diff --git a/.gitattributes b/.gitattributes
index 1ef325f1b111266a6b26e0196871bd78baa8c2f3..6fc3d0d28c3852a1029d6bf229fa33d8eec08c21 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -57,3 +57,4 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
 # Video files - compressed
 *.mp4 filter=lfs diff=lfs merge=lfs -text
 *.webm filter=lfs diff=lfs merge=lfs -text
+stack/2025-01-17_17-10-32_631217/log-002294-4208/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
diff --git a/place_on_the_box/2025-02-09_11-52-55_614588/log-000003-8163/info.json b/place_on_the_box/2025-02-09_11-52-55_614588/log-000003-8163/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..bbdf520363623376f88680f14ea9094c886af58a
--- /dev/null
+++ b/place_on_the_box/2025-02-09_11-52-55_614588/log-000003-8163/info.json
@@ -0,0 +1 @@
+{"mask_idToLabels": {"camera_0": {"0": {"class": "BACKGROUND"}, "2": {"class": "table"}, "3": {"class": "ground"}, "4": {"class": "green_0"}, "5": {"class": "board"}}, "wrist_camera": {"0": {"class": "BACKGROUND"}, "1": {"class": "UNLABELLED"}, "2": {"class": "ground"}, "4": {"class": "green_0"}, "3": {"class": "table"}}}, "picking_item_name": "green_0", "item_names": ["green_0"], "random_results": {"ItemPoseRandom": [[[-0.09349645413142049, 0.14351993668377727, 0.8397773713618518]], [[0.7123559617637776, 0.0, 0.0, -0.7018183409826246]]], "RobotBaseRandom": [0.0, 0.0, 0.0]}}
\ No newline at end of file
diff --git a/place_on_the_box/2025-02-09_11-52-55_614588/log-000003-8163/lmdb/lock.mdb b/place_on_the_box/2025-02-09_11-52-55_614588/log-000003-8163/lmdb/lock.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..bf3d95e9ada39cfd6e364d277c440da9805183d7
Binary files /dev/null and b/place_on_the_box/2025-02-09_11-52-55_614588/log-000003-8163/lmdb/lock.mdb differ
diff --git a/place_on_the_box/2025-02-09_11-52-55_614588/log-000004-6289/info.json b/place_on_the_box/2025-02-09_11-52-55_614588/log-000004-6289/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..3b251fa2a219a37c2e5a32e280e1153b7742a2ae
--- /dev/null
+++ b/place_on_the_box/2025-02-09_11-52-55_614588/log-000004-6289/info.json
@@ -0,0 +1 @@
+{"mask_idToLabels": {"camera_0": {"0": {"class": "BACKGROUND"}, "2": {"class": "table"}, "3": {"class": "ground"}, "4": {"class": "green_0"}, "5": {"class": "board"}}, "wrist_camera": {"0": {"class": "BACKGROUND"}, "1": {"class": "UNLABELLED"}, "2": {"class": "ground"}, "3": {"class": "table"}}}, "picking_item_name": "green_0", "item_names": ["green_0"], "random_results": {"ItemPoseRandom": [[[-0.2519910952261763, 0.22535807121308044, 0.8415300459414721]], [[0.8901351851063811, 0.0, 0.0, -0.4556965571908884]]], "RobotBaseRandom": [0.0, 0.0, 0.0]}}
\ No newline at end of file
diff --git a/place_on_the_box/2025-02-09_11-52-55_614588/log-000004-6289/lmdb/lock.mdb b/place_on_the_box/2025-02-09_11-52-55_614588/log-000004-6289/lmdb/lock.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..bf3d95e9ada39cfd6e364d277c440da9805183d7
Binary files /dev/null and b/place_on_the_box/2025-02-09_11-52-55_614588/log-000004-6289/lmdb/lock.mdb differ
diff --git a/place_on_the_box/2025-02-09_11-52-55_614588/log-000006-1529/info.json b/place_on_the_box/2025-02-09_11-52-55_614588/log-000006-1529/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..9027182f0189e72c145bdd05f6c906022ce6bb20
--- /dev/null
+++ b/place_on_the_box/2025-02-09_11-52-55_614588/log-000006-1529/info.json
@@ -0,0 +1 @@
+{"mask_idToLabels": {"camera_0": {"0": {"class": "BACKGROUND"}, "2": {"class": "table"}, "3": {"class": "ground"}, "4": {"class": "green_0"}, "5": {"class": "board"}}, "wrist_camera": {"0": {"class": "BACKGROUND"}, "1": {"class": "UNLABELLED"}, "2": {"class": "ground"}, "4": {"class": "green_0"}, "3": {"class": "table"}}}, "picking_item_name": "green_0", "item_names": ["green_0"], "random_results": {"ItemPoseRandom": [[[-0.10010258851907941, 0.09699141907739889, 0.8402708978205919]], [[0.9512634236026333, 0.0, 0.0, -0.3083794722672005]]], "RobotBaseRandom": [0.0, 0.0, 0.0]}}
\ No newline at end of file
diff --git a/place_on_the_box/2025-02-09_11-52-55_614588/log-000006-1529/lmdb/lock.mdb b/place_on_the_box/2025-02-09_11-52-55_614588/log-000006-1529/lmdb/lock.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..bf3d95e9ada39cfd6e364d277c440da9805183d7
Binary files /dev/null and b/place_on_the_box/2025-02-09_11-52-55_614588/log-000006-1529/lmdb/lock.mdb differ
diff --git a/place_on_the_box/2025-02-09_11-52-55_614588/log-000007-1910/info.json b/place_on_the_box/2025-02-09_11-52-55_614588/log-000007-1910/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..c33d2113ba86ad3e11fccd942b2c305b790fb5f1
--- /dev/null
+++ b/place_on_the_box/2025-02-09_11-52-55_614588/log-000007-1910/info.json
@@ -0,0 +1 @@
+{"mask_idToLabels": {"camera_0": {"0": {"class": "BACKGROUND"}, "2": {"class": "table"}, "3": {"class": "ground"}, "4": {"class": "green_0"}, "5": {"class": "board"}}, "wrist_camera": {"0": {"class": "BACKGROUND"}, "1": {"class": "UNLABELLED"}, "2": {"class": "ground"}, "4": {"class": "green_0"}, "3": {"class": "table"}}}, "picking_item_name": "green_0", "item_names": ["green_0"], "random_results": {"ItemPoseRandom": [[[-0.15017577674517105, 0.14760334482190468, 0.8415670008212328]], [[0.894868607748111, 0.0, 0.0, -0.4463296706101418]]], "RobotBaseRandom": [0.0, 0.0, 0.0]}}
\ No newline at end of file
diff --git a/place_on_the_box/2025-02-09_11-52-55_614588/log-000007-1910/lmdb/lock.mdb b/place_on_the_box/2025-02-09_11-52-55_614588/log-000007-1910/lmdb/lock.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..bf3d95e9ada39cfd6e364d277c440da9805183d7
Binary files /dev/null and b/place_on_the_box/2025-02-09_11-52-55_614588/log-000007-1910/lmdb/lock.mdb differ
diff --git a/place_on_the_box/2025-02-09_11-52-55_614588/log-000008-6616/info.json b/place_on_the_box/2025-02-09_11-52-55_614588/log-000008-6616/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..dd1a338692f1efbebdfecd6fb0d0785166ba0a5d
--- /dev/null
+++ b/place_on_the_box/2025-02-09_11-52-55_614588/log-000008-6616/info.json
@@ -0,0 +1 @@
+{"mask_idToLabels": {"camera_0": {"0": {"class": "BACKGROUND"}, "2": {"class": "table"}, "3": {"class": "ground"}, "4": {"class": "green_0"}, "5": {"class": "board"}}, "wrist_camera": {"0": {"class": "BACKGROUND"}, "1": {"class": "UNLABELLED"}, "2": {"class": "ground"}, "4": {"class": "green_0"}, "3": {"class": "table"}}}, "picking_item_name": "green_0", "item_names": ["green_0"], "random_results": {"ItemPoseRandom": [[[-0.054373971483155786, -0.024323936282917027, 0.8418198437243701]], [[0.7536506144728221, 0.0, 0.0, -0.6572752477499344]]], "RobotBaseRandom": [0.0, 0.0, 0.0]}}
\ No newline at end of file
diff --git a/place_on_the_box/2025-02-09_11-52-55_614588/log-000008-6616/lmdb/lock.mdb b/place_on_the_box/2025-02-09_11-52-55_614588/log-000008-6616/lmdb/lock.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..bf3d95e9ada39cfd6e364d277c440da9805183d7
Binary files /dev/null and b/place_on_the_box/2025-02-09_11-52-55_614588/log-000008-6616/lmdb/lock.mdb differ
diff --git a/place_on_the_box/2025-02-09_11-52-55_614588/log-000011-4521/info.json b/place_on_the_box/2025-02-09_11-52-55_614588/log-000011-4521/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..da1b9aa085773aaf158c5ae1ccd2a4044b6d48a8
--- /dev/null
+++ b/place_on_the_box/2025-02-09_11-52-55_614588/log-000011-4521/info.json
@@ -0,0 +1 @@
+{"mask_idToLabels": {"camera_0": {"0": {"class": "BACKGROUND"}, "2": {"class": "table"}, "3": {"class": "ground"}, "4": {"class": "green_0"}, "5": {"class": "board"}}, "wrist_camera": {"0": {"class": "BACKGROUND"}, "1": {"class": "UNLABELLED"}, "2": {"class": "ground"}, "3": {"class": "table"}}}, "picking_item_name": "green_0", "item_names": ["green_0"], "random_results": {"ItemPoseRandom": [[[-0.20534644547145958, 0.02555912711264312, 0.8433219403773546]], [[0.8697068062119868, 0.0, 0.0, 0.49356870973406086]]], "RobotBaseRandom": [0.0, 0.0, 0.0]}}
\ No newline at end of file
diff --git a/place_on_the_box/2025-02-09_11-52-55_614588/log-000015-9495/info.json b/place_on_the_box/2025-02-09_11-52-55_614588/log-000015-9495/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..f3eeee44d9f40044a8fe3761a63bd798be600c03
--- /dev/null
+++ b/place_on_the_box/2025-02-09_11-52-55_614588/log-000015-9495/info.json
@@ -0,0 +1 @@
+{"mask_idToLabels": {"camera_0": {"0": {"class": "BACKGROUND"}, "2": {"class": "table"}, "3": {"class": "ground"}, "4": {"class": "green_0"}, "5": {"class": "board"}}, "wrist_camera": {"0": {"class": "BACKGROUND"}, "1": {"class": "UNLABELLED"}, "2": {"class": "ground"}, "4": {"class": "green_0"}, "3": {"class": "table"}}}, "picking_item_name": "green_0", "item_names": ["green_0"], "random_results": {"ItemPoseRandom": [[[-0.14274910628218204, 0.04603127550759628, 0.8420481295138598]], [[0.9933923405789369, 0.0, 0.0, 0.11476784253048192]]], "RobotBaseRandom": [0.0, 0.0, 0.0]}}
\ No newline at end of file
diff --git a/place_on_the_box/2025-02-09_11-52-55_614588/log-000015-9495/lmdb/lock.mdb b/place_on_the_box/2025-02-09_11-52-55_614588/log-000015-9495/lmdb/lock.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..bf3d95e9ada39cfd6e364d277c440da9805183d7
Binary files /dev/null and b/place_on_the_box/2025-02-09_11-52-55_614588/log-000015-9495/lmdb/lock.mdb differ
diff --git a/place_on_the_box/2025-02-09_11-52-55_614588/log-000016-3216/info.json b/place_on_the_box/2025-02-09_11-52-55_614588/log-000016-3216/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..c4b0ab80b60635674f47e305aaefd2a88c13cefa
--- /dev/null
+++ b/place_on_the_box/2025-02-09_11-52-55_614588/log-000016-3216/info.json
@@ -0,0 +1 @@
+{"mask_idToLabels": {"camera_0": {"0": {"class": "BACKGROUND"}, "2": {"class": "table"}, "3": {"class": "ground"}, "4": {"class": "green_0"}, "5": {"class": "board"}}, "wrist_camera": {"0": {"class": "BACKGROUND"}, "1": {"class": "UNLABELLED"}, "2": {"class": "ground"}, "4": {"class": "green_0"}, "3": {"class": "table"}}}, "picking_item_name": "green_0", "item_names": ["green_0"], "random_results": {"ItemPoseRandom": [[[-0.16589961035030257, 0.14727535307752915, 0.8415670008212328]], [[0.9739406704839622, 0.0, 0.0, -0.22680293291148212]]], "RobotBaseRandom": [0.0, 0.0, 0.0]}}
\ No newline at end of file
diff --git a/place_on_the_box/2025-02-09_11-52-55_614588/log-000016-3216/lmdb/lock.mdb b/place_on_the_box/2025-02-09_11-52-55_614588/log-000016-3216/lmdb/lock.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..bf3d95e9ada39cfd6e364d277c440da9805183d7
Binary files /dev/null and b/place_on_the_box/2025-02-09_11-52-55_614588/log-000016-3216/lmdb/lock.mdb differ
diff --git a/place_on_the_box/2025-02-09_11-52-55_614588/log-000018-7364/info.json b/place_on_the_box/2025-02-09_11-52-55_614588/log-000018-7364/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..3b608a9903c9b204981fdb0b42f296d79ba56b4a
--- /dev/null
+++ b/place_on_the_box/2025-02-09_11-52-55_614588/log-000018-7364/info.json
@@ -0,0 +1 @@
+{"mask_idToLabels": {"camera_0": {"0": {"class": "BACKGROUND"}, "2": {"class": "table"}, "3": {"class": "ground"}, "4": {"class": "green_0"}, "5": {"class": "board"}}, "wrist_camera": {"0": {"class": "BACKGROUND"}, "1": {"class": "UNLABELLED"}, "2": {"class": "ground"}, "4": {"class": "green_0"}, "3": {"class": "table"}}}, "picking_item_name": "green_0", "item_names": ["green_0"], "random_results": {"ItemPoseRandom": [[[-0.14444965327932743, 0.20589032171186422, 0.8413807363063097]], [[0.9793504852304891, 0.0, 0.0, -0.20216979764249088]]], "RobotBaseRandom": [0.0, 0.0, 0.0]}}
\ No newline at end of file
diff --git a/place_on_the_box/2025-02-09_11-52-55_614588/log-000018-7364/lmdb/lock.mdb b/place_on_the_box/2025-02-09_11-52-55_614588/log-000018-7364/lmdb/lock.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..bf3d95e9ada39cfd6e364d277c440da9805183d7
Binary files /dev/null and b/place_on_the_box/2025-02-09_11-52-55_614588/log-000018-7364/lmdb/lock.mdb differ
diff --git a/place_on_the_box/2025-02-09_11-52-55_614588/log-000020-3637/info.json b/place_on_the_box/2025-02-09_11-52-55_614588/log-000020-3637/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..4789d5df0eb1218db421309f279425c6055e0e22
--- /dev/null
+++ b/place_on_the_box/2025-02-09_11-52-55_614588/log-000020-3637/info.json
@@ -0,0 +1 @@
+{"mask_idToLabels": {"camera_0": {"0": {"class": "BACKGROUND"}, "2": {"class": "table"}, "3": {"class": "ground"}, "4": {"class": "green_0"}, "5": {"class": "board"}}, "wrist_camera": {"0": {"class": "BACKGROUND"}, "1": {"class": "UNLABELLED"}, "2": {"class": "ground"}, "3": {"class": "table"}}}, "picking_item_name": "green_0", "item_names": ["green_0"], "random_results": {"ItemPoseRandom": [[[-0.2605186704770115, 0.09288507129836979, 0.8415670008212328]], [[0.903163415041994, 0.0, 0.0, -0.4292969202424852]]], "RobotBaseRandom": [0.0, 0.0, 0.0]}}
\ No newline at end of file
diff --git a/place_on_the_box/2025-02-09_11-52-55_614588/log-000020-3637/lmdb/lock.mdb b/place_on_the_box/2025-02-09_11-52-55_614588/log-000020-3637/lmdb/lock.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..bf3d95e9ada39cfd6e364d277c440da9805183d7
Binary files /dev/null and b/place_on_the_box/2025-02-09_11-52-55_614588/log-000020-3637/lmdb/lock.mdb differ
diff --git a/place_on_the_box/2025-02-09_11-52-55_614588/log-000021-6099/info.json b/place_on_the_box/2025-02-09_11-52-55_614588/log-000021-6099/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..49e73afee7fefd345c3636090096260433d178e7
--- /dev/null
+++ b/place_on_the_box/2025-02-09_11-52-55_614588/log-000021-6099/info.json
@@ -0,0 +1 @@
+{"mask_idToLabels": {"camera_0": {"0": {"class": "BACKGROUND"}, "2": {"class": "table"}, "3": {"class": "ground"}, "4": {"class": "green_0"}, "5": {"class": "board"}}, "wrist_camera": {"0": {"class": "BACKGROUND"}, "1": {"class": "UNLABELLED"}, "2": {"class": "ground"}, "4": {"class": "green_0"}, "3": {"class": "table"}}}, "picking_item_name": "green_0", "item_names": ["green_0"], "random_results": {"ItemPoseRandom": [[[-0.13612595518783316, 0.1308789409573458, 0.8408361882716419]], [[0.9446111008528715, 0.0, 0.0, 0.3281918160855421]]], "RobotBaseRandom": [0.0, 0.0, 0.0]}}
\ No newline at end of file
diff --git a/place_on_the_box/2025-02-09_11-52-55_614588/log-000021-6099/lmdb/lock.mdb b/place_on_the_box/2025-02-09_11-52-55_614588/log-000021-6099/lmdb/lock.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..bf3d95e9ada39cfd6e364d277c440da9805183d7
Binary files /dev/null and b/place_on_the_box/2025-02-09_11-52-55_614588/log-000021-6099/lmdb/lock.mdb differ
diff --git a/place_on_the_box/2025-02-09_11-52-55_614588/log-000029-8964/info.json b/place_on_the_box/2025-02-09_11-52-55_614588/log-000029-8964/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..cdb1c4c1bb5e622d43e012a96afa7b70c6fb3947
--- /dev/null
+++ b/place_on_the_box/2025-02-09_11-52-55_614588/log-000029-8964/info.json
@@ -0,0 +1 @@
+{"mask_idToLabels": {"camera_0": {"0": {"class": "BACKGROUND"}, "2": {"class": "table"}, "3": {"class": "ground"}, "4": {"class": "green_0"}, "5": {"class": "board"}}, "wrist_camera": {"0": {"class": "BACKGROUND"}, "1": {"class": "UNLABELLED"}, "2": {"class": "ground"}, "3": {"class": "table"}}}, "picking_item_name": "green_0", "item_names": ["green_0"], "random_results": {"ItemPoseRandom": [[[-0.2029438950416561, -0.021501396663199102, 0.8433219403773546]], [[0.9363743077606469, 0.0, 0.0, -0.351003070877976]]], "RobotBaseRandom": [0.0, 0.0, 0.0]}}
\ No newline at end of file
diff --git a/place_on_the_box/2025-02-09_11-52-55_614588/log-000029-8964/lmdb/lock.mdb b/place_on_the_box/2025-02-09_11-52-55_614588/log-000029-8964/lmdb/lock.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..bf3d95e9ada39cfd6e364d277c440da9805183d7
Binary files /dev/null and b/place_on_the_box/2025-02-09_11-52-55_614588/log-000029-8964/lmdb/lock.mdb differ
diff --git a/place_on_the_box/2025-02-09_11-52-55_614588/log-000030-6684/info.json b/place_on_the_box/2025-02-09_11-52-55_614588/log-000030-6684/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..706e7bef9c866d7f1edb193e791e855618abde29
--- /dev/null
+++ b/place_on_the_box/2025-02-09_11-52-55_614588/log-000030-6684/info.json
@@ -0,0 +1 @@
+{"mask_idToLabels": {"camera_0": {"0": {"class": "BACKGROUND"}, "2": {"class": "table"}, "3": {"class": "ground"}, "4": {"class": "green_0"}, "5": {"class": "board"}}, "wrist_camera": {"0": {"class": "BACKGROUND"}, "1": {"class": "UNLABELLED"}, "2": {"class": "ground"}, "4": {"class": "green_0"}, "3": {"class": "table"}}}, "picking_item_name": "green_0", "item_names": ["green_0"], "random_results": {"ItemPoseRandom": [[[-0.20529272417334704, 0.047049866416372016, 0.8420481295138598]], [[0.9843425335716314, 0.0, 0.0, -0.17626620947243926]]], "RobotBaseRandom": [0.0, 0.0, 0.0]}}
\ No newline at end of file
diff --git a/place_on_the_box/2025-02-09_11-52-55_614588/log-000030-6684/lmdb/lock.mdb b/place_on_the_box/2025-02-09_11-52-55_614588/log-000030-6684/lmdb/lock.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..bf3d95e9ada39cfd6e364d277c440da9805183d7
Binary files /dev/null and b/place_on_the_box/2025-02-09_11-52-55_614588/log-000030-6684/lmdb/lock.mdb differ
diff --git a/place_on_the_box/2025-02-09_11-52-55_614588/log-000032-7900/info.json b/place_on_the_box/2025-02-09_11-52-55_614588/log-000032-7900/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..370abcf889cc3a41554c1e11dad1777d63a86e4b
--- /dev/null
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@@ -0,0 +1 @@
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diff --git a/place_on_the_box/2025-02-09_11-52-55_614588/log-000032-7900/lmdb/lock.mdb b/place_on_the_box/2025-02-09_11-52-55_614588/log-000032-7900/lmdb/lock.mdb
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diff --git a/place_on_the_box/2025-02-09_11-52-55_614588/log-000039-9146/lmdb/lock.mdb b/place_on_the_box/2025-02-09_11-52-55_614588/log-000039-9146/lmdb/lock.mdb
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diff --git a/place_on_the_box/2025-02-09_11-52-55_614588/log-000062-5008/lmdb/lock.mdb b/place_on_the_box/2025-02-09_11-52-55_614588/log-000062-5008/lmdb/lock.mdb
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diff --git a/place_on_the_box/2025-02-09_11-52-55_614588/log-000064-1472/lmdb/lock.mdb b/place_on_the_box/2025-02-09_11-52-55_614588/log-000064-1472/lmdb/lock.mdb
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diff --git a/place_on_the_box/2025-02-09_11-52-55_614588/log-000069-2743/lmdb/lock.mdb b/place_on_the_box/2025-02-09_11-52-55_614588/log-000069-2743/lmdb/lock.mdb
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diff --git a/place_on_the_box/2025-02-09_11-52-55_614588/log-000071-1722/lmdb/lock.mdb b/place_on_the_box/2025-02-09_11-52-55_614588/log-000071-1722/lmdb/lock.mdb
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