diff --git a/.gitattributes b/.gitattributes
index 7cc0ba08f0ac3817970bc5789e17f47b775a9ba0..7a77218ddd362546445a4c26b8d86f37f9e09dd7 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4309,3 +4309,5 @@ dataset/kitchen_supplies/tableware/ac5f7e5a5ae654a5ae388a178f98ab09/mesh/fork_01
 dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/ace98d09c98152d8b22cdd8feff6b85d.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mesh/metal_colander.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mesh/metal_colander_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/ac350efae16a5dfe8880ac4ddb4b42ff/mesh/plate_023.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/ac350efae16a5dfe8880ac4ddb4b42ff/plate_023.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/tableware/ac350efae16a5dfe8880ac4ddb4b42ff/mesh/material.mtl b/dataset/kitchen_supplies/tableware/ac350efae16a5dfe8880ac4ddb4b42ff/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..27a1aa2ff2aeb07c1d8f5831d789005b29ac5339
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ac350efae16a5dfe8880ac4ddb4b42ff/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl plate_023_geometry_Looks_material_0
+Ka 0.00000000 0.00000000 0.00000000
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd plate_023_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/ac350efae16a5dfe8880ac4ddb4b42ff/mesh/material_0.png b/dataset/kitchen_supplies/tableware/ac350efae16a5dfe8880ac4ddb4b42ff/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..a3752b94c4cca201925f07b51516be1bb5210d5d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ac350efae16a5dfe8880ac4ddb4b42ff/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4551c476a2347f6e18124c3310f7a870996db76ef3b77453eec597f666b9d5f6
+size 7656461
diff --git a/dataset/kitchen_supplies/tableware/ac350efae16a5dfe8880ac4ddb4b42ff/mesh/plate_023.glb b/dataset/kitchen_supplies/tableware/ac350efae16a5dfe8880ac4ddb4b42ff/mesh/plate_023.glb
new file mode 100644
index 0000000000000000000000000000000000000000..3fb1db6906d10e393d036fc0b04c9f1148f413c0
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ac350efae16a5dfe8880ac4ddb4b42ff/mesh/plate_023.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a0a42b9cc1453e45833f16274ec1d0c3f90b4ee9d593ff2823b00c0cc0357c74
+size 10888956
diff --git a/dataset/kitchen_supplies/tableware/ac350efae16a5dfe8880ac4ddb4b42ff/mesh/plate_023.mtl b/dataset/kitchen_supplies/tableware/ac350efae16a5dfe8880ac4ddb4b42ff/mesh/plate_023.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..a4022649b0a03f2f08a15be1b274707144ff5e39
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ac350efae16a5dfe8880ac4ddb4b42ff/mesh/plate_023.mtl
@@ -0,0 +1,6 @@
+newmtl plate_023_geometry_Looks_material_0
+Kd 0.980392 0.980392 0.980392
+Ka 0.000000 0.000000 0.000000
+Ks 0.000000 0.000000 0.000000
+d 1.000000
+map_Kd material_0.png
diff --git a/dataset/kitchen_supplies/tableware/ac350efae16a5dfe8880ac4ddb4b42ff/mesh/plate_023.obj b/dataset/kitchen_supplies/tableware/ac350efae16a5dfe8880ac4ddb4b42ff/mesh/plate_023.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b9a96045cd3f33ae493df6fc11c367be2c6aa59a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ac350efae16a5dfe8880ac4ddb4b42ff/mesh/plate_023.obj
@@ -0,0 +1,102812 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl plate_023_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/tableware/ac350efae16a5dfe8880ac4ddb4b42ff/mesh/plate_023_collision.obj b/dataset/kitchen_supplies/tableware/ac350efae16a5dfe8880ac4ddb4b42ff/mesh/plate_023_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bdb11c131bf33cf75b81ce26bee198112dec7d55
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ac350efae16a5dfe8880ac4ddb4b42ff/mesh/plate_023_collision.obj
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diff --git a/dataset/kitchen_supplies/tableware/ac350efae16a5dfe8880ac4ddb4b42ff/mesh/plate_023_geometry_Looks_material_0.png b/dataset/kitchen_supplies/tableware/ac350efae16a5dfe8880ac4ddb4b42ff/mesh/plate_023_geometry_Looks_material_0.png
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+version https://git-lfs.github.com/spec/v1
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+size 7656461
diff --git a/dataset/kitchen_supplies/tableware/ac350efae16a5dfe8880ac4ddb4b42ff/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/tableware/ac350efae16a5dfe8880ac4ddb4b42ff/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..a3752b94c4cca201925f07b51516be1bb5210d5d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ac350efae16a5dfe8880ac4ddb4b42ff/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 7656461
diff --git a/dataset/kitchen_supplies/tableware/ac350efae16a5dfe8880ac4ddb4b42ff/mjcf/mesh/plate_023.obj b/dataset/kitchen_supplies/tableware/ac350efae16a5dfe8880ac4ddb4b42ff/mjcf/mesh/plate_023.obj
new file mode 100644
index 0000000000000000000000000000000000000000..175bb84923c09e52c159f8aea3dce8ae6c1b3849
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+++ b/dataset/kitchen_supplies/tableware/ac350efae16a5dfe8880ac4ddb4b42ff/mjcf/mesh/plate_023.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/kitchen_supplies/tableware/ac350efae16a5dfe8880ac4ddb4b42ff/mjcf/mesh/plate_023_collision.obj b/dataset/kitchen_supplies/tableware/ac350efae16a5dfe8880ac4ddb4b42ff/mjcf/mesh/plate_023_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0b02ac16af39a4179881b55ad7391271f0aaaf4f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ac350efae16a5dfe8880ac4ddb4b42ff/mjcf/mesh/plate_023_collision.obj
@@ -0,0 +1,9862 @@
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diff --git a/dataset/kitchen_supplies/tableware/ac350efae16a5dfe8880ac4ddb4b42ff/mjcf/mesh/plate_023_collision_0.obj b/dataset/kitchen_supplies/tableware/ac350efae16a5dfe8880ac4ddb4b42ff/mjcf/mesh/plate_023_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1f4280f4748715f56ac728772394633a560504b4
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ac350efae16a5dfe8880ac4ddb4b42ff/mjcf/mesh/plate_023_collision_0.obj
@@ -0,0 +1,409 @@
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diff --git a/dataset/kitchen_supplies/tableware/ac350efae16a5dfe8880ac4ddb4b42ff/mjcf/mesh/plate_023_collision_1.obj b/dataset/kitchen_supplies/tableware/ac350efae16a5dfe8880ac4ddb4b42ff/mjcf/mesh/plate_023_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a8aed7e95780b74a9be3671862b893d48fe27ddc
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ac350efae16a5dfe8880ac4ddb4b42ff/mjcf/mesh/plate_023_collision_1.obj
@@ -0,0 +1,598 @@
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diff --git a/dataset/kitchen_supplies/tableware/ac350efae16a5dfe8880ac4ddb4b42ff/mjcf/mesh/plate_023_collision_10.obj b/dataset/kitchen_supplies/tableware/ac350efae16a5dfe8880ac4ddb4b42ff/mjcf/mesh/plate_023_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2dcb79d72a055c47b584e0173af206ccf56eef1a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ac350efae16a5dfe8880ac4ddb4b42ff/mjcf/mesh/plate_023_collision_10.obj
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diff --git a/dataset/kitchen_supplies/tableware/ac350efae16a5dfe8880ac4ddb4b42ff/mjcf/mesh/plate_023_collision_11.obj b/dataset/kitchen_supplies/tableware/ac350efae16a5dfe8880ac4ddb4b42ff/mjcf/mesh/plate_023_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f1665dd7a766a69fdb7d9ab60820ec50bcf7655d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ac350efae16a5dfe8880ac4ddb4b42ff/mjcf/mesh/plate_023_collision_11.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
+v 0.00000133 0.03503682 -0.00042751
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+
diff --git a/dataset/kitchen_supplies/tableware/ac350efae16a5dfe8880ac4ddb4b42ff/mjcf/mesh/plate_023_collision_12.obj b/dataset/kitchen_supplies/tableware/ac350efae16a5dfe8880ac4ddb4b42ff/mjcf/mesh/plate_023_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5dce87781c96cacf7e5ea3681fecdea3d69ae681
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ac350efae16a5dfe8880ac4ddb4b42ff/mjcf/mesh/plate_023_collision_12.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/ac350efae16a5dfe8880ac4ddb4b42ff/mjcf/mesh/plate_023_collision_13.obj b/dataset/kitchen_supplies/tableware/ac350efae16a5dfe8880ac4ddb4b42ff/mjcf/mesh/plate_023_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4495b16c7d7a9e3a4c8348d70121b48952a3c89e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ac350efae16a5dfe8880ac4ddb4b42ff/mjcf/mesh/plate_023_collision_13.obj
@@ -0,0 +1,424 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/ac350efae16a5dfe8880ac4ddb4b42ff/mjcf/mesh/plate_023_collision_14.obj b/dataset/kitchen_supplies/tableware/ac350efae16a5dfe8880ac4ddb4b42ff/mjcf/mesh/plate_023_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4962ce34f3367e3b276ec4c0318910cc2cb52767
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ac350efae16a5dfe8880ac4ddb4b42ff/mjcf/mesh/plate_023_collision_14.obj
@@ -0,0 +1,424 @@
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diff --git a/dataset/kitchen_supplies/tableware/ac350efae16a5dfe8880ac4ddb4b42ff/mjcf/mesh/plate_023_collision_15.obj b/dataset/kitchen_supplies/tableware/ac350efae16a5dfe8880ac4ddb4b42ff/mjcf/mesh/plate_023_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..922c9114798b90d8e140c47d0a30b736b5121997
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ac350efae16a5dfe8880ac4ddb4b42ff/mjcf/mesh/plate_023_collision_15.obj
@@ -0,0 +1,283 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/ac350efae16a5dfe8880ac4ddb4b42ff/mjcf/mesh/plate_023_collision_16.obj b/dataset/kitchen_supplies/tableware/ac350efae16a5dfe8880ac4ddb4b42ff/mjcf/mesh/plate_023_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a04358ba41a84961286356ddf4db8d95bd5a9fa6
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ac350efae16a5dfe8880ac4ddb4b42ff/mjcf/mesh/plate_023_collision_16.obj
@@ -0,0 +1,262 @@
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diff --git a/dataset/kitchen_supplies/tableware/ac350efae16a5dfe8880ac4ddb4b42ff/mjcf/mesh/plate_023_collision_17.obj b/dataset/kitchen_supplies/tableware/ac350efae16a5dfe8880ac4ddb4b42ff/mjcf/mesh/plate_023_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..63dbb2c55859e8858bd3c49da6cbcbb21a324396
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ac350efae16a5dfe8880ac4ddb4b42ff/mjcf/mesh/plate_023_collision_17.obj
@@ -0,0 +1,145 @@
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+
diff --git a/dataset/kitchen_supplies/tableware/ac350efae16a5dfe8880ac4ddb4b42ff/mjcf/mesh/plate_023_collision_18.obj b/dataset/kitchen_supplies/tableware/ac350efae16a5dfe8880ac4ddb4b42ff/mjcf/mesh/plate_023_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f51132e96ae2d8b9eb2bd24006ce562987e051cb
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ac350efae16a5dfe8880ac4ddb4b42ff/mjcf/mesh/plate_023_collision_18.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
+v 0.02671607 -0.06467755 -0.01263319
+v 0.02671607 -0.06459781 -0.01279311
+v 0.02715491 -0.06448819 -0.01263319
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+v 0.02789912 -0.06415928 -0.01263319
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+
diff --git a/dataset/kitchen_supplies/tableware/ac350efae16a5dfe8880ac4ddb4b42ff/mjcf/mesh/plate_023_collision_19.obj b/dataset/kitchen_supplies/tableware/ac350efae16a5dfe8880ac4ddb4b42ff/mjcf/mesh/plate_023_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2377b9b51fecd95cfddf50899491aae60ed65188
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ac350efae16a5dfe8880ac4ddb4b42ff/mjcf/mesh/plate_023_collision_19.obj
@@ -0,0 +1,16 @@
+# https://github.com/mikedh/trimesh
+v 0.05054291 0.05602269 0.01446258
+v 0.05054291 0.03474126 0.00348873
+v 0.05054291 0.05602273 0.00191692
+v 0.01609865 0.05602273 0.00191692
+v 0.05054291 0.03474126 0.00191684
+v 0.04689822 0.03474126 0.00191684
+f 1 2 5
+f 1 5 3
+f 1 3 4
+f 1 4 2
+f 2 4 6
+f 2 6 5
+f 3 5 6
+f 3 6 4
+
diff --git a/dataset/kitchen_supplies/tableware/ac350efae16a5dfe8880ac4ddb4b42ff/mjcf/mesh/plate_023_collision_2.obj b/dataset/kitchen_supplies/tableware/ac350efae16a5dfe8880ac4ddb4b42ff/mjcf/mesh/plate_023_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5e8a59d0557f0f2562cb405c0c4f5d7671d6b57f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ac350efae16a5dfe8880ac4ddb4b42ff/mjcf/mesh/plate_023_collision_2.obj
@@ -0,0 +1,595 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/ac350efae16a5dfe8880ac4ddb4b42ff/mjcf/mesh/plate_023_collision_20.obj b/dataset/kitchen_supplies/tableware/ac350efae16a5dfe8880ac4ddb4b42ff/mjcf/mesh/plate_023_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..83726424973a3d8252a1d27dbffb05f23087b0cb
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ac350efae16a5dfe8880ac4ddb4b42ff/mjcf/mesh/plate_023_collision_20.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/ac350efae16a5dfe8880ac4ddb4b42ff/mjcf/mesh/plate_023_collision_21.obj b/dataset/kitchen_supplies/tableware/ac350efae16a5dfe8880ac4ddb4b42ff/mjcf/mesh/plate_023_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d376bf4b7819bfc47287391f26b74c9014190f7b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ac350efae16a5dfe8880ac4ddb4b42ff/mjcf/mesh/plate_023_collision_21.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
+v -0.04607366 0.04600279 -0.01809029
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+
diff --git a/dataset/kitchen_supplies/tableware/ac350efae16a5dfe8880ac4ddb4b42ff/mjcf/mesh/plate_023_collision_22.obj b/dataset/kitchen_supplies/tableware/ac350efae16a5dfe8880ac4ddb4b42ff/mjcf/mesh/plate_023_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7d5275d91e570209f5ee30c1827e648c1cad34f7
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ac350efae16a5dfe8880ac4ddb4b42ff/mjcf/mesh/plate_023_collision_22.obj
@@ -0,0 +1,349 @@
+# https://github.com/mikedh/trimesh
+v 0.02808305 -0.08155977 0.02419956
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diff --git a/dataset/kitchen_supplies/tableware/ac350efae16a5dfe8880ac4ddb4b42ff/mjcf/mesh/plate_023_collision_23.obj b/dataset/kitchen_supplies/tableware/ac350efae16a5dfe8880ac4ddb4b42ff/mjcf/mesh/plate_023_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dd1864b7db9e5cf76ffa1b654530ffc263586a47
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ac350efae16a5dfe8880ac4ddb4b42ff/mjcf/mesh/plate_023_collision_23.obj
@@ -0,0 +1,355 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/ac350efae16a5dfe8880ac4ddb4b42ff/mjcf/mesh/plate_023_collision_24.obj b/dataset/kitchen_supplies/tableware/ac350efae16a5dfe8880ac4ddb4b42ff/mjcf/mesh/plate_023_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..817114eee326f1031a2d3d444201a5156f22164b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ac350efae16a5dfe8880ac4ddb4b42ff/mjcf/mesh/plate_023_collision_24.obj
@@ -0,0 +1,10 @@
+# https://github.com/mikedh/trimesh
+v -0.05597317 0.01621752 0.00192084
+v -0.05597317 0.04200688 0.00947367
+v -0.05597317 0.04200690 0.00192093
+v -0.04073069 0.04200690 0.00192093
+f 1 2 3
+f 1 3 4
+f 1 4 2
+f 2 4 3
+
diff --git a/dataset/kitchen_supplies/tableware/ac350efae16a5dfe8880ac4ddb4b42ff/mjcf/mesh/plate_023_collision_25.obj b/dataset/kitchen_supplies/tableware/ac350efae16a5dfe8880ac4ddb4b42ff/mjcf/mesh/plate_023_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..33bb92d9ade0be762bf9b51a04d673471b4a9969
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ac350efae16a5dfe8880ac4ddb4b42ff/mjcf/mesh/plate_023_collision_25.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/ac350efae16a5dfe8880ac4ddb4b42ff/mjcf/mesh/plate_023_collision_26.obj b/dataset/kitchen_supplies/tableware/ac350efae16a5dfe8880ac4ddb4b42ff/mjcf/mesh/plate_023_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ce1c2edcb98d75321e5049aa6f210bc06a79a667
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ac350efae16a5dfe8880ac4ddb4b42ff/mjcf/mesh/plate_023_collision_26.obj
@@ -0,0 +1,16 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/ac350efae16a5dfe8880ac4ddb4b42ff/mjcf/mesh/plate_023_collision_27.obj b/dataset/kitchen_supplies/tableware/ac350efae16a5dfe8880ac4ddb4b42ff/mjcf/mesh/plate_023_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e3b3ace4e28f25b7ebf25cbaeafe8a6d1f562b5a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ac350efae16a5dfe8880ac4ddb4b42ff/mjcf/mesh/plate_023_collision_27.obj
@@ -0,0 +1,325 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/ac350efae16a5dfe8880ac4ddb4b42ff/mjcf/mesh/plate_023_collision_28.obj b/dataset/kitchen_supplies/tableware/ac350efae16a5dfe8880ac4ddb4b42ff/mjcf/mesh/plate_023_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e23e87267e8e07fce8470d21102f688f6455845c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ac350efae16a5dfe8880ac4ddb4b42ff/mjcf/mesh/plate_023_collision_28.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/ac350efae16a5dfe8880ac4ddb4b42ff/mjcf/mesh/plate_023_collision_29.obj b/dataset/kitchen_supplies/tableware/ac350efae16a5dfe8880ac4ddb4b42ff/mjcf/mesh/plate_023_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..78f9a9c32f2a72ae171f54d202f8b32fe94a769d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ac350efae16a5dfe8880ac4ddb4b42ff/mjcf/mesh/plate_023_collision_29.obj
@@ -0,0 +1,349 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/ac350efae16a5dfe8880ac4ddb4b42ff/mjcf/mesh/plate_023_collision_3.obj b/dataset/kitchen_supplies/tableware/ac350efae16a5dfe8880ac4ddb4b42ff/mjcf/mesh/plate_023_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a4e630c425075e77fd10325eb3056d5a42995d9b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ac350efae16a5dfe8880ac4ddb4b42ff/mjcf/mesh/plate_023_collision_3.obj
@@ -0,0 +1,682 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/ac350efae16a5dfe8880ac4ddb4b42ff/mjcf/mesh/plate_023_collision_30.obj b/dataset/kitchen_supplies/tableware/ac350efae16a5dfe8880ac4ddb4b42ff/mjcf/mesh/plate_023_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b325b28fa9418e227a4e0f36081a2c4304c3b120
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ac350efae16a5dfe8880ac4ddb4b42ff/mjcf/mesh/plate_023_collision_30.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/ac350efae16a5dfe8880ac4ddb4b42ff/mjcf/mesh/plate_023_collision_31.obj b/dataset/kitchen_supplies/tableware/ac350efae16a5dfe8880ac4ddb4b42ff/mjcf/mesh/plate_023_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..54d4f35e12257455c6176cd552457ca470284921
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ac350efae16a5dfe8880ac4ddb4b42ff/mjcf/mesh/plate_023_collision_31.obj
@@ -0,0 +1,400 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/ac350efae16a5dfe8880ac4ddb4b42ff/mjcf/mesh/plate_023_collision_4.obj b/dataset/kitchen_supplies/tableware/ac350efae16a5dfe8880ac4ddb4b42ff/mjcf/mesh/plate_023_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fd53ffa156e921099e09f7ba627f8e3ae32a6a89
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ac350efae16a5dfe8880ac4ddb4b42ff/mjcf/mesh/plate_023_collision_4.obj
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diff --git a/dataset/kitchen_supplies/tableware/ac350efae16a5dfe8880ac4ddb4b42ff/mjcf/mesh/plate_023_collision_5.obj b/dataset/kitchen_supplies/tableware/ac350efae16a5dfe8880ac4ddb4b42ff/mjcf/mesh/plate_023_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fc9e3d8ce4080824803e5f3c623655ff66be70f5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ac350efae16a5dfe8880ac4ddb4b42ff/mjcf/mesh/plate_023_collision_5.obj
@@ -0,0 +1,376 @@
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diff --git a/dataset/kitchen_supplies/tableware/ac350efae16a5dfe8880ac4ddb4b42ff/mjcf/mesh/plate_023_collision_6.obj b/dataset/kitchen_supplies/tableware/ac350efae16a5dfe8880ac4ddb4b42ff/mjcf/mesh/plate_023_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1effa2272887a434cc2ca19b61f15c63f0b0f2bd
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ac350efae16a5dfe8880ac4ddb4b42ff/mjcf/mesh/plate_023_collision_6.obj
@@ -0,0 +1,694 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/ac350efae16a5dfe8880ac4ddb4b42ff/mjcf/mesh/plate_023_collision_7.obj b/dataset/kitchen_supplies/tableware/ac350efae16a5dfe8880ac4ddb4b42ff/mjcf/mesh/plate_023_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0e8799762910cdcb60e052a7e72758ff4dd12ec8
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ac350efae16a5dfe8880ac4ddb4b42ff/mjcf/mesh/plate_023_collision_7.obj
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diff --git a/dataset/kitchen_supplies/tableware/ac350efae16a5dfe8880ac4ddb4b42ff/mjcf/mesh/plate_023_collision_8.obj b/dataset/kitchen_supplies/tableware/ac350efae16a5dfe8880ac4ddb4b42ff/mjcf/mesh/plate_023_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..19ed4f445dc21b5fbb0ef79d5ba30e173f15aee7
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ac350efae16a5dfe8880ac4ddb4b42ff/mjcf/mesh/plate_023_collision_8.obj
@@ -0,0 +1,298 @@
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diff --git a/dataset/kitchen_supplies/tableware/ac350efae16a5dfe8880ac4ddb4b42ff/mjcf/mesh/plate_023_collision_9.obj b/dataset/kitchen_supplies/tableware/ac350efae16a5dfe8880ac4ddb4b42ff/mjcf/mesh/plate_023_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..972cf21032771e5d7c3d60f4499d3e7c42eb4747
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ac350efae16a5dfe8880ac4ddb4b42ff/mjcf/mesh/plate_023_collision_9.obj
@@ -0,0 +1,310 @@
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diff --git a/dataset/kitchen_supplies/tableware/ac350efae16a5dfe8880ac4ddb4b42ff/mjcf/plate_023.xml b/dataset/kitchen_supplies/tableware/ac350efae16a5dfe8880ac4ddb4b42ff/mjcf/plate_023.xml
new file mode 100644
index 0000000000000000000000000000000000000000..74e33c4e5e06b89e53530793652665ac29467769
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ac350efae16a5dfe8880ac4ddb4b42ff/mjcf/plate_023.xml
@@ -0,0 +1,78 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="plate_023">
+  <asset>
+    <material name="material_0" texture="texture_0_material_0" reflectance="0.2" />
+    <texture name="texture_0_material_0" type="2d" file="mesh/material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/plate_023.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/plate_023_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/plate_023_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/plate_023_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/plate_023_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/plate_023_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/plate_023_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/plate_023_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/plate_023_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/plate_023_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/plate_023_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/plate_023_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/plate_023_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/plate_023_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/plate_023_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/plate_023_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/plate_023_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/plate_023_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/plate_023_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/plate_023_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/plate_023_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/plate_023_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/plate_023_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/plate_023_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/plate_023_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/plate_023_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/plate_023_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/plate_023_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/plate_023_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/plate_023_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/plate_023_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/plate_023_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/plate_023_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="plate_023">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_22" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_23" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_24" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_25" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_26" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_27" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_28" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_29" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_30" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_31" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/ac350efae16a5dfe8880ac4ddb4b42ff/plate_023.urdf b/dataset/kitchen_supplies/tableware/ac350efae16a5dfe8880ac4ddb4b42ff/plate_023.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..0449ddcf2c99394e017790b8e0f9db0ab3e0cace
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ac350efae16a5dfe8880ac4ddb4b42ff/plate_023.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="plate_023">
+   <link name="plate_023">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/plate_023.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/plate_023_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.6000" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>1.000000</scale>
+         <uuid>ac350efae16a5dfe8880ac4ddb4b42ff</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>tableware</super_category>
+         <category>plate</category>
+         <name>gray plate</name>
+         <color>gray</color>
+         <shape>disk</shape>
+         <material>ceramic</material>
+         <description>shallow round gray plate with slightly flared sides</description>
+         <min_height>0.0427</min_height>
+         <max_height>0.0427</max_height>
+         <real_height>0.0427</real_height>
+         <min_mass>0.4</min_mass>
+         <max_mass>0.8</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611153854</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.090101 -0.089967 -0.018162</min>
+            <max>0.089900 0.090010 0.024565</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>2</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/ac350efae16a5dfe8880ac4ddb4b42ff/plate_023.usd b/dataset/kitchen_supplies/tableware/ac350efae16a5dfe8880ac4ddb4b42ff/plate_023.usd
new file mode 100644
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+++ b/dataset/kitchen_supplies/tableware/ac350efae16a5dfe8880ac4ddb4b42ff/plate_023.usd
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+size 4840458
diff --git a/dataset/kitchen_supplies/tableware/ac350efae16a5dfe8880ac4ddb4b42ff/textures/material_0.png b/dataset/kitchen_supplies/tableware/ac350efae16a5dfe8880ac4ddb4b42ff/textures/material_0.png
new file mode 100644
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diff --git a/dataset/kitchen_supplies/tableware/ac350efae16a5dfe8880ac4ddb4b42ff/video.mp4 b/dataset/kitchen_supplies/tableware/ac350efae16a5dfe8880ac4ddb4b42ff/video.mp4
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