Upload folder using huggingface_hub (part 241)

.gitattributes

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+mtllib 5.mtl
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+size 160242

data/UPB_00001880/plys/7.ply

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+version https://git-lfs.github.com/spec/v1
+oid sha256:99cd2c3f19cf465b631428e4bd5739226101907acb20bd6b8dd3548030148662
+size 160242

data/UPB_00001880/plys/8.ply

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+version https://git-lfs.github.com/spec/v1
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+size 160242

data/UPB_00001880/plys/9.ply

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+version https://git-lfs.github.com/spec/v1
+oid sha256:0c037f09a7bef89dc354bc280d8f0c542e811792510d8ea30e3f2c8691832501
+size 160242

data/UPB_00001880/plys/model.ply

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+version https://git-lfs.github.com/spec/v1
+oid sha256:cc217756491bf19bf92a36798c47528198cc721cca11e65fd1715f51f31a17d3
+size 1600243

data/UPB_00001881/annotations/object.json

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+{
+    "object_name": "Two-door Wardrobe with Drawers",
+    "category": "Furniture/StorageFurniture",
+    "volume": [
+        100.0,
+        55.0,
+        200.0
+    ],
+    "mass": 60.0
+}

data/UPB_00001881/annotations/part_1.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001881",
+        "label": "1"
+    },
+    "part_level": {
+        "part_name": "Right Interior Panel",
+        "affordance": 10,
+        "graspable": false,
+        "basic_description": "A thin rectangular MDF interior panel (~45*1.2*135 cm) mounted inside the wardrobe on the right side area.",
+        "functional_description": "Provides a clean interior surface and adds stiffness to the case around the door opening.",
+        "movement_description": "No independent motion; rigidly fastened to the carcass.",
+        "grasp_description": "Not intended to be handled by users."
+    },
+    "basic_info": {
+        "material": "wood/MDF",
+        "density": 0.7,
+        "young": 3.0,
+        "hardness": 20,
+        "poisson": 0.3,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001881/annotations/part_10.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001881",
+        "label": "10"
+    },
+    "part_level": {
+        "part_name": "Lower Drawer Knob",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Central wooden knob (~3 cm diameter) fastened to the lower drawer face.",
+        "functional_description": "Handle to pull the lower drawer.",
+        "movement_description": "Rigidly fixed to the drawer front; translates with the drawer assembly.",
+        "grasp_description": "Frequent human contact point for opening/closing the lower drawer."
+    },
+    "basic_info": {
+        "material": "wood/Hardwood_Beech",
+        "density": 0.72,
+        "young": 12.0,
+        "hardness": 32,
+        "poisson": 0.3,
+        "friction": 0.52
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001881/annotations/part_2.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001881",
+        "label": "2"
+    },
+    "part_level": {
+        "part_name": "Front Face Frame",
+        "affordance": 8,
+        "graspable": false,
+        "basic_description": "Hardwood stiles and rails (~98*2*170 cm overall) forming the front opening. Three horizontal rails divide the door and drawer openings.",
+        "functional_description": "Provides a strong mounting surface for door hinges and defines the drawer openings.",
+        "movement_description": "Rigid to the carcass; acts as the hinge support for both doors which rotate about vertical axes.",
+        "grasp_description": "Generally not grasped directly; users interact with the attached doors and knobs."
+    },
+    "basic_info": {
+        "material": "wood/Hardwood_Oak",
+        "density": 0.75,
+        "young": 11.0,
+        "hardness": 30,
+        "poisson": 0.3,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001881/annotations/part_3.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001881",
+        "label": "3"
+    },
+    "part_level": {
+        "part_name": "Carcass (Body with Back and Base)",
+        "affordance": 7,
+        "graspable": false,
+        "basic_description": "Main cabinet body (~100*55*200 cm) with top, sides, base shelf and a full back panel, made from veneered particle board.",
+        "functional_description": "Provides the structural enclosure for storage, supports the face frame, doors and drawers.",
+        "movement_description": "Stationary base structure; serves as the parent reference for the sliding drawer assembly.",
+        "grasp_description": "Not typically handled by users except during assembly or moving."
+    },
+    "basic_info": {
+        "material": "wood/Particle_Board_Veneered",
+        "density": 0.65,
+        "young": 3.0,
+        "hardness": 15,
+        "poisson": 0.35,
+        "friction": 0.4
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001881/annotations/part_4.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001881",
+        "label": "4"
+    },
+    "part_level": {
+        "part_name": "Left Mirrored Door",
+        "affordance": 2,
+        "graspable": false,
+        "basic_description": "A framed door (~45*2*140 cm) with a mirror insert; hardwood frame carries concealed hinges on the left stile.",
+        "functional_description": "Closes the left-half wardrobe compartment and provides a full-length mirror.",
+        "movement_description": "Rotates about a vertical hinge line on the face frame; typical opening angle up to ~110 degrees.",
+        "grasp_description": "Opened via the attached knob (part 7)."
+    },
+    "basic_info": {
+        "material": "wood/Hardwood_Oak",
+        "density": 0.75,
+        "young": 11.0,
+        "hardness": 30,
+        "poisson": 0.3,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                4,
+                7
+            ],
+            "C": {
+                "axis": [
+                    0.0,
+                    0.0,
+                    -1.0
+                ],
+                "pos": [
+                    -0.4376521408557892,
+                    -0.16198568046092987,
+                    0.0
+                ],
+                "range": [
+                    0.0,
+                    1.9198621771937625
+                ],
+                "damping": 0.03
+            }
+        }
+    }
+}

data/UPB_00001881/annotations/part_5.json

@@ -0,0 +1,52 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001881",
+        "label": "5"
+    },
+    "part_level": {
+        "part_name": "Right Mirrored Door",
+        "affordance": 2,
+        "graspable": false,
+        "basic_description": "A framed hardwood door (~45*2*140 cm) with a mirror panel; hinges on the right stile.",
+        "functional_description": "Closes the right-half wardrobe compartment and offers mirrored surface.",
+        "movement_description": "Rotates on vertical hinges fixed to the face frame; soft-close hinge damping typical.",
+        "grasp_description": "Operated by the attached knob (part 8)."
+    },
+    "basic_info": {
+        "material": "wood/Hardwood_Oak",
+        "density": 0.75,
+        "young": 11.0,
+        "hardness": 30,
+        "poisson": 0.3,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                5,
+                8
+            ],
+            "C": {
+                "axis": [
+                    0.0,
+                    0.0,
+                    1.0
+                ],
+                "pos": [
+                    0.43867504596710205,
+                    -0.15587134659290314,
+                    0.0
+                ],
+                "range": [
+                    0.0,
+                    1.9198621771937625
+                ],
+                "damping": 0.03
+            }
+        }
+    }
+}

data/UPB_00001881/annotations/part_6.json

@@ -0,0 +1,53 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001881",
+        "label": "6"
+    },
+    "part_level": {
+        "part_name": "Drawer Front Assembly (Two Drawers)",
+        "affordance": 3,
+        "graspable": false,
+        "basic_description": "Single modeled front plate (~90*1.8*30 cm) representing two stacked drawer faces with centered knob holes.",
+        "functional_description": "Provides the user-facing surface for the two lower drawers and mounts the knobs.",
+        "movement_description": "Slides outward and inward relative to the carcass on drawer runners (treated as a single translational group here).",
+        "grasp_description": "Pulled by the two knobs (parts 9 and 10) to open/close the drawers."
+    },
+    "basic_info": {
+        "material": "wood/MDF",
+        "density": 0.7,
+        "young": 3.0,
+        "hardness": 20,
+        "poisson": 0.3,
+        "friction": 0.46
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "B"
+        ],
+        "motion_info": {
+            "dependency": [
+                6,
+                9,
+                10
+            ],
+            "B": {
+                "axis": [
+                    0.0,
+                    1.0,
+                    0.0
+                ],
+                "pos": [
+                    0.0,
+                    -0.16758525371551514,
+                    -0.6764347553253174
+                ],
+                "range": [
+                    -0.30000001192092896,
+                    0.0
+                ],
+                "damping": 0.06
+            }
+        }
+    }
+}

data/UPB_00001881/annotations/part_7.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001881",
+        "label": "7"
+    },
+    "part_level": {
+        "part_name": "Left Door Knob",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Round wooden knob (~3 cm diameter, 2.5 cm projection) mounted on the left door.",
+        "functional_description": "Primary handle to pull/push the left door.",
+        "movement_description": "Moves rigidly with the door as it rotates.",
+        "grasp_description": "Grasped between fingers to swing the door open or closed."
+    },
+    "basic_info": {
+        "material": "wood/Hardwood_Beech",
+        "density": 0.72,
+        "young": 12.0,
+        "hardness": 32,
+        "poisson": 0.3,
+        "friction": 0.5
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001881/annotations/part_8.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001881",
+        "label": "8"
+    },
+    "part_level": {
+        "part_name": "Right Door Knob",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Round wooden knob (~3 cm diameter, 2.5 cm projection) mounted on the right door.",
+        "functional_description": "Primary handle for the right door.",
+        "movement_description": "Rigid with the right door and follows its rotation.",
+        "grasp_description": "User grips to operate the right door."
+    },
+    "basic_info": {
+        "material": "wood/Hardwood_Beech",
+        "density": 0.72,
+        "young": 12.0,
+        "hardness": 32,
+        "poisson": 0.3,
+        "friction": 0.5
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001881/annotations/part_9.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001881",
+        "label": "9"
+    },
+    "part_level": {
+        "part_name": "Upper Drawer Knob",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Central wooden knob (~3 cm diameter) fastened to the upper drawer face.",
+        "functional_description": "Handle to pull the upper drawer out and push it in.",
+        "movement_description": "Rigidly attached to the drawer front; translates with it relative to the carcass.",
+        "grasp_description": "Commonly grasped by fingers for drawer operation."
+    },
+    "basic_info": {
+        "material": "wood/Hardwood_Beech",
+        "density": 0.72,
+        "young": 12.0,
+        "hardness": 32,
+        "poisson": 0.3,
+        "friction": 0.52
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001881/full_model/material.mtl

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+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.40000000 0.40000000 0.40000000
+Kd 0.40000000 0.40000000 0.40000000
+Ks 0.40000000 0.40000000 0.40000000
+Ns 1.00000000
+map_Kd material_0.png

data/UPB_00001881/full_model/model.obj

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8cc4364b3c7a6f7cdf8887c2dcc30a6d31cafe618d61f0dc961a8b4740fdd8b2
+size 27036669

data/UPB_00001881/meta_data.json

@@ -0,0 +1,22 @@
+{
+    "id": "UPB_00001881",
+    "source": [
+        {
+            "dataset": "UniPhys-Bench",
+            "organization": "Manycore Tech Inc.",
+            "license_ref": "UniPhys-Bench"
+        }
+    ],
+    "object": {
+        "category": "Furniture/StorageFurniture",
+        "object_name": "Two-door Wardrobe with Drawers"
+    },
+    "geometry": {
+        "asset_type": "decomposed_parts",
+        "num_parts": 10,
+        "format": "obj"
+    },
+    "annotation": {
+        "version": "v1.0"
+    }
+}

data/UPB_00001881/model.urdf

@@ -0,0 +1,198 @@
+<?xml version="1.0" ?>
+<robot name="robot">
+  <link name="base_link"/>
+  <link name="helper_link_0"/>
+  <link name="helper_link_1"/>
+  <link name="helper_link_2"/>
+  <link name="link_1">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="1.019294 1.019294 1.019294"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="1.019294 1.019294 1.019294"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_2">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="1.019294 1.019294 1.019294"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="1.019294 1.019294 1.019294"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_3">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="1.019294 1.019294 1.019294"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="1.019294 1.019294 1.019294"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_4">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="1.019294 1.019294 1.019294"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="1.019294 1.019294 1.019294"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_5">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="1.019294 1.019294 1.019294"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="1.019294 1.019294 1.019294"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_6">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_6.obj" scale="1.019294 1.019294 1.019294"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_6.obj" scale="1.019294 1.019294 1.019294"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_7">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_7.obj" scale="1.019294 1.019294 1.019294"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_7.obj" scale="1.019294 1.019294 1.019294"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_8">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_8.obj" scale="1.019294 1.019294 1.019294"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_8.obj" scale="1.019294 1.019294 1.019294"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_9">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_9.obj" scale="1.019294 1.019294 1.019294"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_9.obj" scale="1.019294 1.019294 1.019294"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_10">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_10.obj" scale="1.019294 1.019294 1.019294"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_10.obj" scale="1.019294 1.019294 1.019294"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_0" type="revolute">
+    <parent link="link_2"/>
+    <child link="helper_link_0"/>
+    <origin xyz="-0.446096 -0.165111 0.000000" rpy="0 0 0"/>
+    <axis xyz="0.0 0.0 -1.0"/>
+    <limit lower="0.0" upper="1.9198621771937625"/>
+  </joint>
+  <joint name="joint_1" type="fixed">
+    <parent link="helper_link_0"/>
+    <child link="link_4"/>
+    <origin xyz="0.446096 0.165111 -0.000000" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_2" type="revolute">
+    <parent link="link_2"/>
+    <child link="helper_link_1"/>
+    <origin xyz="0.447139 -0.158879 0.000000" rpy="0 0 0"/>
+    <axis xyz="0.0 0.0 1.0"/>
+    <limit lower="0.0" upper="1.9198621771937625"/>
+  </joint>
+  <joint name="joint_3" type="fixed">
+    <parent link="helper_link_1"/>
+    <child link="link_5"/>
+    <origin xyz="-0.447139 0.158879 -0.000000" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_4" type="prismatic">
+    <parent link="link_3"/>
+    <child link="helper_link_2"/>
+    <origin xyz="0.000000 -0.170819 -0.689486" rpy="0 0 0"/>
+    <axis xyz="0.0 1.0 0.0"/>
+    <limit lower="-0.3057882797981699" upper="0.0"/>
+  </joint>
+  <joint name="joint_5" type="fixed">
+    <parent link="helper_link_2"/>
+    <child link="link_6"/>
+    <origin xyz="-0.000000 0.170819 0.689486" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_6" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_1"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_7" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_2"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_8" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_3"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_9" type="fixed">
+    <parent link="link_4"/>
+    <child link="link_7"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_10" type="fixed">
+    <parent link="link_5"/>
+    <child link="link_8"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_11" type="fixed">
+    <parent link="link_6"/>
+    <child link="link_9"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_12" type="fixed">
+    <parent link="link_6"/>
+    <child link="link_10"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+</robot>

data/UPB_00001881/parts/4.mtl

@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.40000000 0.40000000 0.40000000
+Kd 0.40000000 0.40000000 0.40000000
+Ks 0.40000000 0.40000000 0.40000000
+Ns 1.00000000
+map_Kd 4.png

data/UPB_00001881/parts/5.mtl

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+# https://github.com/mikedh/trimesh
+
+newmtl material_0
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+Kd 0.40000000 0.40000000 0.40000000
+Ks 0.40000000 0.40000000 0.40000000
+Ns 1.00000000
+map_Kd 5.png

data/UPB_00001881/parts/WineCabinet_6EQYGN4TDD52GNNVKU888888_ViYQk.mtl

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+# File produced by Open Asset Import Library (http://www.assimp.sf.net)
+# (assimp v5.4.0)
+
+newmtl MI_5d1f198e44b6160bc04c38f9
+Kd 1 1 1
+illum 1
+map_Kd ./T_5d1f198e44b6160bc04c38f9_color.jpg
+
+newmtl MI_5d1f198e44b6160bc04c38f5
+Kd 0.723590016 0.723590016 0.723590016
+illum 1
+
+newmtl MI_5d1f198e44b6160bc04c38f7
+Kd 1 1 1
+Ks 0.100000001 0.100000001 0.100000001
+d 1
+illum 1
+
+newmtl MI_5d1f198e44b6160bc04c38f8
+Kd 1 1 1
+illum 1
+map_Kd ./T_5d1f198e44b6160bc04c38f8_color.jpg
+
+newmtl MI_5d1f198e44b6160bc04c38f6
+Kd 1 1 1
+illum 1
+map_Kd ./T_5d1f198e44b6160bc04c38f6_color.jpg
+

data/UPB_00001881/parts/part_1.obj

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+mtllib WineCabinet_6EQYGN4TDD52GNNVKU888888_ViYQk.mtl
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+v -0.440789998 0.168706 -0.458678991
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