diff --git a/.gitattributes b/.gitattributes
index f6a87812e3d78f6c2afc259f02d8965a1f88dcee..2ef878328c39a919c7e8bdf9fa54a19f1a755882 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2629,3 +2629,5 @@ dataset/bathroom_supplies/personal_care/e574a599721b59f58019978a6fe8a5a5/mesh/na
 dataset/bathroom_supplies/personal_care/e574a599721b59f58019978a6fe8a5a5/nail_clipper_010.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/ed06b5b051ee53bb85914c65b9ec8ffc/mesh/razor_021.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/ed06b5b051ee53bb85914c65b9ec8ffc/razor_021.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/e6a8cef872e45b00afd7fc987930c83d/mesh/razor_028.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/e6a8cef872e45b00afd7fc987930c83d/razor_028.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/personal_care/e6a8cef872e45b00afd7fc987930c83d/mesh/material.mtl b/dataset/bathroom_supplies/personal_care/e6a8cef872e45b00afd7fc987930c83d/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ed7c142596170338ed3b2d66380fcc91655e98eb
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/e6a8cef872e45b00afd7fc987930c83d/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/bathroom_supplies/personal_care/e6a8cef872e45b00afd7fc987930c83d/mesh/material_0.png b/dataset/bathroom_supplies/personal_care/e6a8cef872e45b00afd7fc987930c83d/mesh/material_0.png
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+++ b/dataset/bathroom_supplies/personal_care/e6a8cef872e45b00afd7fc987930c83d/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/bathroom_supplies/personal_care/e6a8cef872e45b00afd7fc987930c83d/mesh/razor_028.glb b/dataset/bathroom_supplies/personal_care/e6a8cef872e45b00afd7fc987930c83d/mesh/razor_028.glb
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--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/e6a8cef872e45b00afd7fc987930c83d/mesh/razor_028.glb
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diff --git a/dataset/bathroom_supplies/personal_care/e6a8cef872e45b00afd7fc987930c83d/mesh/razor_028.mtl b/dataset/bathroom_supplies/personal_care/e6a8cef872e45b00afd7fc987930c83d/mesh/razor_028.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..92a7e3615577805cd6afac9654d3fe83b0c1802c
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/e6a8cef872e45b00afd7fc987930c83d/mesh/razor_028.mtl
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+newmtl razor_028_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/personal_care/e6a8cef872e45b00afd7fc987930c83d/mesh/razor_028.obj b/dataset/bathroom_supplies/personal_care/e6a8cef872e45b00afd7fc987930c83d/mesh/razor_028.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ac840d28da7bd95b6ee4972595fb30c303db72a3
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/e6a8cef872e45b00afd7fc987930c83d/mesh/razor_028.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/bathroom_supplies/personal_care/e6a8cef872e45b00afd7fc987930c83d/mesh/razor_028_collision.obj b/dataset/bathroom_supplies/personal_care/e6a8cef872e45b00afd7fc987930c83d/mesh/razor_028_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c560d36f8d9bd93346ea2fe4454d2869722a8a65
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/e6a8cef872e45b00afd7fc987930c83d/mesh/razor_028_collision.obj
@@ -0,0 +1,12112 @@
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diff --git a/dataset/bathroom_supplies/personal_care/e6a8cef872e45b00afd7fc987930c83d/mjcf/mesh/razor_028.obj b/dataset/bathroom_supplies/personal_care/e6a8cef872e45b00afd7fc987930c83d/mjcf/mesh/razor_028.obj
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diff --git a/dataset/bathroom_supplies/personal_care/e6a8cef872e45b00afd7fc987930c83d/mjcf/mesh/razor_028_collision.obj b/dataset/bathroom_supplies/personal_care/e6a8cef872e45b00afd7fc987930c83d/mjcf/mesh/razor_028_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b9e26eae6d2d4191d0db7419c88c33ebf4701a21
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/e6a8cef872e45b00afd7fc987930c83d/mjcf/mesh/razor_028_collision.obj
@@ -0,0 +1,12112 @@
+# https://github.com/mikedh/trimesh
+
+o razor_028_collision.obj
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diff --git a/dataset/bathroom_supplies/personal_care/e6a8cef872e45b00afd7fc987930c83d/mjcf/mesh/razor_028_collision_0.obj b/dataset/bathroom_supplies/personal_care/e6a8cef872e45b00afd7fc987930c83d/mjcf/mesh/razor_028_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3c8b164856793be5355767e6415eddc95b7bbe44
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/e6a8cef872e45b00afd7fc987930c83d/mjcf/mesh/razor_028_collision_0.obj
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diff --git a/dataset/bathroom_supplies/personal_care/e6a8cef872e45b00afd7fc987930c83d/mjcf/mesh/razor_028_collision_1.obj b/dataset/bathroom_supplies/personal_care/e6a8cef872e45b00afd7fc987930c83d/mjcf/mesh/razor_028_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..43671b313348a77390ac5529f2121ccb7be160ea
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/e6a8cef872e45b00afd7fc987930c83d/mjcf/mesh/razor_028_collision_1.obj
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diff --git a/dataset/bathroom_supplies/personal_care/e6a8cef872e45b00afd7fc987930c83d/mjcf/mesh/razor_028_collision_10.obj b/dataset/bathroom_supplies/personal_care/e6a8cef872e45b00afd7fc987930c83d/mjcf/mesh/razor_028_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3527221ce74d7d789f41d7e951c173feeba34aaf
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/e6a8cef872e45b00afd7fc987930c83d/mjcf/mesh/razor_028_collision_10.obj
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diff --git a/dataset/bathroom_supplies/personal_care/e6a8cef872e45b00afd7fc987930c83d/mjcf/mesh/razor_028_collision_2.obj b/dataset/bathroom_supplies/personal_care/e6a8cef872e45b00afd7fc987930c83d/mjcf/mesh/razor_028_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3f8a998cdf320721c7babf4a6cd331edb8fd8ec5
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/e6a8cef872e45b00afd7fc987930c83d/mjcf/mesh/razor_028_collision_2.obj
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diff --git a/dataset/bathroom_supplies/personal_care/e6a8cef872e45b00afd7fc987930c83d/mjcf/mesh/razor_028_collision_3.obj b/dataset/bathroom_supplies/personal_care/e6a8cef872e45b00afd7fc987930c83d/mjcf/mesh/razor_028_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c234b13f0c49e5949e2affcba0d4c947601844bd
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/e6a8cef872e45b00afd7fc987930c83d/mjcf/mesh/razor_028_collision_3.obj
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diff --git a/dataset/bathroom_supplies/personal_care/e6a8cef872e45b00afd7fc987930c83d/mjcf/mesh/razor_028_collision_4.obj b/dataset/bathroom_supplies/personal_care/e6a8cef872e45b00afd7fc987930c83d/mjcf/mesh/razor_028_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b3c429721f9639fa41fe132d8f6c33f513f7935e
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/e6a8cef872e45b00afd7fc987930c83d/mjcf/mesh/razor_028_collision_4.obj
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diff --git a/dataset/bathroom_supplies/personal_care/e6a8cef872e45b00afd7fc987930c83d/mjcf/mesh/razor_028_collision_5.obj b/dataset/bathroom_supplies/personal_care/e6a8cef872e45b00afd7fc987930c83d/mjcf/mesh/razor_028_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..47765843139f0aa363cf5c675a21d33be648980e
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/e6a8cef872e45b00afd7fc987930c83d/mjcf/mesh/razor_028_collision_5.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/personal_care/e6a8cef872e45b00afd7fc987930c83d/mjcf/mesh/razor_028_collision_6.obj b/dataset/bathroom_supplies/personal_care/e6a8cef872e45b00afd7fc987930c83d/mjcf/mesh/razor_028_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..78ed0ca7100c5f69aa9b145491315ce25cedfd92
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/e6a8cef872e45b00afd7fc987930c83d/mjcf/mesh/razor_028_collision_6.obj
@@ -0,0 +1,337 @@
+# https://github.com/mikedh/trimesh
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+v -0.03925314 0.00276282 -0.01787968
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+
diff --git a/dataset/bathroom_supplies/personal_care/e6a8cef872e45b00afd7fc987930c83d/mjcf/mesh/razor_028_collision_7.obj b/dataset/bathroom_supplies/personal_care/e6a8cef872e45b00afd7fc987930c83d/mjcf/mesh/razor_028_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b8d709d967aadac48f68af7f83efe0eceb88cfa4
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/e6a8cef872e45b00afd7fc987930c83d/mjcf/mesh/razor_028_collision_7.obj
@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
+v -0.04553766 0.01640136 -0.00138744
+v -0.04553766 0.01530853 -0.00340513
+v -0.05052561 0.01208149 -0.01210093
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+
diff --git a/dataset/bathroom_supplies/personal_care/e6a8cef872e45b00afd7fc987930c83d/mjcf/mesh/razor_028_collision_8.obj b/dataset/bathroom_supplies/personal_care/e6a8cef872e45b00afd7fc987930c83d/mjcf/mesh/razor_028_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1420b2a02851d5dba180562604d34c01bf0e5f7f
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/e6a8cef872e45b00afd7fc987930c83d/mjcf/mesh/razor_028_collision_8.obj
@@ -0,0 +1,61 @@
+# https://github.com/mikedh/trimesh
+v -0.05644832 -0.01843612 -0.00715039
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diff --git a/dataset/bathroom_supplies/personal_care/e6a8cef872e45b00afd7fc987930c83d/mjcf/mesh/razor_028_collision_9.obj b/dataset/bathroom_supplies/personal_care/e6a8cef872e45b00afd7fc987930c83d/mjcf/mesh/razor_028_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0642400aa0ecaf45c2253a1e0cdacc010d1760f2
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/e6a8cef872e45b00afd7fc987930c83d/mjcf/mesh/razor_028_collision_9.obj
@@ -0,0 +1,322 @@
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diff --git a/dataset/bathroom_supplies/personal_care/e6a8cef872e45b00afd7fc987930c83d/mjcf/razor_028.xml b/dataset/bathroom_supplies/personal_care/e6a8cef872e45b00afd7fc987930c83d/mjcf/razor_028.xml
new file mode 100644
index 0000000000000000000000000000000000000000..a0e0799c0374ab096812417bea21f8b7576ad136
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/e6a8cef872e45b00afd7fc987930c83d/mjcf/razor_028.xml
@@ -0,0 +1,36 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="razor_028">
+  <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/razor_028.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/razor_028_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/razor_028_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/razor_028_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/razor_028_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/razor_028_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/razor_028_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/razor_028_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/razor_028_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/razor_028_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/razor_028_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/razor_028_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="razor_028">
+      <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" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/personal_care/e6a8cef872e45b00afd7fc987930c83d/razor_028.urdf b/dataset/bathroom_supplies/personal_care/e6a8cef872e45b00afd7fc987930c83d/razor_028.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..da2677f1964f0efa84e0451ab18cf87ded0fa586
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/e6a8cef872e45b00afd7fc987930c83d/razor_028.urdf
@@ -0,0 +1,65 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="razor_028">
+   <link name="razor_028">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/razor_028.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/razor_028_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.2250" />
+         <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>e6a8cef872e45b00afd7fc987930c83d</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>personal_care</super_category>
+         <category>razor</category>
+         <name>electric razor</name>
+         <color>gray</color>
+         <shape>elongated</shape>
+         <material>plastic</material>
+         <description>dark gray electric rotary shaver with ergonomic handle and three-head base</description>
+         <min_height>0.0627</min_height>
+         <max_height>0.0627</max_height>
+         <real_height>0.0627</real_height>
+         <min_mass>0.15</min_mass>
+         <max_mass>0.3</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611124135</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.077214 -0.028754 -0.036564</min>
+            <max>0.082786 0.028785 0.026108</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>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/personal_care/e6a8cef872e45b00afd7fc987930c83d/razor_028.usd b/dataset/bathroom_supplies/personal_care/e6a8cef872e45b00afd7fc987930c83d/razor_028.usd
new file mode 100644
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+++ b/dataset/bathroom_supplies/personal_care/e6a8cef872e45b00afd7fc987930c83d/razor_028.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c5645bc716da815aa47f639dc5aa3d5319b883b0cb8b61135b2dc6201dcbdfc2
+size 4980710
diff --git a/dataset/bathroom_supplies/personal_care/e6a8cef872e45b00afd7fc987930c83d/textures/material_0.png b/dataset/bathroom_supplies/personal_care/e6a8cef872e45b00afd7fc987930c83d/textures/material_0.png
new file mode 100644
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+++ b/dataset/bathroom_supplies/personal_care/e6a8cef872e45b00afd7fc987930c83d/textures/material_0.png
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+version https://git-lfs.github.com/spec/v1
+oid sha256:0f94e42ce032b140b82d5969e9eecbead93a37706719109d4f5740cc1fd85ff7
+size 10464913
diff --git a/dataset/bathroom_supplies/personal_care/e6a8cef872e45b00afd7fc987930c83d/video.mp4 b/dataset/bathroom_supplies/personal_care/e6a8cef872e45b00afd7fc987930c83d/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..bc4f6eb98cef1024ae1ca488bcbfe66bd1f47cce
--- /dev/null
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