Hugging Face's logo

Datasets:
HorizonRobotics
/
EmbodiedGenData

Modalities:
3D
Image
Tabular
Formats:
csv
Size:
1K - 10K
Libraries:
Datasets
pandas
Polars
License:
Dataset card Data Studio Files
xet
 Community
2
xinjjj commited on
Commit
30750f4
·
verified ·
1 Parent(s): 5a75633

Add asset tools/repair_tools/9b164aaf256d5d10a42e2d87953316bc

Browse files
Files changed (3) hide show
  1. .gitattributes +1 -0
  2. dataset/tools/repair_tools/9b164aaf256d5d10a42e2d87953316bc/affordance/affordance_annot.json +610 -0
  3. dataset/tools/repair_tools/9b164aaf256d5d10a42e2d87953316bc/affordance/mesh_part_seg.glb +3 -0
.gitattributes CHANGED
@@ -8587,3 +8587,4 @@ dataset/tools/repair_tools/9a1c31bfcb915db38bac063916df73ab/affordance/mesh_part
8587
  dataset/tools/repair_tools/9a30d111bbf258f8a7bb1aab64754b5d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8588
  dataset/tools/repair_tools/9acf3c44051a508190004e98b32f6612/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8589
  dataset/tools/repair_tools/9b0574747f4f53cdbb904b041889890e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
8587
  dataset/tools/repair_tools/9a30d111bbf258f8a7bb1aab64754b5d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8588
  dataset/tools/repair_tools/9acf3c44051a508190004e98b32f6612/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8589
  dataset/tools/repair_tools/9b0574747f4f53cdbb904b041889890e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8590
+ dataset/tools/repair_tools/9b164aaf256d5d10a42e2d87953316bc/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/tools/repair_tools/9b164aaf256d5d10a42e2d87953316bc/affordance/affordance_annot.json ADDED
@@ -0,0 +1,610 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "shaft",
5
+ "mask_color": "Red",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the metal shaft to pick up or reposition the screwdriver in a constrained space",
10
+ "confidence": 0.46
11
+ },
12
+ {
13
+ "scenario": "hold the shaft lightly to stabilize the tool while aligning the tip with a screw",
14
+ "confidence": 0.38
15
+ }
16
+ ],
17
+ "functional_labels": [
18
+ "transmit torque to the tip",
19
+ "reach into recessed screws",
20
+ "connect handle to tip",
21
+ "support tool alignment"
22
+ ],
23
+ "semantic_description": "Long silver metal shaft with a reflective smooth hard finish, slender cylindrical shape, extending from the handle to the tip as the narrow front section of the screwdriver.",
24
+ "id": 0,
25
+ "grasp_group": {
26
+ "grasp_3": {
27
+ "confidence": 0.7296839952468872,
28
+ "position": [
29
+ 0.049424780168919824,
30
+ -0.24430652149021626,
31
+ -0.01328538447705796
32
+ ],
33
+ "orientation": {
34
+ "w": 0.3813381482613873,
35
+ "xyz": [
36
+ -0.5811109782838625,
37
+ 0.3340338669553572,
38
+ 0.6366416757685591
39
+ ]
40
+ }
41
+ },
42
+ "grasp_10": {
43
+ "confidence": 0.6871751546859741,
44
+ "position": [
45
+ -0.05136290042719338,
46
+ -0.23343232460319996,
47
+ -0.01098243143496802
48
+ ],
49
+ "orientation": {
50
+ "w": 0.6669449028459585,
51
+ "xyz": [
52
+ -0.3581604300659595,
53
+ 0.569079499346797,
54
+ 0.32102044533948276
55
+ ]
56
+ }
57
+ },
58
+ "grasp_15": {
59
+ "confidence": 0.6665164828300476,
60
+ "position": [
61
+ 0.036886194357066415,
62
+ -0.24865654297173023,
63
+ -0.011720401198545005
64
+ ],
65
+ "orientation": {
66
+ "w": 0.6437893525387784,
67
+ "xyz": [
68
+ -0.43447166905909723,
69
+ -0.5161003448961297,
70
+ -0.36112334782010286
71
+ ]
72
+ }
73
+ }
74
+ }
75
+ },
76
+ {
77
+ "part_name": "handle body",
78
+ "mask_color": "Green",
79
+ "graspable": true,
80
+ "grasp_scenarios": [
81
+ {
82
+ "scenario": "grasp the handle body to pick up and carry the screwdriver",
83
+ "confidence": 0.97
84
+ },
85
+ {
86
+ "scenario": "hold the handle body to apply turning torque during screwdriving",
87
+ "confidence": 0.98
88
+ },
89
+ {
90
+ "scenario": "grip the handle body to stabilize the tool while inserting or withdrawing a screw",
91
+ "confidence": 0.95
92
+ }
93
+ ],
94
+ "functional_labels": [
95
+ "main grip surface",
96
+ "apply turning torque",
97
+ "support handling",
98
+ "provide ergonomic control"
99
+ ],
100
+ "semantic_description": "Bulky black handle body with orange side grip panels, mostly matte hard plastic/rubberized appearance, rounded and contoured for the hand at the rear of the screwdriver.",
101
+ "id": 1,
102
+ "grasp_group": {
103
+ "grasp_20": {
104
+ "confidence": 0.9872717261314392,
105
+ "position": [
106
+ 0.09885706902423408,
107
+ 0.0376391913741827,
108
+ -0.011936791204789188
109
+ ],
110
+ "orientation": {
111
+ "w": 0.0253742696549151,
112
+ "xyz": [
113
+ -0.6448925616997037,
114
+ -0.011422997208765273,
115
+ 0.7637664861976089
116
+ ]
117
+ }
118
+ },
119
+ "grasp_21": {
120
+ "confidence": 0.9853538274765015,
121
+ "position": [
122
+ 0.10094337315240409,
123
+ 0.03296969644725323,
124
+ -0.006386312619724777
125
+ ],
126
+ "orientation": {
127
+ "w": 0.020101342063457903,
128
+ "xyz": [
129
+ -0.6735624005542973,
130
+ -0.02086389187973392,
131
+ 0.738562337668535
132
+ ]
133
+ }
134
+ },
135
+ "grasp_23": {
136
+ "confidence": 0.9835786819458008,
137
+ "position": [
138
+ 0.09838357717671897,
139
+ 0.043792298063635826,
140
+ 0.017429656385502312
141
+ ],
142
+ "orientation": {
143
+ "w": 0.6477335615885007,
144
+ "xyz": [
145
+ 0.02800607500420587,
146
+ -0.7611034954371373,
147
+ 0.01945153433809223
148
+ ]
149
+ }
150
+ },
151
+ "grasp_26": {
152
+ "confidence": 0.9827315211296082,
153
+ "position": [
154
+ 0.09748148322978523,
155
+ 0.0037968438118696213,
156
+ 0.017341855018457863
157
+ ],
158
+ "orientation": {
159
+ "w": 0.08107357047885075,
160
+ "xyz": [
161
+ 0.7600602553994937,
162
+ 0.0871032081840194,
163
+ -0.6388650213119506
164
+ ]
165
+ }
166
+ },
167
+ "grasp_27": {
168
+ "confidence": 0.9821808338165283,
169
+ "position": [
170
+ 0.09516215474286582,
171
+ 0.042259810492396355,
172
+ 0.035000630690774415
173
+ ],
174
+ "orientation": {
175
+ "w": 0.031278468588247406,
176
+ "xyz": [
177
+ 0.8126873424870498,
178
+ -0.004554135326540698,
179
+ -0.5818420753224525
180
+ ]
181
+ }
182
+ },
183
+ "grasp_28": {
184
+ "confidence": 0.9820907711982727,
185
+ "position": [
186
+ 0.0919786855665734,
187
+ 0.039632854983210564,
188
+ 0.041414768471440766
189
+ ],
190
+ "orientation": {
191
+ "w": 0.5547700367982061,
192
+ "xyz": [
193
+ 0.03244110301607248,
194
+ -0.8312906509907791,
195
+ 0.011560046770872275
196
+ ]
197
+ }
198
+ },
199
+ "grasp_29": {
200
+ "confidence": 0.9820882678031921,
201
+ "position": [
202
+ 0.09797310233989265,
203
+ 0.052045730873942375,
204
+ 0.022168575822433922
205
+ ],
206
+ "orientation": {
207
+ "w": 0.07450270406936291,
208
+ "xyz": [
209
+ 0.7722573501577132,
210
+ 0.028143548318351197,
211
+ -0.6302982412333011
212
+ ]
213
+ }
214
+ },
215
+ "grasp_31": {
216
+ "confidence": 0.9819584488868713,
217
+ "position": [
218
+ 0.10331908763328101,
219
+ 0.03696376644074917,
220
+ 0.010102570093295071
221
+ ],
222
+ "orientation": {
223
+ "w": 0.06528149692539031,
224
+ "xyz": [
225
+ 0.7409855969366456,
226
+ -0.0740111014927799,
227
+ -0.6642296501568183
228
+ ]
229
+ }
230
+ },
231
+ "grasp_32": {
232
+ "confidence": 0.9817011952400208,
233
+ "position": [
234
+ -0.00940458792319987,
235
+ -0.06010268069803715,
236
+ 0.09682562298985431
237
+ ],
238
+ "orientation": {
239
+ "w": 0.1195552378858892,
240
+ "xyz": [
241
+ -0.9897076468501941,
242
+ -0.041231799426326265,
243
+ -0.06697206564208306
244
+ ]
245
+ }
246
+ },
247
+ "grasp_33": {
248
+ "confidence": 0.9814015030860901,
249
+ "position": [
250
+ 0.08760140986123588,
251
+ -0.008569788187742233,
252
+ 0.047724449112138245
253
+ ],
254
+ "orientation": {
255
+ "w": 0.01603339454379183,
256
+ "xyz": [
257
+ 0.8601823462626084,
258
+ 0.01136938950219002,
259
+ -0.5096076906993305
260
+ ]
261
+ }
262
+ },
263
+ "grasp_34": {
264
+ "confidence": 0.9813184142112732,
265
+ "position": [
266
+ 0.09239174575486686,
267
+ 0.043124591931700706,
268
+ 0.03678339816542575
269
+ ],
270
+ "orientation": {
271
+ "w": 0.048077361200784194,
272
+ "xyz": [
273
+ 0.8198027404310112,
274
+ 0.003590082451012222,
275
+ -0.570612955890215
276
+ ]
277
+ }
278
+ },
279
+ "grasp_35": {
280
+ "confidence": 0.9812995791435242,
281
+ "position": [
282
+ 0.0860217154113343,
283
+ 0.08640158735215664,
284
+ 0.03347516901703784
285
+ ],
286
+ "orientation": {
287
+ "w": 0.21877260694722542,
288
+ "xyz": [
289
+ 0.794857006044731,
290
+ 0.13844913552989246,
291
+ -0.5487920583081961
292
+ ]
293
+ }
294
+ },
295
+ "grasp_37": {
296
+ "confidence": 0.9812410473823547,
297
+ "position": [
298
+ 0.06262494028487708,
299
+ -0.006522331386804581,
300
+ 0.07883875913830707
301
+ ],
302
+ "orientation": {
303
+ "w": 0.3394496901265231,
304
+ "xyz": [
305
+ -0.0026672735872331323,
306
+ -0.940593166541349,
307
+ 0.007161604592242547
308
+ ]
309
+ }
310
+ },
311
+ "grasp_38": {
312
+ "confidence": 0.9810788631439209,
313
+ "position": [
314
+ 0.08709681183972862,
315
+ -0.024328321684151888,
316
+ 0.04857040665956447
317
+ ],
318
+ "orientation": {
319
+ "w": 0.5157141422669359,
320
+ "xyz": [
321
+ -0.04194326733297774,
322
+ -0.8556843597870274,
323
+ -0.009163089390488098
324
+ ]
325
+ }
326
+ },
327
+ "grasp_39": {
328
+ "confidence": 0.9809879064559937,
329
+ "position": [
330
+ 0.09882777334132697,
331
+ 0.009259851649403572,
332
+ -0.01300177533266833
333
+ ],
334
+ "orientation": {
335
+ "w": 0.06880275855176249,
336
+ "xyz": [
337
+ 0.6365715037660015,
338
+ 0.09565816751814105,
339
+ -0.7621629851913769
340
+ ]
341
+ }
342
+ }
343
+ }
344
+ },
345
+ {
346
+ "part_name": "end cap",
347
+ "mask_color": "Blue",
348
+ "graspable": true,
349
+ "grasp_scenarios": [
350
+ {
351
+ "scenario": "pinch the rounded end cap to reorient the screwdriver on a table",
352
+ "confidence": 0.41
353
+ },
354
+ {
355
+ "scenario": "grasp the rear end cap for a quick pickup when the handle is partially occluded",
356
+ "confidence": 0.36
357
+ }
358
+ ],
359
+ "functional_labels": [
360
+ "rear support surface",
361
+ "aid hand positioning",
362
+ "finish the handle end",
363
+ "indicate tool orientation"
364
+ ],
365
+ "semantic_description": "Rounded orange plastic end cap with a smooth slightly glossy hard finish, forming the bulbous back end of the handle and larger than the shaft but smaller than the main grip body.",
366
+ "id": 2,
367
+ "grasp_group": {
368
+ "grasp_42": {
369
+ "confidence": 0.970511794090271,
370
+ "position": [
371
+ 0.07888876051583793,
372
+ 0.10312136821448803,
373
+ -0.02441260494379094
374
+ ],
375
+ "orientation": {
376
+ "w": 0.795333193420977,
377
+ "xyz": [
378
+ 0.2515565066768223,
379
+ -0.5387098868413259,
380
+ 0.1181359099120597
381
+ ]
382
+ }
383
+ },
384
+ "grasp_45": {
385
+ "confidence": 0.9599647521972656,
386
+ "position": [
387
+ -0.09816499649605248,
388
+ 0.05446520261466503,
389
+ -0.008780050986388233
390
+ ],
391
+ "orientation": {
392
+ "w": 0.7363486550494359,
393
+ "xyz": [
394
+ 0.022882651530521592,
395
+ 0.6759124433233211,
396
+ -0.02023391772538981
397
+ ]
398
+ }
399
+ },
400
+ "grasp_47": {
401
+ "confidence": 0.9292314648628235,
402
+ "position": [
403
+ -0.023640334969968535,
404
+ 0.151019973680377,
405
+ 0.015139357223233674
406
+ ],
407
+ "orientation": {
408
+ "w": 0.2933101585743822,
409
+ "xyz": [
410
+ 0.4718333998823585,
411
+ -0.5766068867140909,
412
+ 0.5990549989995986
413
+ ]
414
+ }
415
+ },
416
+ "grasp_49": {
417
+ "confidence": 0.9157138466835022,
418
+ "position": [
419
+ 0.006719124139635824,
420
+ 0.14800533466041088,
421
+ -0.025363403336086776
422
+ ],
423
+ "orientation": {
424
+ "w": 0.8012977923303464,
425
+ "xyz": [
426
+ 0.5970198744809284,
427
+ -0.004759075506960642,
428
+ -0.03829449936489634
429
+ ]
430
+ }
431
+ },
432
+ "grasp_50": {
433
+ "confidence": 0.9126008749008179,
434
+ "position": [
435
+ 0.023072052383213304,
436
+ 0.13570785336196423,
437
+ 0.055617992802581284
438
+ ],
439
+ "orientation": {
440
+ "w": 0.4662363948146641,
441
+ "xyz": [
442
+ 0.8505931300290815,
443
+ 0.13438752573582236,
444
+ -0.20262019697986272
445
+ ]
446
+ }
447
+ },
448
+ "grasp_51": {
449
+ "confidence": 0.8997204303741455,
450
+ "position": [
451
+ 0.08899849803128745,
452
+ 0.00693882443010807,
453
+ 0.020054784639796708
454
+ ],
455
+ "orientation": {
456
+ "w": 0.17310475809811113,
457
+ "xyz": [
458
+ -0.750864352541214,
459
+ 0.14648186249972017,
460
+ 0.6203068037393035
461
+ ]
462
+ }
463
+ },
464
+ "grasp_52": {
465
+ "confidence": 0.8363588452339172,
466
+ "position": [
467
+ -0.033653198173851706,
468
+ 0.1018600296229124,
469
+ 0.08730655260296771
470
+ ],
471
+ "orientation": {
472
+ "w": 0.27020555396094265,
473
+ "xyz": [
474
+ 0.9487660941418254,
475
+ 0.0018741536170601147,
476
+ 0.1637936041600666
477
+ ]
478
+ }
479
+ },
480
+ "grasp_53": {
481
+ "confidence": 0.8027764558792114,
482
+ "position": [
483
+ -0.043721409878344275,
484
+ 0.1000655572861433,
485
+ 0.08152129597874591
486
+ ],
487
+ "orientation": {
488
+ "w": 0.26556184634801155,
489
+ "xyz": [
490
+ 0.03624547564468611,
491
+ 0.9314416157494372,
492
+ -0.24612941252439516
493
+ ]
494
+ }
495
+ },
496
+ "grasp_54": {
497
+ "confidence": 0.7942104339599609,
498
+ "position": [
499
+ -0.015369087821454741,
500
+ 0.10198923759162426,
501
+ 0.08826766259880969
502
+ ],
503
+ "orientation": {
504
+ "w": 0.07442603516935142,
505
+ "xyz": [
506
+ -0.04054073087725556,
507
+ 0.9604753529082495,
508
+ -0.26514960095139034
509
+ ]
510
+ }
511
+ },
512
+ "grasp_55": {
513
+ "confidence": 0.964224100112915,
514
+ "position": [
515
+ 0.07765837908664253,
516
+ 0.09950314275920391,
517
+ 0.0455674985787482
518
+ ],
519
+ "orientation": {
520
+ "w": 0.5177235972856492,
521
+ "xyz": [
522
+ 0.18547383761099628,
523
+ -0.8119820610761773,
524
+ 0.19556805686496875
525
+ ]
526
+ }
527
+ },
528
+ "grasp_58": {
529
+ "confidence": 0.9219141006469727,
530
+ "position": [
531
+ -0.039399391404003836,
532
+ 0.049477314576506615,
533
+ 0.09405947573395679
534
+ ],
535
+ "orientation": {
536
+ "w": 0.21925300566370937,
537
+ "xyz": [
538
+ -0.03478964859277639,
539
+ 0.9749038877808791,
540
+ -0.016739457815197267
541
+ ]
542
+ }
543
+ },
544
+ "grasp_59": {
545
+ "confidence": 0.9045267105102539,
546
+ "position": [
547
+ 0.015563462497084402,
548
+ 0.1333287488669157,
549
+ 0.058760051651916
550
+ ],
551
+ "orientation": {
552
+ "w": 0.21392585388158308,
553
+ "xyz": [
554
+ 0.22897496931897737,
555
+ -0.8477410763300814,
556
+ 0.42795006714466627
557
+ ]
558
+ }
559
+ }
560
+ }
561
+ },
562
+ {
563
+ "part_name": "collar",
564
+ "mask_color": "Yellow",
565
+ "graspable": false,
566
+ "grasp_scenarios": [],
567
+ "functional_labels": [
568
+ "connect shaft to handle",
569
+ "reinforce shaft entry",
570
+ "provide finger stop",
571
+ "stabilize front grip transition"
572
+ ],
573
+ "semantic_description": "Small orange plastic collar with a smooth hard finish, ring-shaped around the front of the handle where the metal shaft enters, serving as a narrow transition piece.",
574
+ "id": 3,
575
+ "grasp_group": {}
576
+ },
577
+ {
578
+ "part_name": "handle label",
579
+ "mask_color": "Purple",
580
+ "graspable": false,
581
+ "grasp_scenarios": [],
582
+ "functional_labels": [
583
+ "display brand marking",
584
+ "identify the tool",
585
+ "provide visual orientation"
586
+ ],
587
+ "semantic_description": "Small printed brand-marking area on the side of the handle, appearing as dark lettering on an orange inset panel with a smooth finish and flat elongated shape.",
588
+ "id": 5,
589
+ "grasp_group": {}
590
+ },
591
+ {
592
+ "part_name": "handle insert",
593
+ "mask_color": "Orange",
594
+ "graspable": false,
595
+ "grasp_scenarios": [],
596
+ "functional_labels": [
597
+ "provide grip texture",
598
+ "improve handle ergonomics",
599
+ "add visual accent to the grip"
600
+ ],
601
+ "semantic_description": "Narrow orange inset strip on the handle body with a slightly textured hard surface, elongated and recessed along the side of the black handle to add grip and visual detailing.",
602
+ "id": 4,
603
+ "grasp_group": {}
604
+ }
605
+ ],
606
+ "quality_check": {
607
+ "success": false,
608
+ "message": "Mask color and part descriptions mismatch; orange insert labeled purple/orange incorrectly, end cap color wrong, shaft excludes visible tip segmentation ambiguity."
609
+ }
610
+ }
dataset/tools/repair_tools/9b164aaf256d5d10a42e2d87953316bc/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:f409d7eb3d0c6d87b3720a93a1e5c08b9f6e65c2fa70fddc499fde9ef6027ad0
3
+ size 3784836