDAR servoing for mobile manipulation, affordance prediction with force awareness across human-like hand poses, slip-compensated grasping with five articulated fingers while navigating, and sensorimotor learning in high-dimensional action spaces — domains where any single modality is insufficient.
Autonomous Mobile Base — Navigate, Then Manipulate
The R1-A5-D chassis adds 3 degrees of freedom to the upper body: a telescopic pillar for height adjustment and a 2-DOF wheeled base for omnidirectional navigation. Combined with the MID360 LiDAR and stereo camera head, the robot builds real-time maps, plans paths, and avoids obstacles autonomously — then stops precisely to manipulate. The removable lithium-ion battery in the chassis delivers approximately 1.5 hours of untethered operation.
Orin Nano 40 TOPS — AI Compute for Tactile 5-Finger Mobile Control
The built-in NVIDIA Jetson Orin Nano delivers 40 TOPS of AI compute, handling simultaneous streams from tactile sensors, wrist RGB cameras, head binocular vision, and MID360 LiDAR while executing high-dimensional control policies for 5-finger hands. Run tactile-visual-LiDAR fusion networks, grasp stability predictors, anthropomorphic policy optimization, and reinforcement learning algorithms with large action spaces locally with sub-millisecond latency. No external GPU server, no cloud dependency — just power on and deploy.
Binocular Vision & Multi-Camera Perception
A binocular camera head delivers a 146° × 124° field of view with a 60 mm stereo baseline for scene-level understanding. RGB streams at 1280×720@30 Hz and depth at 544×448@10 Hz. Combined with the MID360 LiDAR, wrist RGB cameras, and tactile arrays on each BrainCo Revo 2 Tactile hand, the R1-A5-D Smart E offers the most complete perception stack for research in multi-modal mobile manipulation and active perception.
Voice Collaboration & Natural Interaction
Four-array beamforming microphones and dual 3 W speakers enable clear voice capture and synthesis in noisy labs, warehouses, or classrooms. The open audio framework supports custom wake words, multilingual TTS, and integration with LLMs for conversational command-and-control — even while the base is in motion.
Collapsible. Mobile. Ready to Deploy.
At 683 × 520 × 440 mm collapsed (1323 mm elevated), the R1-A5-D Smart E navigates standard doorways, elevators, and lab aisles. The telescopic pillar lowers the upper body for transport and raises it for manipulation. At approximately 30 kg with battery, it is a self-contained mobile research platform — no external compute rack, no tether cables during operation.
Collapsed (683 mm) and elevated (1323 mm) configurations for navigation and manipulation
Full-Stack Open Development
Unitree provides a mature, Linux-based robot development framework with open APIs for the underlying system, robotic arms, mobile base, audio, lighting, visual control, and tactile sensing. ROS 2 native support, dual encoders on every arm joint, and hollow internal wiring make the R1-A5-D Smart E a clean slate for reinforcement learning, tactile anthropomorphic mobile manipulation research, embodied AI, and autonomous navigation studies. The built-in Orin Nano 40 TOPS handles multi-modal perception and planning locally without external hardware.
Upgrade Path — Grow With Your Research
Smart E is the top anthropomorphic tactile mobile configuration. Expand further with platform-level upgrades:
- Compute Module — Swap to the 100 TOPS expansion for large-model inference, multi-modal learning, and multi-robot coordination.
Designed For
Tactile Anthropomorphic Manipulation
Force-controlled 5-finger grasping, compliant manipulation of fragile objects, and human-like tool use while navigating.
Physical Human-Robot Interaction
Safe physical HRI with force-aware compliance, contact detection, and adaptive grip strength on a mobile platform.
Multi-Modal Sensorimotor Learning
RL and imitation learning combining tactile, visual, LiDAR, and proprioceptive feedback across locomotion and 5-finger manipulation.
Advanced University Research
Cutting-edge mobile manipulation, tactile control theory, neuroscience-inspired robotics, and AI integration.
Technical Specifications
| Model | Unitree R1-A5-D Smart E (Mobile Base) |
| Dimensions (Collapsed) | 683 × 520 × 440 mm (H × W × D) |
| Dimensions (Elevated) | 1323 × 520 × 440 mm (H × W × D) |
| Weight (with Battery) | ~30 kg |
| Total DOF | 16 (Arm 5×2, Waist 1, Head 2, Pillar 1, Base 2) |
| Arm Reach | 420 mm (forearm + upper arm) |
| Peak Shoulder Torque | 60 Nm |
| Max Arm Payload | ~2 kg (posture-dependent) |
| End-Effector Precision | ±0.1 mm |
| End Effectors | BrainCo Revo 2 Tactile 5-finger anthropomorphic hands with wrist RGB cameras (both arms, pre-installed) |
| Finger Configuration | 5 independently actuated fingers per hand (thumb + index + middle + ring + pinky) |
| Wrist Cameras | RGB camera integrated into each BrainCo Revo 2 Tactile hand for close-up visual feedback |
| Tactile Sensing | Force-sensitive fingertips and palm arrays on each hand for pressure mapping, contact detection, and slip prediction in 5-finger configurations |
| Vision | Binocular camera — RGB 1280×720@30 Hz, Depth 544×448@10 Hz, FOV 146°×124° |
| LiDAR | MID360 360° LiDAR (chassis-integrated) |
| Head Compute | 8-core high-performance CPU + 10 TOPS NPU |
| Body Compute | 8-core high-performance CPU |
| Onboard AI Compute | NVIDIA Jetson Orin Nano 40 TOPS (built-in) |
| Audio | 4-array microphone + dual 3 W speakers |
| Connectivity | Wi-Fi 6, Bluetooth 5.2, OTA updates |
| Power | Removable chassis Li-ion battery (~1.5 h) + external DC PSU. Upper body does not accept a battery. |
| SDK & Interfaces | Linux-based framework, ROS 2, open APIs for arm/base/audio/vision/tactile/lighting |
| Controllers | Standard dual-hand controllers included |
| Warranty | 12 months on the entire unit |
What's in the Box
- Unitree R1-A5-D Smart E Humanoid Robot (mobile base)
- BrainCo Revo 2 Tactile 5-finger anthropomorphic hands with wrist RGB cameras (pre-installed, both arms)
- NVIDIA Jetson Orin Nano 40 TOPS compute module (pre-installed)
- Removable chassis lithium-ion battery pack
- External power supply & AC cable
- MID360 LiDAR module (pre-installed in chassis)
- Binocular vision head module (pre-installed)
- 4-array microphone + dual speaker module (pre-installed)
- Standard dual-hand remote controllers
- Quick-start guide & safety manual
- Secondary development documentation access
R1-A5-D Configuration Guide
Every configuration shares the same R1-A5-D mobile base — the difference is the end effector. Choose the one that matches your research goals:
| Config | Hand | Features |
|---|---|---|
| Smart A | Dex1-1 V2 | Entry-level parallel grippers, Orin Nano 40 TOPS, MID360 LiDAR |
| Smart B | Dex3-1 (RGB) | 3-finger dexterous hand with wrist RGB camera |
| Smart C | Dex3-1 Tactile (RGB) | 3-finger hand with tactile sensors + wrist RGB camera |
| Smart D | BrainCo Revo 2 Basic (RGB) | 5-finger anthropomorphic hand with wrist RGB camera |
| Smart E | BrainCo Revo 2 Tactile (RGB) | 5-finger hand with tactile sensors + wrist RGB camera |
| Smart F | LinkerBot O6 (RGB) | 6-DOF dexterous hand with wrist RGB camera |
| Smart G | LinkerBot O6 Tactile (RGB) | 6-DOF hand with tactile sensors + wrist RGB camera |
| Smart H | Tendon-driven dexterous hand | Advanced tendon-driven mechanism for research-grade dexterity |
* Specifications are based on manufacturer data and may vary slightly by production batch. Optional compute modules and alternative end effectors sold separately.
Unitree® is a registered trademark of Unitree Robotics. Images are for reference; actual product appearance may differ.
Users must maintain a sufficient safety distance. This is a civilian robot — comply with local laws and regulations.
Unitree
by
Unitree
Unitree R1-A5-D Smart E Humanoid Robot Silver
SKU:
R1-A5-D-Smart-E
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- $21,090.00
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- $21,090.00
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Providing the best new Tech Experience, Energy Independence and Robotics Ways of Optimisation
Providing the best new Tech Experience, Energy Independence and Robotics Ways of Optimisation
Packaging note:
Equipment is being supplied in a manufacturer packaging
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