diff --git a/.gitattributes b/.gitattributes
index d2188276996afdaf1e0ac141f0405cc3d570f9ee..bd5cfbd0cc93b91e624e752400d6b647bc29372f 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3203,5 +3203,5 @@ dataset/desktop_supplies/office_stationery/92cf1c4e065b5c07b21d110474c1a1e2/mark
 dataset/desktop_supplies/office_stationery/92cf1c4e065b5c07b21d110474c1a1e2/mesh/marker_010.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/mesh/pen_holder_036.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/pen_holder_036.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/916f83e617bf56ce857a74f0b267d9c6/mesh/pen_holder_001.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/916f83e617bf56ce857a74f0b267d9c6/pen_holder_001.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/91ad2f1afe9b5a33876e0ae1b4ddb7a3/mesh/notebook_031.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/91ad2f1afe9b5a33876e0ae1b4ddb7a3/notebook_031.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_stationery/91ad2f1afe9b5a33876e0ae1b4ddb7a3/mesh/material.mtl b/dataset/desktop_supplies/office_stationery/91ad2f1afe9b5a33876e0ae1b4ddb7a3/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b8e32757409776923e68e33a8e087ce45d6e753c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/91ad2f1afe9b5a33876e0ae1b4ddb7a3/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl notebook_031_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 notebook_031_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/91ad2f1afe9b5a33876e0ae1b4ddb7a3/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/91ad2f1afe9b5a33876e0ae1b4ddb7a3/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..073c71e3a38e0edd9bc26f7fbf07cb9c18fccb5d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/91ad2f1afe9b5a33876e0ae1b4ddb7a3/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dc3fb3dcfeeed680aa2c36b39498311704fd017f372ffe59907a127a07a8c746
+size 9633542
diff --git a/dataset/desktop_supplies/office_stationery/91ad2f1afe9b5a33876e0ae1b4ddb7a3/mesh/notebook_031.glb b/dataset/desktop_supplies/office_stationery/91ad2f1afe9b5a33876e0ae1b4ddb7a3/mesh/notebook_031.glb
new file mode 100644
index 0000000000000000000000000000000000000000..c806df1be016a36490ceb3ca6579783a19c574ce
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/91ad2f1afe9b5a33876e0ae1b4ddb7a3/mesh/notebook_031.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:61049c96801dfa19d803e6a6b759c69ed10313e7972ea9e480fa02da243c2e4b
+size 12933180
diff --git a/dataset/desktop_supplies/office_stationery/91ad2f1afe9b5a33876e0ae1b4ddb7a3/mesh/notebook_031.mtl b/dataset/desktop_supplies/office_stationery/91ad2f1afe9b5a33876e0ae1b4ddb7a3/mesh/notebook_031.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..19887ed62929ffb691a1f34a63327a7c1faf70ea
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/91ad2f1afe9b5a33876e0ae1b4ddb7a3/mesh/notebook_031.mtl
@@ -0,0 +1,6 @@
+newmtl notebook_031_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/desktop_supplies/office_stationery/91ad2f1afe9b5a33876e0ae1b4ddb7a3/mesh/notebook_031.obj b/dataset/desktop_supplies/office_stationery/91ad2f1afe9b5a33876e0ae1b4ddb7a3/mesh/notebook_031.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d724c1ee19694b08f9d11c3e7ed4941140b22fd6
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/91ad2f1afe9b5a33876e0ae1b4ddb7a3/mesh/notebook_031.obj
@@ -0,0 +1,116736 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl notebook_031_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/91ad2f1afe9b5a33876e0ae1b4ddb7a3/mesh/notebook_031_collision.obj b/dataset/desktop_supplies/office_stationery/91ad2f1afe9b5a33876e0ae1b4ddb7a3/mesh/notebook_031_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c73aa0a16db0ae6dcc62c069e133875d98ae2acb
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/91ad2f1afe9b5a33876e0ae1b4ddb7a3/mesh/notebook_031_collision.obj
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diff --git a/dataset/desktop_supplies/office_stationery/91ad2f1afe9b5a33876e0ae1b4ddb7a3/mesh/notebook_031_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_stationery/91ad2f1afe9b5a33876e0ae1b4ddb7a3/mesh/notebook_031_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..073c71e3a38e0edd9bc26f7fbf07cb9c18fccb5d
--- /dev/null
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+version https://git-lfs.github.com/spec/v1
+oid sha256:dc3fb3dcfeeed680aa2c36b39498311704fd017f372ffe59907a127a07a8c746
+size 9633542
diff --git a/dataset/desktop_supplies/office_stationery/91ad2f1afe9b5a33876e0ae1b4ddb7a3/mjcf/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/91ad2f1afe9b5a33876e0ae1b4ddb7a3/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..073c71e3a38e0edd9bc26f7fbf07cb9c18fccb5d
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+++ b/dataset/desktop_supplies/office_stationery/91ad2f1afe9b5a33876e0ae1b4ddb7a3/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dc3fb3dcfeeed680aa2c36b39498311704fd017f372ffe59907a127a07a8c746
+size 9633542
diff --git a/dataset/desktop_supplies/office_stationery/91ad2f1afe9b5a33876e0ae1b4ddb7a3/mjcf/mesh/notebook_031.obj b/dataset/desktop_supplies/office_stationery/91ad2f1afe9b5a33876e0ae1b4ddb7a3/mjcf/mesh/notebook_031.obj
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index 0000000000000000000000000000000000000000..df64c2b1d8632bd6e1f4f534bdd7e09508f5d133
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+++ b/dataset/desktop_supplies/office_stationery/91ad2f1afe9b5a33876e0ae1b4ddb7a3/mjcf/mesh/notebook_031.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/desktop_supplies/office_stationery/91ad2f1afe9b5a33876e0ae1b4ddb7a3/mjcf/mesh/notebook_031_collision.obj b/dataset/desktop_supplies/office_stationery/91ad2f1afe9b5a33876e0ae1b4ddb7a3/mjcf/mesh/notebook_031_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a72367ac6e8d22545d697167b3f5e2b26621638a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/91ad2f1afe9b5a33876e0ae1b4ddb7a3/mjcf/mesh/notebook_031_collision.obj
@@ -0,0 +1,11877 @@
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diff --git a/dataset/desktop_supplies/office_stationery/91ad2f1afe9b5a33876e0ae1b4ddb7a3/mjcf/mesh/notebook_031_collision_0.obj b/dataset/desktop_supplies/office_stationery/91ad2f1afe9b5a33876e0ae1b4ddb7a3/mjcf/mesh/notebook_031_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4ee44ee4a6440dab8397aaa5e5bc61ce19ecd794
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/91ad2f1afe9b5a33876e0ae1b4ddb7a3/mjcf/mesh/notebook_031_collision_0.obj
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diff --git a/dataset/desktop_supplies/office_stationery/91ad2f1afe9b5a33876e0ae1b4ddb7a3/mjcf/mesh/notebook_031_collision_1.obj b/dataset/desktop_supplies/office_stationery/91ad2f1afe9b5a33876e0ae1b4ddb7a3/mjcf/mesh/notebook_031_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1ac55185976a83acf34694079e16a85b1a6ecf21
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/91ad2f1afe9b5a33876e0ae1b4ddb7a3/mjcf/mesh/notebook_031_collision_1.obj
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diff --git a/dataset/desktop_supplies/office_stationery/91ad2f1afe9b5a33876e0ae1b4ddb7a3/mjcf/mesh/notebook_031_collision_10.obj b/dataset/desktop_supplies/office_stationery/91ad2f1afe9b5a33876e0ae1b4ddb7a3/mjcf/mesh/notebook_031_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7bd4e79918968ea9b7ac02597afb3e389bad17d0
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/91ad2f1afe9b5a33876e0ae1b4ddb7a3/mjcf/mesh/notebook_031_collision_10.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/91ad2f1afe9b5a33876e0ae1b4ddb7a3/mjcf/mesh/notebook_031_collision_11.obj b/dataset/desktop_supplies/office_stationery/91ad2f1afe9b5a33876e0ae1b4ddb7a3/mjcf/mesh/notebook_031_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8f77535b6e5bf8b2f48d5701e4e9e5316c903c88
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/91ad2f1afe9b5a33876e0ae1b4ddb7a3/mjcf/mesh/notebook_031_collision_11.obj
@@ -0,0 +1,493 @@
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diff --git a/dataset/desktop_supplies/office_stationery/91ad2f1afe9b5a33876e0ae1b4ddb7a3/mjcf/mesh/notebook_031_collision_12.obj b/dataset/desktop_supplies/office_stationery/91ad2f1afe9b5a33876e0ae1b4ddb7a3/mjcf/mesh/notebook_031_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..de67ecf4126767ba33554e82ef47dd068140e32e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/91ad2f1afe9b5a33876e0ae1b4ddb7a3/mjcf/mesh/notebook_031_collision_12.obj
@@ -0,0 +1,406 @@
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diff --git a/dataset/desktop_supplies/office_stationery/91ad2f1afe9b5a33876e0ae1b4ddb7a3/mjcf/mesh/notebook_031_collision_2.obj b/dataset/desktop_supplies/office_stationery/91ad2f1afe9b5a33876e0ae1b4ddb7a3/mjcf/mesh/notebook_031_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c18ce7094b517a1db39015855fa7818932f95876
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/91ad2f1afe9b5a33876e0ae1b4ddb7a3/mjcf/mesh/notebook_031_collision_2.obj
@@ -0,0 +1,1495 @@
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diff --git a/dataset/desktop_supplies/office_stationery/91ad2f1afe9b5a33876e0ae1b4ddb7a3/mjcf/mesh/notebook_031_collision_3.obj b/dataset/desktop_supplies/office_stationery/91ad2f1afe9b5a33876e0ae1b4ddb7a3/mjcf/mesh/notebook_031_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..392564fe0e0ad5a8a07f8ee3b65e4546b4380c1c
--- /dev/null
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diff --git a/dataset/desktop_supplies/office_stationery/91ad2f1afe9b5a33876e0ae1b4ddb7a3/mjcf/mesh/notebook_031_collision_4.obj b/dataset/desktop_supplies/office_stationery/91ad2f1afe9b5a33876e0ae1b4ddb7a3/mjcf/mesh/notebook_031_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..190a99ecc0e8b505e55e4457ce67257785247f64
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/91ad2f1afe9b5a33876e0ae1b4ddb7a3/mjcf/mesh/notebook_031_collision_4.obj
@@ -0,0 +1,187 @@
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diff --git a/dataset/desktop_supplies/office_stationery/91ad2f1afe9b5a33876e0ae1b4ddb7a3/mjcf/mesh/notebook_031_collision_5.obj b/dataset/desktop_supplies/office_stationery/91ad2f1afe9b5a33876e0ae1b4ddb7a3/mjcf/mesh/notebook_031_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f856482d79d90dd1609f7a7defde12d9f1bf97d3
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/91ad2f1afe9b5a33876e0ae1b4ddb7a3/mjcf/mesh/notebook_031_collision_5.obj
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diff --git a/dataset/desktop_supplies/office_stationery/91ad2f1afe9b5a33876e0ae1b4ddb7a3/mjcf/mesh/notebook_031_collision_6.obj b/dataset/desktop_supplies/office_stationery/91ad2f1afe9b5a33876e0ae1b4ddb7a3/mjcf/mesh/notebook_031_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b921edd6d76cf3795a95e41d2b67c8e894269848
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/91ad2f1afe9b5a33876e0ae1b4ddb7a3/mjcf/mesh/notebook_031_collision_6.obj
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diff --git a/dataset/desktop_supplies/office_stationery/91ad2f1afe9b5a33876e0ae1b4ddb7a3/mjcf/mesh/notebook_031_collision_7.obj b/dataset/desktop_supplies/office_stationery/91ad2f1afe9b5a33876e0ae1b4ddb7a3/mjcf/mesh/notebook_031_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a070b64beeb03610c0bd6775da60f1f0ecf8f454
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/91ad2f1afe9b5a33876e0ae1b4ddb7a3/mjcf/mesh/notebook_031_collision_7.obj
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diff --git a/dataset/desktop_supplies/office_stationery/91ad2f1afe9b5a33876e0ae1b4ddb7a3/mjcf/mesh/notebook_031_collision_8.obj b/dataset/desktop_supplies/office_stationery/91ad2f1afe9b5a33876e0ae1b4ddb7a3/mjcf/mesh/notebook_031_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a004605d7030925db1fa4a11bf7d05b11d75c2c7
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/91ad2f1afe9b5a33876e0ae1b4ddb7a3/mjcf/mesh/notebook_031_collision_8.obj
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diff --git a/dataset/desktop_supplies/office_stationery/91ad2f1afe9b5a33876e0ae1b4ddb7a3/mjcf/mesh/notebook_031_collision_9.obj b/dataset/desktop_supplies/office_stationery/91ad2f1afe9b5a33876e0ae1b4ddb7a3/mjcf/mesh/notebook_031_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ed1ac9044e248a8c85145064f952692f2ceac7fb
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/91ad2f1afe9b5a33876e0ae1b4ddb7a3/mjcf/mesh/notebook_031_collision_9.obj
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diff --git a/dataset/desktop_supplies/office_stationery/91ad2f1afe9b5a33876e0ae1b4ddb7a3/mjcf/notebook_031.xml b/dataset/desktop_supplies/office_stationery/91ad2f1afe9b5a33876e0ae1b4ddb7a3/mjcf/notebook_031.xml
new file mode 100644
index 0000000000000000000000000000000000000000..4ee1a575c8f121db964eb5abca176fbec6bd6e31
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/91ad2f1afe9b5a33876e0ae1b4ddb7a3/mjcf/notebook_031.xml
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diff --git a/dataset/desktop_supplies/office_stationery/91ad2f1afe9b5a33876e0ae1b4ddb7a3/notebook_031.urdf b/dataset/desktop_supplies/office_stationery/91ad2f1afe9b5a33876e0ae1b4ddb7a3/notebook_031.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..b72d73a88fafbc96324401b00046459c1b3ef9b6
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/91ad2f1afe9b5a33876e0ae1b4ddb7a3/notebook_031.urdf
@@ -0,0 +1,65 @@
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+            <max>0.078509 0.086476 0.027612</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>5</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>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/91ad2f1afe9b5a33876e0ae1b4ddb7a3/notebook_031.usd b/dataset/desktop_supplies/office_stationery/91ad2f1afe9b5a33876e0ae1b4ddb7a3/notebook_031.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/91ad2f1afe9b5a33876e0ae1b4ddb7a3/notebook_031.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8d5100f1315ee0335126b7af5a7286b8af53ed01adc456165acd18dd38818d6c
+size 4892269
diff --git a/dataset/desktop_supplies/office_stationery/91ad2f1afe9b5a33876e0ae1b4ddb7a3/textures/material_0.png b/dataset/desktop_supplies/office_stationery/91ad2f1afe9b5a33876e0ae1b4ddb7a3/textures/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/91ad2f1afe9b5a33876e0ae1b4ddb7a3/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dc3fb3dcfeeed680aa2c36b39498311704fd017f372ffe59907a127a07a8c746
+size 9633542
diff --git a/dataset/desktop_supplies/office_stationery/91ad2f1afe9b5a33876e0ae1b4ddb7a3/video.mp4 b/dataset/desktop_supplies/office_stationery/91ad2f1afe9b5a33876e0ae1b4ddb7a3/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d73907c3e100f4d2ef056fe047df7b62d22492aa
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/91ad2f1afe9b5a33876e0ae1b4ddb7a3/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c656aaec4edb582701934ad983372554b061bbf95218499ad49b17adae713f90
+size 323184