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Rowing legend Sir Matthew Pinsent has abseiled down the ArcelorMittal Orbit with the Queen's Commonwealth Baton.
Matthew Pinsent meets taekwondo fighter Rohullah Nikpai.
Matthew Pinsent discovers some unlikely rugby-playing stars in one of Rio de Janeiro's favelas.
01:59 — Four-time gold medalist Matthew Pinsent carries the Olympic torch on last leg of journey before opening ceremony.