MUGIC™ Users Guide

MUGIC™ is a small, versatile prototype WIFI motion sensor system for

Enhancing Expression

Please read before proceeding

MUGIC™ is a prototype device, not designed for mass-production. Please handle it with care.
MUGIC™ is encased in a 3D-printed resin box with top and bottom parts; it is fragile.

DO NOT:
● Attempt to open the case
● Apply any liquid
● Store in hot (above 88F/31C), or humid
conditions

NOTE: Avoid attaching MUGIC™ directly onto the skin for a long
period of time.

A. What you need to know about MUGIC™

First, go to Silicon Labs site, and download and install the USB driver, CP210x USB to
UART Bridge VCP Drivers (there are both Windows and Mac drivers here)

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Topography of MUGIC™

USB connector: We recommend to charge MUGIC™ before use (this will take approximately
1 hour). MUGIC™ will immediately begin charging when plugged into a USB power
source supplying 5V with at least 500mA. The device requires at least 5 minutes of
charging before being able to be powered on, if the power is critically low.
Power Switch: Move up to turn ON (away from the USB connector), move down to turn OFF.
Reset Button: When pressed, MUGIC™ will reset to factory defaults.
Mode Button: When pressed, MUGIC™ will switch between WIFI mode (default) and USB
mode. If you see the LED 3 in (Blue) blinks every 1 second, WIFI is active.

LED 1: Red light indicates that the device is charging when connected to USB.
LED 2: Green/Orange/Red indicates the status of the battery
(Green:80+% power remaining, Orange: more than 40%, and Red: less than 40%)
(Blinking red: less than 10% power remaining)
LED 3: Blue light blinking every 1 second means MUGIC™ is transmitting data over WIFI.
While establishing the WIFI network, the blue light will blink as twice as fast.

B. Quick Start Guide - you just received your MUGIC™

Network Name and Password: Every MUGIC™ comes with its own unique 6-digits
numbers. Turn the power on; MUGIC™ will automatically start in WIFI mode. The blue light
(LED 3) will blink fast, then slows down to blinking every 1 second, which means MUGIC™
successfully created a WIFI network. Find:

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 - Network Name: The default network name is “MugicConnectXXXXXX” (‘XXXXXX’
means 6 digits. For example, it will look like “MugicConnect123876”). Join the
network.
- Password: Enter the default password “mugicXXXXXX” (case sensitive, followed by
the 6 digits in the network name. Using the above example, the password would be
mugic123876.)
Note: you can change the network name and password. See page 7-10.

Troubleshooting: If the WIFI network name doesn’t show up in your computer WIFI, turn
your WIFI off, wait for 15+ seconds and turn back on. It should usually come up immediately,
but it might take a few tries and eventually, it should show up.

WIFI mode and USB mode: MUGIC™ also works in USB mode, connecting to the computer
via a USB cable. In case you need to connect to the internet via WIFI, MUGIC™ can also
keep working via USB mode.
- WIFI mode: MUGIC™ is set to WIFI mode as default. You can also charge MUGIC™
connected to an electric outlet via USB cable, so you won’t run out of power while in
WIFI mode.
- USB mode: MUGIC™ also works in USB mode, connecting to the computer via a
USB cable. In case you need to connect to the internet via WIFI, MUGIC™ can also
keep working via USB mode.

A few ways to switch between WIFI and USB modes

1) Max and Ableton Users can switch between WIFI and USB from the softwares. Go to
https://mugicmotion.com/free-tryouts and download MUGIC_Connect.maxproj (Max
users) and/or MugicLiveDemo project (Ableton LIVE), open the first track
MUGIC_Connect.amxd. There is a scroll menu to choose between wifi and USB.
2) MUGIC™ App will let you switch between WIFI and USB modes from the app.
3) Push the Mode Button (above the Power Switch) with a thin, hard object like a pin.
The blue blinking light will indicate which mode you are in.

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 “Shake it all about” - Now you are ready.

Before use, it is helpful to shake MUGIC™ for a few seconds; this is for sensor’s calibration
purposes. Shake them mimicking the movements of cocktail shakers, with quite fast
motions. Try to also shake in different directions, twisting your wrist. Just a few seconds is
enough.
Note: Please be careful not to throw or drop MUGIC™! The resin casing is fragile and can
easily crack if you drop onto a hard surface.

Download Max patches / Ableton LIVE set demos from the

https://mugicmotion.com/free-tryouts web site to use the data sent by MUGIC™. Max users,
open MUGIC_Connect.proj first, and have it open for the duration of your work with MUGIC™.

Download the MUGIC™ App: For configuring your MUGIC™ device, it is recommended to
download the MUGIC™ app (https://mugicmotion.com/mugic-firmware). The app offers
menus for all of the operations in the next section.

Troubleshooting: If the USB mode doesn’t seem to work in Max or LIVE, make sure you quit
MUGIC.app and try again. A USB port can’t connect to multiple apps.

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C. Basic MUGIC™ Usage

MUGIC™ in default “AP mode”

MUGIC™ is in AP (Access Point) mode as default, which means MUGIC™ creates its own
wireless network. You are now receiving data via UDP (User Datagram Protocol) over the
default port, which is set to 4000. (You can always return to this initial state by pressing the
RESET button or turning off/on your device.)

Troubleshooting:
If you joined the MugicConnectXXXXXX network, but are not receiving any data:
Check your local IP (in your computer’s settings or system preferences, network
configuration). It should be 192.168.4.2 (the device should have the IP address
192.168.4.1). If this is not the case, you may not be the only computer or device to
join the access point. Try turning off the device and back on, then join again.
Alternatively, in a browser, while MUGIC™ is on WIFI, visit URL
http://192.168.4.1/set?udp_ip=192.168.4.X where 192.168.4.X is your local IP
address. (It’s possible that the WiFi network be 10.0.0.1 or something else. In that
case, use the router address of your WIFI network instead of 192.168.4.1.)

Data API
Once your computer receives the data over either WIFI using port 4000, or over USB, you will
receive datagrams with the given format:
● Over WIFI: UDP network packet addressed to computer IP over port 4000.
Contents: OSC Message “/mugicdata AX AY AZ EX EY EZ GX GY GZ MX MY MZ
QW QX QY QZ Battery SysStatus GyroStatus AccelStatus MagStatus Secs
SeqNum” (“A”=accelerometer, so AX AY AZ means the acceleration of X, Y and Z
angles. See page 6 “MUGIC™ Datagram and description”)

● Over USB: discard any line on the serial port not beginning with “mugicdata” (or pipe it
into a log, since they consist of logging/debugging information indicating state transitions
and other operations of the MUGIC™ device). The lines containing data have the
format: “mugicdata AX AY AZ EX EY EZ GX GY GZ MX MY MZ QW QX QY QZ
Battery SysStatus GyroStatus AccelStatus MagStatus Secs SeqNum”

(Note: Depending on the flags, some of these data may be 0. They are all on by default.)

The values are provided by the on-board BNO055 integrated sensor, whose full documentation
is provided on the vendor’s website. The most useful values for the average user are
acceleration and quaternion orientations.

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MUGIC™ Datagram and description

FIELD Index Meaning / unit

Accelerometer 123 Acceleration: measured by the on-board accelerometer, in

AX AY AZ the local device frame, in m/s^2

Euler Angles 456 Euler angles: computed by the on-board sensor from the
EX EY EZ quaternion, in (fixed) Earth-related frame, in degrees.

Gyrometer 789 Gyrometer: angular velocity in the local device frame, in

GX GY GZ degrees per second.

Magnetometer 10 11 12 Magnetometer: measures the components of the Earth

MX MY MZ magnetic field in the local device frame, in µT.

Quaternion 13 14 15 16 Quaternion: provides an alternate measurement (different

QW QX QY QZ from Euler angles) of the rotation between the local frame
and the Earth-related frame.

Battery 17 Battery level in percent.

Sensor status 18 19 20 21 Calibration status (0=N/A, 1=weak, 2=good, 3=excellent).

(Accelerometer, In general, data is not reliable and should not be used
Gyrometer, m when the corresponding status is 0.
(continues) Note: It is possible to calibrate the device by a sequence of
movements / positions systematically exploring every orientation,
until every status is at least 1, preferably 2 or 3.

Seconds 22 Seconds elapsed since the last restart of the MUGIC™

device.1

SeqNum 23 Sequence number of data message: first message has

sequence number 0, and subsequent messages increment
this sequence number by 1.

These values are read from the device in native resolution of 100Hz (every 10ms), however it is
not possible for the on-board software to read and publish this data at this rate over USB. The
current reading and publishing frequency is set at a default of 40Hz, i.e. loop_delay of 25ms.2,3

1
With a reasonably steady rate, should be spaced every 25ms per consecutive messages, but can vary depending
on various interactions and activity in the device (e.g. network activity). Can be regulated through the loop_delay
parameter (see next section).
2
The most efficient way to publish data we have come about is over OSC messages, via WIFI, and turning off any
non-essential measurements (which would then be published as 0) as indicated by the flags section in the next
section. Using this we can achieve a consistent 15ms loop-delay, and with occasional fluctuations even 10ms (but
some measurements might occasionally be spaced apart by more than 10ms).
3
We are currently researching the possibility of publishing “raw” non-OSC messages, but this would likely be a
non-portable non-standard modification - please contact us if you need this level of accuracy and publishing
frequency.

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 Technical Details on Configuring your MUGIC™
The state of your device is stored in RAM while the device is running, and can be written to
EEPROM (a more permanent storage that will keep its contents even if the device is powered
off). Upon powering on, the state is loaded into RAM from EEPROM.

All commands below modify the RAM state; these changes will be lost if the device is
powered off, or if the configuration is reloaded from EEPROM using the reload command.
They can be saved into the EEPROM by using the commit command. The reset command
will erase the state of the EEPROM and overwrite with the default / factory settings, similar to
what can be obtained from pressing the RESET button.

The state of your device consists of the following main parameters with the following values:

Name Where is it Meaning Default values

stored?

name EEPROM+RAM This is the name of your MUGIC™XXXXXX

device.

ap_ssid EEPROM+RAM SSID (network name) and MUGIC™ConnectXXXXXX

ap_pwd PWD (password) for the mugicXXXXXX
ap_port wireless network in AP 4000
mode.

wifi_ssid EEPROM+RAM SSID (network name) and MUGIC™NetworkXXXXXX

wifi_pwd PWD (password) of the mugicXXXXXX
wifi_ip wireless network joined 192.168.4.1
wifi_port while in Client mode. 4000

udp_ip RAM 192.168.4.2

upd_port 4000

loop_delay EEPROM+RAM 25ms (40Hz)

Using the MUGIC™ app

Download the MUGIC™ app from www.mugicmotion.com, and follow the instructions in the
app. It leverages the WIFI and USB interfaces, and sends the appropriate commands
depending on the context. If you don’t have access to the app, or are curious, you can read
on.

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 Over WIFI
Assuming the IP address of the mugic device is 192.168.4.1, open that URL in a
browser by entering the IP address in the browser’s address bar. For example, you
should see:

etc.

This page tells you about the configuration of your device. You can visit it any time to
check on your changes. You can modify any of the parameters by visiting e.g.
http://192.168.4.1/set?name=MyMUGIC, for instance, to change the name of your
device from Mugic469106 (in the example) to MyMUGIC.
Note: special characters like ‘ and (space) need to be encoded like
http://192.168.4.1/set?name=Mari%27s%20MUGIC™ to set the name to “Mari’s
MUGIC™”. The same goes for any other parameter (like ap_ssid and wifi_ssid). The
MUGIC™ app does that for you.

You can switch between WIFI mode and USB mode, by visiting the commands
http://192.168.4.1/wifimode or http://192.168.4.1/usbmode.

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 Note: For a finer control of the device output, you can visit:
http://192.168.4.1/set?wifi=server, http://192.168.4.1/set?wifi=server or
http://192.168.4.1/set?wifi=client or http://192.168.4.1/set?wifi=0.
You can turn USB data on or off by visiting http://192.168.4.1/set?usb=0 or 1,
independently of the wifi mode.

Please remember that all these modifications affect the values stored in RAM. To save
these values to EEPROM, visit http://192.168.4.1/commit. To discard your changes,
visit http://192.168.4.1/reload. To reset the MUGIC™ device to factory settings, visit
http://192.168.4.1/reset. For further info, visit http://192.168.4.1/help.

Over USB
You will need a program such as Minicom, Putty, or the Arduino IDE, to access the
port (typically COM[0123] on Windows, SLAB_USBtoUART on MacOS). In that
terminal, enter commands such as “print” to see the configuration state, or
“name:MyMUGIC™” to change the name of your device.

Available commands and their arguments include (do not type the surrounding quotes,
and change the ALL CAPS values to the values you desire):

● “print” to see the state of your device (it is recommended to turn “usb:0” to
avoid the print statements to be drowned in MUGIC™Data messages)
● “name:NAME OF YOUR DEVICE” to name your device
● “wifimode” or “usbmode” to switch between WIFI mode or USB mode.
● “ap_ssid:NAME OF YOUR NETWORK”
● “ap_pwd:PASSWORD” (must be at least 8 chars long, or else the device will
not be able to create the access point in AP mode)
● “ap_port:PORT” (default is 4000 but if using several MUGIC™ devices, you
may want to give each a different port number)
● “wifi_ssid:NAME OF YOUR WIFI CLIENT NETWORK”
● “wifi_pwd:WIFI NETWORK PASSWORD” (must be at least 8 chars long, or
else the device will not be able to join an existing network in Client mode)
● “wifi_ip:IP.ADD.RE.SS” (default is 192.168.4.1, but if joining in client mode, you
will need to configure to your computer’s IP address on the common network)
● “wifi_port:PORT” (default is 4000 but if using several MUGIC™ devices, you
may want to give each a different port number)

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 Note: for a finer control of the device output, you can also use the commands to set
WIFI mod and USB modes independently:

● “wifi:0” “wifi:client” or “wifi:server” to set the WIFI mode off, to client, or AP

mode.
● “usb:0” or “usb:1” to disable or enable data via USB (independent of WIFI
mode).
● “commit”, “reload” or “reset” to copy RAM to EEPROM, or EEPROM to RAM, or
reset EEPROM to factory defaults.
● “loop:N” to set the loop delay to N milliseconds. This means data will be
transmitted at the rate of one message every N milliseconds (if it can keep up,
or as fast as it can transmit data if that turns out to be slower).
● “help” for this information.

D. Connect Multiple MUGIC™

To connect more than one MUGIC™ to a single computer, those MUGIC™ need to be
in Client Mode, which means either:
A) MUGIC™ joins an external WIFI network, such as RavPower or TP-Link, OR
B) MUGIC™ joins a network created by your computer

IMPORTANT: First, make sure to quit Max, Ableton or other applications connecting
MUGIC™ to computer via USB

A. Join an external WIFI network, such as RavPower or TP-Link routers

1. Find out the name and password of your router
2. In MUGIC.app, for each MUGIC™ device, set “wifi_ssid” “wifi_pwd of your router,
and assign different port numbers
3. Now Multiple MUGIC™ can join the network

Troubleshooting: If you are using a public network, make sure it is enabled to forward the
MUGIC™ data on a given port. We generally do not recommend using a public network, since
such data forwarding via UDP may be forbidden, and the ports are blocked; contact your local
network administrator. After you connect your computer to it, you need to record the IP
address of your computer on that network. (You can obtain that information from the network
settings; if you need help, this page has it.)

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 B. Using MUGIC.app via USB to set up client mode:
IMPORTANT: First, make sure to quit Max, Ableton or other applications
connecting MUGIC™ to computer via USB.

● Using the MUGIC™ App: [EASIEST]

○ Simply enter each parameter into the Config > ClientMode tab
○ Press “Submit” for each parameter, then “Switch MUGIC™ to WIFI Client
Mode and Commit Changes to EEPROM”

Please take the three steps described in the following section:

1. Determining your WIFI client parameters,
2. Configuring the MUGIC™ device(s) ready to join the client network
3. If you are using your own computer to create that network, then actually creating that
network.

1. Determining your WIFI Client network parameters

There are a few ways to connect multiple MUGIC™ to your computer via WIFI:
1.2 Using your own computer as its local network provider (no router necessary).

If your computer will create the client network, then you have freedom to choose the network
name and password, and your local IP address. Let’s set your network to ‘JigglyCat’ (it needs to
be at least 8 characters), your password ‘JigglyDog’ as an example. We will also assume that
your computer will have the local IP address 192.168.4.1.

Technical notes: Typically, MUGIC™ devices that join the network will have IP addresses
192.168.4.{2,3,4…} but it doesn’t matter, since they send the data to the computer all that
they need to known is the local IP address of the computer.

TroubleShooting: If you don’t see the IP address, go to System Preference - Network, Click
Advance at the bottom, and Press “Renew DHCP lease”, then press Apply.

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2. Configuring the MUGIC™ device(s)
Configure each MUGIC™ device identically except for the port they broadcast the data on (set
the first device to 4000, the next to 4001, etc.). We assume the network has the name
‘JigglyCat’ and password ‘JigglyDog’, otherwise substitute your own parameters from paragraph
1 above.

● Open MUGIC.app
● Connect MUGIC™ to computer via USB, then turn the power ON.
● For each MUGIC™ device, name and create your network. Set:
- wifi_ssid to “JigglyCat”
- wifi_pwd to “JigglyDog”
- wifi_ip:192.168.4.1
- different port numbers for each MUGIC™
- wifi:c
- commit
● Now, turn the MUGIC™ power OFF, then back ON, and set MUGIC™ to Client Mode.

● Via WIFI: while connected to each MUGIC™ device in AP Mode, visit

○ http://192.168.4.1/set?wifi_ssid=MugicNetworkXXXXXX&wifi_pwd=mugicXXX
XXX&wifi_ip=192.168.4.1&wifi_port=4000 (or 4001, 4002, etc.)
○ http://192.168.4.1/set?wifi=c&commit=1

3. Creating the WIFI Client network

3.1 Windows Users: Windows has a useful feature that allows you to create a virtual WIFI
adapter interface, making it possible to both connect to a WIFI network and create a WIFI
hotspot using the same physical network interface at the same time. This feature is hidden, but
you can access it using the Virtual Router software—this uses the same Windows features as
Connectify, a commercial application. Here is a blog that provides a step by step instruction
how to set up a VPN and still enjoy your internet connection at the same time:
https://www.comparitech.com/blog/vpn-privacy/how-to-set-up-a-vpn-enabled-wifi-hotspot-with-a-
windows-virtual-router/

3.2 MacOSMac users: you need to have an internet connection to share. If you are not
connected to a network, you can create a ‘bogus’ Ethernet connection (loopback, see below) so
Mac ‘thinks’ there is a connection to share with multiple MUGIC™.

1. Disable the WIFI connection (very important)

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 2. Connect to an internet via USB/Ethernet adapter

Troubleshooting: (if you don’t have Ethernet, then go to “3.3 Loopback method” on
page 14, then come back here to go to step 3 below)

You might have to restart the computer.

3. Go to the Systems Preferences and open the “Sharing” panel. Choose “Share your
connection from: <USB/Ethernet>” and “To computers using: [x] WIFI” as in the picture
below. If it asks you to ask the ‘WIFI on” press ‘cancel’ for now.

Also click on the WIFI Options, and configure the network using the parameters of your
MUGIC™ device, as in below. (If using the factory defaults, MugicNetworkXXXXXX and
mugicXXXXXX; if you already have set your own wifi_ssid and wifi_pwd, then use those
values.)

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Once this is done, click on OK, then on the “Internet Sharing” checkbox of the previous panel,
and when asked, choose “Start”.

Finally, go to the Network Preferences, which should look like this:

And click on the “Advanced” button, select the TCP/IP tab, and set the following parameters.

Click OK, Apply, and exit the Systems Preference. Your mac should now have created its own
network called MUGIC™NetworkXXXXXX with password as mugicXXXXXX, and have the IP
address of 192.168.4.1 on that network.

3.3 Creating your local network for MacOS users with Loopback method:

If the above method does not work, or you do not have any connection to the internet that you
can share, then you must first establish a loopback. (This makes your computer act like it’s own
little internet server.) Sadly, it’s not easy. The following method was lifted (with thanks and
acknowledgments) from https://www.laszlopusztai.net/tag/wireless-tethering/page/3/. First,
open a Terminal (using Spotlight, -Space) and enter the following instructions starting with
“sudo networksetup…” (you need to have administrator privileges). Enter your password if
prompted.

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Next, go to the Systems Preferences and open the “Sharing panel”. Choose “Share your
connection from: <Loopback>” and “To computers using: [x] WIFI” as in the picture below:

From then on, resume the sharing method as from above.

Technical Details: Macs unfortunately don’t have the same sort of virtual network interface
feature. To share a WIFI connection over WIFI, you’ll need a separate physical WIFI interface,
for example a hotspot device like the RAVPower mentioned above. You can create your own
network, but then you will not be able to connect to the internet while working with MUGIC™.
(This may actually be desirable to avoid possible interruptions due to an external connection.)

In order to quit working with MUGIC™ and return to your Internet access, you will need to
undo these changes. For these reasons, it is quite advised to create a different Location in
the Network system preferences, called MUGICXXXXXX, and to switch between Automatic
(your internet connection) and MUGICXXXXXX (your local network for MUGIC™).

Appendix

MUGIC™ Care
The casing is made of resin, 3-D printed in two parts: the top cover and the bottom. If you drop
MUGIC™ and the casing comes apart for some reason, you can glue it back carefully using a
‘super glue’, or any cyanoacrylate adhesives. Gorilla Glue, Loctite, Krazy Glue, others all
make cyanoacrylate adhesives. For example:
Gorilla 7805601 Super Glue, 20 g, 1-Pack
https://www.amazon.com/dp/B00KPYB05A/ref=cm_sw_r_cp_api_i_hOS5EbYZRY2WC

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 Loctite Liquid Professional Super Glue 20-Gram Bottle (1365882)
https://www.amazon.com/dp/B004Y960MU/ref=cm_sw_r_cp_api_i_IOS5Eb39S9TDV

Data Specs
Q. How frequently is it sampled from the device / how much data does the device send?
A. The data is sampled by default every 25ms (40Hz) and sends a single UDP packet of
less than 512 bytes, as a result the network traffic is minimal. The frequency can be
adjusted through the loop_delay parameter, but the device maximum frequency is every
10ms (100Hz) and it is hard to configure the sensor to achieve this throughput.
Q. How physically accurate is MUGIC™?
A. The sensor integrated in MUGIC™ is a Bosch BNO055, one of the best fused IMU on
the market. For technical documentation incl. range and accuracy, please see their
documentation (https://cdn-shop.adafruit.com/datasheets/BST_BNO055_DS000_12.pdf)
Q. Can I track absolute position with MUGIC™?
A. This is a hard problem with any IMU sensor, since they only provide orientation and
acceleration, not speed or position. For instance, it is physically impossible to distinguish
a device traveling at constant speed from an immobile device since in both cases
acceleration is zero. Using additional constraints (such as when the device is mounted
on a doorframe or other physically -constrained element, or if the device undergoes a
cyclical motion such as a rotation about a fixed axis) it is possible to achieve excellent
positioning. For a free-form sensor like MUGIC™, it remains an active research project
to estimate accurate speed and position, although in theory using physical constraints
from an instrument such as a violin (if mounted on the box hand) should help.
https://cdn-shop.adafruit.com/datasheets/BST_BNO055_DS000_12.pdf?fbclid=IwAR39i
BXEzhbg2LK9Cv4X-RsQeHW8es390-tidt0F-jdZSAhF7Ba_Mfz5J4g

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