research: tunnel reach study (L129, no-go; found a units mismatch in v225 bounds)
BuildPassageSpatialIndices adds the 4.335 m reach in core-voxel units, so the broadphase reaches ~1.08 m while the sweep cutoff says 4 m. Physically-correct 2 m bounds are larger than v225's and 4.9-9.9% slower; captures at all L125 poses pixel-identical. Patch kept. Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_016dhxM43dnWvUu2B5Ph1iG1
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<!doctype html><meta charset='utf-8'>
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<title>L125 / L129 tunnel capture comparison</title>
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<style>body{font:14px system-ui;margin:24px;background:#17191d;color:#eee}section{margin:28px 0}h2{font-size:18px}div{display:grid;grid-template-columns:1fr 1fr;gap:12px}img{width:100%;height:auto}p{color:#bbb}</style>
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<h1>L125 / L129 v226: identical views</h1>
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<section>
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<h2>passage/0-1/0 — rock-floor/401.7m</h2>
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<p>rock-floor-close · L125 pass · L129 pass</p>
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<div>
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<figure><figcaption>L125</figcaption><img src='../../Linux125/captures/L125/passage-0-1-0-rock-floor-station-1.png'></figure>
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<figure><figcaption>L129 v226</figcaption><img src='L129/passage-0-1-0-rock-floor-station-1.png'></figure>
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</div>
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</section>
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<section>
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<h2>passage/0-1/0 — rock-floor/792.8m</h2>
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<p>rock-floor-close · L125 pass · L129 pass</p>
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<div>
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<figure><figcaption>L125</figcaption><img src='../../Linux125/captures/L125/passage-0-1-0-rock-floor-station-2.png'></figure>
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<figure><figcaption>L129 v226</figcaption><img src='L129/passage-0-1-0-rock-floor-station-2.png'></figure>
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</div>
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</section>
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<section>
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<h2>passage/0-1/0 — rock-floor/1634.5m</h2>
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<p>rock-floor-close · L125 pass · L129 pass</p>
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<div>
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<figure><figcaption>L125</figcaption><img src='../../Linux125/captures/L125/passage-0-1-0-rock-floor-station-3.png'></figure>
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<figure><figcaption>L129 v226</figcaption><img src='L129/passage-0-1-0-rock-floor-station-3.png'></figure>
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</div>
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</section>
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<section>
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<h2>passage/1-2/0 — rock-floor/27.0m</h2>
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<p>rock-floor-close · L125 pass · L129 pass</p>
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<div>
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<figure><figcaption>L125</figcaption><img src='../../Linux125/captures/L125/passage-1-2-0-rock-floor-station-1.png'></figure>
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<figure><figcaption>L129 v226</figcaption><img src='L129/passage-1-2-0-rock-floor-station-1.png'></figure>
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</div>
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</section>
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<section>
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<h2>passage/1-2/0 — rock-floor/52.9m</h2>
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<p>rock-floor-close · L125 pass · L129 pass</p>
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<div>
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<figure><figcaption>L125</figcaption><img src='../../Linux125/captures/L125/passage-1-2-0-rock-floor-station-2.png'></figure>
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<figure><figcaption>L129 v226</figcaption><img src='L129/passage-1-2-0-rock-floor-station-2.png'></figure>
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</div>
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</section>
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<section>
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<h2>passage/1-2/0 — rock-floor/78.9m</h2>
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<p>rock-floor-close · L125 pass · L129 pass</p>
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<div>
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<figure><figcaption>L125</figcaption><img src='../../Linux125/captures/L125/passage-1-2-0-rock-floor-station-3.png'></figure>
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<figure><figcaption>L129 v226</figcaption><img src='L129/passage-1-2-0-rock-floor-station-3.png'></figure>
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</div>
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</section>
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<section>
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<h2>passage/2-3/0 — rock-floor/323.4m</h2>
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<p>rock-floor-close · L125 low_contrast_geometry_visible · L129 low_contrast_geometry_visible</p>
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<div>
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<figure><figcaption>L125</figcaption><img src='../../Linux125/captures/L125/passage-2-3-0-rock-floor-station-1.png'></figure>
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<figure><figcaption>L129 v226</figcaption><img src='L129/passage-2-3-0-rock-floor-station-1.png'></figure>
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</div>
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</section>
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<section>
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<h2>passage/2-3/0 — rock-floor/333.4m</h2>
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<p>rock-floor-close · L125 pass · L129 pass</p>
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<div>
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<figure><figcaption>L125</figcaption><img src='../../Linux125/captures/L125/passage-2-3-0-rock-floor-station-2.png'></figure>
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<figure><figcaption>L129 v226</figcaption><img src='L129/passage-2-3-0-rock-floor-station-2.png'></figure>
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</div>
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</section>
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<section>
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<h2>passage/2-3/0 — rock-floor/343.4m</h2>
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<p>rock-floor-close · L125 pass · L129 pass</p>
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<div>
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<figure><figcaption>L125</figcaption><img src='../../Linux125/captures/L125/passage-2-3-0-rock-floor-station-3.png'></figure>
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<figure><figcaption>L129 v226</figcaption><img src='L129/passage-2-3-0-rock-floor-station-3.png'></figure>
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</div>
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</section>
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<section>
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<h2>passage/0-1/0 — section-1/4m-outside</h2>
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<p>open-air-close · L125 pass · L129 pass</p>
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<div>
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<figure><figcaption>L125</figcaption><img src='../../Linux125/captures/L125/passage-0-1-0-openair-1-4m-outside.png'></figure>
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<figure><figcaption>L129 v226</figcaption><img src='L129/passage-0-1-0-openair-1-4m-outside.png'></figure>
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</div>
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</section>
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<section>
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<h2>passage/0-1/0 — section-1/4m-interior-wall</h2>
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<p>open-air-close · L125 low_contrast_geometry_visible · L129 low_contrast_geometry_visible</p>
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<div>
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<figure><figcaption>L125</figcaption><img src='../../Linux125/captures/L125/passage-0-1-0-openair-1-4m-interior-wall.png'></figure>
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<figure><figcaption>L129 v226</figcaption><img src='L129/passage-0-1-0-openair-1-4m-interior-wall.png'></figure>
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</div>
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</section>
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<section>
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<h2>passage/0-1/0 — section-2/4m-outside</h2>
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<p>open-air-close · L125 pass · L129 pass</p>
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<div>
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<figure><figcaption>L125</figcaption><img src='../../Linux125/captures/L125/passage-0-1-0-openair-2-4m-outside.png'></figure>
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<figure><figcaption>L129 v226</figcaption><img src='L129/passage-0-1-0-openair-2-4m-outside.png'></figure>
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</div>
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</section>
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<section>
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<h2>passage/0-1/0 — section-2/4m-interior-wall</h2>
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<p>open-air-close · L125 pass · L129 pass</p>
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<div>
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<figure><figcaption>L125</figcaption><img src='../../Linux125/captures/L125/passage-0-1-0-openair-2-4m-interior-wall.png'></figure>
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<figure><figcaption>L129 v226</figcaption><img src='L129/passage-0-1-0-openair-2-4m-interior-wall.png'></figure>
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</div>
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</section>
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<section>
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<h2>passage/0-1/0 — section-3/4m-outside</h2>
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<p>open-air-close · L125 pass · L129 pass</p>
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<div>
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<figure><figcaption>L125</figcaption><img src='../../Linux125/captures/L125/passage-0-1-0-openair-3-4m-outside.png'></figure>
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<figure><figcaption>L129 v226</figcaption><img src='L129/passage-0-1-0-openair-3-4m-outside.png'></figure>
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</div>
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</section>
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<section>
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<h2>passage/0-1/0 — section-3/4m-interior-wall</h2>
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<p>open-air-close · L125 pass · L129 pass</p>
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<div>
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<figure><figcaption>L125</figcaption><img src='../../Linux125/captures/L125/passage-0-1-0-openair-3-4m-interior-wall.png'></figure>
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<figure><figcaption>L129 v226</figcaption><img src='L129/passage-0-1-0-openair-3-4m-interior-wall.png'></figure>
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</div>
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</section>
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<section>
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<h2>passage/1-2/0 — section-1/4m-outside</h2>
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<p>open-air-close · L125 pass · L129 pass</p>
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<div>
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<figure><figcaption>L125</figcaption><img src='../../Linux125/captures/L125/passage-1-2-0-openair-1-4m-outside.png'></figure>
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<figure><figcaption>L129 v226</figcaption><img src='L129/passage-1-2-0-openair-1-4m-outside.png'></figure>
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</div>
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</section>
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<section>
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<h2>passage/1-2/0 — section-1/4m-interior-wall</h2>
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<p>open-air-close · L125 pass · L129 pass</p>
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<div>
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<figure><figcaption>L125</figcaption><img src='../../Linux125/captures/L125/passage-1-2-0-openair-1-4m-interior-wall.png'></figure>
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<figure><figcaption>L129 v226</figcaption><img src='L129/passage-1-2-0-openair-1-4m-interior-wall.png'></figure>
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</div>
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</section>
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<section>
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<h2>passage/1-2/0 — section-2/4m-outside</h2>
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<p>open-air-close · L125 pass · L129 pass</p>
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<div>
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<figure><figcaption>L125</figcaption><img src='../../Linux125/captures/L125/passage-1-2-0-openair-2-4m-outside.png'></figure>
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<figure><figcaption>L129 v226</figcaption><img src='L129/passage-1-2-0-openair-2-4m-outside.png'></figure>
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</div>
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</section>
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<section>
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<h2>passage/1-2/0 — section-2/4m-interior-wall</h2>
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<p>open-air-close · L125 pass · L129 pass</p>
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<div>
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<figure><figcaption>L125</figcaption><img src='../../Linux125/captures/L125/passage-1-2-0-openair-2-4m-interior-wall.png'></figure>
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<figure><figcaption>L129 v226</figcaption><img src='L129/passage-1-2-0-openair-2-4m-interior-wall.png'></figure>
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</div>
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</section>
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<section>
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<h2>passage/2-3/0 — section-1/4m-outside</h2>
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<p>open-air-close · L125 low_contrast_geometry_visible · L129 low_contrast_geometry_visible</p>
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<div>
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<figure><figcaption>L125</figcaption><img src='../../Linux125/captures/L125/passage-2-3-0-openair-1-4m-outside.png'></figure>
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<figure><figcaption>L129 v226</figcaption><img src='L129/passage-2-3-0-openair-1-4m-outside.png'></figure>
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</div>
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</section>
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<section>
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<h2>passage/2-3/0 — section-1/4m-interior-wall</h2>
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<p>open-air-close · L125 low_contrast_geometry_visible · L129 low_contrast_geometry_visible</p>
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<div>
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<figure><figcaption>L125</figcaption><img src='../../Linux125/captures/L125/passage-2-3-0-openair-1-4m-interior-wall.png'></figure>
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<figure><figcaption>L129 v226</figcaption><img src='L129/passage-2-3-0-openair-1-4m-interior-wall.png'></figure>
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</div>
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</section>
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<section>
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<h2>passage/2-3/0 — section-2/4m-outside</h2>
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<p>open-air-close · L125 pass · L129 pass</p>
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<div>
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<figure><figcaption>L125</figcaption><img src='../../Linux125/captures/L125/passage-2-3-0-openair-2-4m-outside.png'></figure>
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<figure><figcaption>L129 v226</figcaption><img src='L129/passage-2-3-0-openair-2-4m-outside.png'></figure>
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</div>
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</section>
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<section>
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<h2>passage/2-3/0 — section-2/4m-interior-wall</h2>
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<p>open-air-close · L125 pass · L129 pass</p>
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<div>
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<figure><figcaption>L125</figcaption><img src='../../Linux125/captures/L125/passage-2-3-0-openair-2-4m-interior-wall.png'></figure>
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<figure><figcaption>L129 v226</figcaption><img src='L129/passage-2-3-0-openair-2-4m-interior-wall.png'></figure>
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</div>
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</section>
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