├── .devcontainer ├── Dockerfile ├── devcontainer.json └── ros_entrypoint.sh ├── .github └── ISSUE_TEMPLATE │ └── new-robotperf-benchmark-in-progress-announcement.md ├── .gitignore ├── .vscode └── settings.json ├── CHANGELOG.rst ├── LICENSE ├── README.md ├── benchmarks ├── README.md ├── TEMPLATE.yaml ├── control │ ├── c1_rrbot_joint_trajectory_controller │ │ ├── CMakeLists.txt │ │ ├── README.md │ │ ├── benchmark.yaml │ │ ├── launch │ │ │ ├── analyze_c1_rrbot_joint_trajectory_controller.launch.py │ │ │ ├── trace_c1_rrbot_joint_trajectory_controller_power.launch.py │ │ │ └── trace_c1_rrbot_joint_trajectory_controller_power_rviz.launch.py │ │ └── package.xml │ ├── c2_diffbot_diff_driver_controller │ │ ├── CMakeLists.txt │ │ ├── README.md │ │ ├── benchmark.yaml │ │ ├── launch │ │ │ ├── analyze_c2_diffbot_diff_driver_controller.launch.py │ │ │ ├── trace_c2_diffbot_diff_driver_controller_power.launch.py │ │ │ └── trace_c2_diffbot_diff_driver_controller_power_rviz.launch.py │ │ └── package.xml │ ├── c3_rrbot_forward_command_controller_position │ │ ├── CMakeLists.txt │ │ ├── README.md │ │ ├── benchmark.yaml │ │ ├── launch │ │ │ ├── analyze_c3_rrbot_forward_command_controller_position.launch.py │ │ │ ├── trace_c3_rrbot_forward_command_controller_position_power.launch.py │ │ │ └── trace_c3_rrbot_forward_command_controller_position_power_rviz.launch.py │ │ └── package.xml │ ├── c4_rrbot_forward_command_controller_velocity │ │ ├── CMakeLists.txt │ │ ├── README.md │ │ ├── benchmark.yaml │ │ ├── launch │ │ │ ├── analyze_c4_rrbot_forward_command_controller_velocity.launch.py │ │ │ ├── trace_c4_rrbot_forward_command_controller_velocity_power.launch.py │ │ │ └── trace_c4_rrbot_forward_command_controller_velocity_power_rviz.launch.py │ │ └── package.xml │ └── c5_rrbot_forward_command_controller_acceleration │ │ ├── CMakeLists.txt │ │ ├── README.md │ │ ├── benchmark.yaml │ │ ├── launch │ │ ├── analyze_c5_rrbot_forward_command_controller_acceleration.launch.py │ │ ├── trace_c5_rrbot_forward_command_controller_acceleration_power.launch.py │ │ └── trace_c5_rrbot_forward_command_controller_acceleration_power_rviz.launch.py │ │ └── package.xml ├── localization │ ├── b1_visual_slam │ │ ├── CMakeLists.txt │ │ ├── README.md │ │ ├── benchmark.yaml │ │ ├── launch │ │ │ ├── trace_b1_isaac_ros_visual_slam_auto.launch.py │ │ │ └── trace_b1_stella_vslam_ros_auto.launch.py │ │ └── package.xml │ ├── b2_map_localization │ │ ├── CMakeLists.txt │ │ ├── README.md │ │ ├── benchmark.yaml │ │ ├── launch │ │ │ └── trace_b2_map_localization_auto.launch.py │ │ └── package.xml │ └── b3_apriltag_detection │ │ ├── CMakeLists.txt │ │ ├── README.md │ │ ├── benchmark.yaml │ │ ├── launch │ │ ├── trace_b3_isaac_ros_apriltag_graph_auto.launch.py │ │ └── trace_b3_isaac_ros_apriltag_node_auto.launch.py │ │ └── package.xml ├── manipulation │ ├── d1_xarm6_planning_and_traj_execution │ │ ├── CMakeLists.txt │ │ ├── README.md │ │ ├── benchmark.yaml │ │ ├── launch │ │ │ ├── analyze_d1_xarm6_planning_and_traj_execution.launch.py │ │ │ ├── plot_d1_xarm6_planning.launch.py │ │ │ ├── plot_d1_xarm6_planning_and_traj_execution.launch.py │ │ │ ├── trace_d1_xarm6_planning_and_traj_execution_embedded.launch.py │ │ │ ├── trace_d1_xarm6_planning_and_traj_execution_power.launch.py │ │ │ ├── trace_d1_xarm6_planning_and_traj_execution_power_rviz.launch.py │ │ │ └── trace_d1_xarm6_planning_and_traj_execution_workstation.launch.py │ │ └── package.xml │ ├── d2_collision_checking_fcl │ │ ├── CMakeLists.txt │ │ ├── README.md │ │ ├── benchmark.yaml │ │ ├── launch │ │ │ ├── analyze_d2_collision_checking_fcl.launch.py │ │ │ ├── trace_d2_collision_checking_fcl_embedded.launch.py │ │ │ ├── trace_d2_collision_checking_fcl_power.launch.py │ │ │ ├── trace_d2_collision_checking_fcl_power_rviz.launch.py │ │ │ └── trace_d2_collision_checking_fcl_workstation.launch.py │ │ └── package.xml │ ├── d3_collision_checking_bullet │ │ ├── CMakeLists.txt │ │ ├── README.md │ │ ├── benchmark.yaml │ │ ├── launch │ │ │ ├── analyze_d3_collision_checking_bullet.launch.py │ │ │ ├── trace_d3_collision_checking_bullet_embedded.launch.py │ │ │ ├── trace_d3_collision_checking_bullet_power.launch.py │ │ │ ├── trace_d3_collision_checking_bullet_power_rviz.launch.py │ │ │ └── trace_d3_collision_checking_bullet_workstation.launch.py │ │ └── package.xml │ ├── d4_inverse_kinematics_kdl │ │ ├── CMakeLists.txt │ │ ├── README.md │ │ ├── benchmark.yaml │ │ ├── launch │ │ │ ├── analyze_d4_inverse_kinematics_kdl.launch.py │ │ │ ├── trace_d4_inverse_kinematics_kdl_embedded.launch.py │ │ │ ├── trace_d4_inverse_kinematics_kdl_power.launch.py │ │ │ ├── trace_d4_inverse_kinematics_kdl_power_rviz.launch.py │ │ │ └── trace_d4_inverse_kinematics_kdl_workstation.launch.py │ │ └── package.xml │ ├── d5_inverse_kinematics_lma │ │ ├── CMakeLists.txt │ │ ├── README.md │ │ ├── benchmark.yaml │ │ ├── launch │ │ │ ├── analyze_d5_inverse_kinematics_lma.launch.py │ │ │ ├── trace_d5_inverse_kinematics_lma_embedded.launch.py │ │ │ ├── trace_d5_inverse_kinematics_lma_power.launch.py │ │ │ ├── trace_d5_inverse_kinematics_lma_power_rviz.launch.py │ │ │ └── trace_d5_inverse_kinematics_lma_workstation.launch.py │ │ └── package.xml │ ├── d6_direct_kinematics │ │ ├── CMakeLists.txt │ │ ├── README.md │ │ ├── benchmark.yaml │ │ ├── launch │ │ │ ├── analyze_d6_direct_kinematics.launch.py │ │ │ ├── trace_d6_direct_kinematics_embedded.launch.py │ │ │ ├── trace_d6_direct_kinematics_power.launch.py │ │ │ ├── trace_d6_direct_kinematics_power_rviz.launch.py │ │ │ └── trace_d6_direct_kinematics_workstation.launch.py │ │ └── package.xml │ ├── d7_dual_arm_static_avoidance │ │ ├── AMENT_IGNORE │ │ ├── CMakeLists.txt │ │ ├── README.md │ │ ├── benchmark.yaml │ │ ├── launch │ │ │ ├── analyze_d7_dual_arm_static_avoidance.launch.py │ │ │ ├── analyze_d7_dual_arm_static_avoidance_distributed.launch.py │ │ │ ├── plot_d7_dual_arm_static_avoidance.launch.py │ │ │ ├── trace_d7_dual_arm_static_avoidance_embedded.launch.py │ │ │ ├── trace_d7_dual_arm_static_avoidance_manual.launch.py │ │ │ ├── trace_d7_dual_arm_static_avoidance_test.launch.py │ │ │ └── trace_d7_dual_arm_static_avoidance_workstation.launch.py │ │ └── package.xml │ └── d8_single_arm_static_avoidance_perception │ │ ├── CMakeLists.txt │ │ ├── README.md │ │ ├── benchmark.yaml │ │ ├── launch │ │ ├── analyze_d8_single_arm_static_avoidance_perception.launch.py │ │ ├── analyze_d8_single_arm_static_avoidance_perception_distance_calculation.launch.py │ │ ├── analyze_d8_single_arm_static_avoidance_perception_fpga.launch.py │ │ ├── plot_d8_single_arm_static_avoidance_perception.launch.py │ │ ├── plot_d8_single_arm_static_avoidance_perception_fpga.launch.py │ │ ├── plot_d8_single_arm_static_avoidance_perception_full.launch.py │ │ └── trace_d8_single_arm_static_avoidance_perception.launch.py │ │ └── package.xml ├── meta │ ├── m1_turtle_tf2_demo │ │ ├── CMakeLists.txt │ │ ├── README.md │ │ ├── benchmark.yaml │ │ ├── launch │ │ │ ├── analyze_m1_turtle_tf2_demo.launch.py │ │ │ └── trace_m1_turtle_tf2_demo_power.launch.py │ │ └── package.xml │ ├── m2_xarm6_planning_and_traj_execution │ │ ├── CMakeLists.txt │ │ ├── README.md │ │ ├── benchmark.yaml │ │ ├── launch │ │ │ ├── analyze_m2_xarm6_planning_and_traj_execution.launch.py │ │ │ ├── trace_m2_xarm6_planning_and_traj_execution_power.launch.py │ │ │ └── trace_m2_xarm6_planning_and_traj_execution_power_rviz.launch.py │ │ └── package.xml │ ├── m3_collision_checking_fcl │ │ ├── CMakeLists.txt │ │ ├── README.md │ │ ├── benchmark.yaml │ │ ├── launch │ │ │ ├── analyze_m3_collision_checking_fcl.launch.py │ │ │ ├── trace_m3_collision_checking_fcl_power.launch.py │ │ │ └── trace_m3_collision_checking_fcl_power_rviz.launch.py │ │ └── package.xml │ ├── m4_collision_checking_bullet │ │ ├── CMakeLists.txt │ │ ├── README.md │ │ ├── benchmark.yaml │ │ ├── launch │ │ │ ├── analyze_m4_collision_checking_bullet.launch.py │ │ │ ├── trace_m4_collision_checking_bullet_power.launch.py │ │ │ └── trace_m4_collision_checking_bullet_power_rviz.launch.py │ │ └── package.xml │ ├── m5_inverse_kinematics_kdl │ │ ├── CMakeLists.txt │ │ ├── README.md │ │ ├── benchmark.yaml │ │ ├── launch │ │ │ ├── analyze_m5_inverse_kinematics_kdl.launch.py │ │ │ ├── trace_m5_inverse_kinematics_kdl_power.launch.py │ │ │ └── trace_m5_inverse_kinematics_kdl_power_rviz.launch.py │ │ └── package.xml │ ├── m6_inverse_kinematics_lma │ │ ├── CMakeLists.txt │ │ ├── README.md │ │ ├── benchmark.yaml │ │ ├── launch │ │ │ ├── analyze_m6_inverse_kinematics_lma.launch.py │ │ │ ├── trace_m6_inverse_kinematics_lma_power.launch.py │ │ │ └── trace_m6_inverse_kinematics_lma_power_rviz.launch.py │ │ └── package.xml │ └── m7_direct_kinematics │ │ ├── CMakeLists.txt │ │ ├── README.md │ │ ├── benchmark.yaml │ │ ├── launch │ │ ├── analyze_m7_direct_kinematics.launch.py │ │ ├── trace_m7_direct_kinematics_power.launch.py │ │ └── trace_m7_direct_kinematics_power_rviz.launch.py │ │ └── package.xml ├── middleware │ ├── n1_intra_process │ │ ├── CMakeLists.txt │ │ ├── README.md │ │ ├── benchmark.yaml │ │ ├── launch │ │ │ ├── analyze_n1_intra_process.launch.py │ │ │ └── trace_n1_intra_process.launch.py │ │ └── package.xml │ ├── n2_inter_process │ │ ├── CMakeLists.txt │ │ ├── README.md │ │ ├── benchmark.yaml │ │ ├── launch │ │ │ ├── analyze_n2_inter_process.launch.py │ │ │ └── trace_n2_inter_process.launch.py │ │ └── package.xml │ ├── n3_intra_network │ │ ├── CMakeLists.txt │ │ ├── README.md │ │ ├── benchmark.yaml │ │ ├── launch │ │ │ ├── analyze_n3_intra_network.launch.py │ │ │ ├── trace_n3_intra_network_client.launch.py │ │ │ ├── trace_n3_intra_network_client_power.launch.py │ │ │ ├── trace_n3_intra_network_server.launch.py │ │ │ └── trace_n3_intra_network_server_power.launch.py │ │ └── package.xml │ ├── n4_intra_network_security │ │ ├── CMakeLists.txt │ │ ├── README.md │ │ ├── benchmark.yaml │ │ ├── launch │ │ │ ├── analyze_n4_intra_network_security.launch.py │ │ │ ├── trace_n4_intra_network_security_client.launch.py │ │ │ ├── trace_n4_intra_network_security_client_power.launch.py │ │ │ ├── trace_n4_intra_network_security_server.launch.py │ │ │ └── trace_n4_intra_network_security_server_power.launch.py │ │ └── package.xml │ ├── n5_intra_network_vpn │ │ ├── CMakeLists.txt │ │ ├── README.md │ │ ├── benchmark.yaml │ │ ├── launch │ │ │ ├── analyze_n5_intra_network_vpn.launch.py │ │ │ ├── trace_n5_intra_network_vpn_client.launch.py │ │ │ ├── trace_n5_intra_network_vpn_power.launch.py │ │ │ ├── trace_n5_intra_network_vpn_server.launch.py │ │ │ └── trace_n5_intra_network_vpn_server_power.launch.py │ │ └── package.xml │ ├── n6_intra_network_security_vpn │ │ ├── CMakeLists.txt │ │ ├── README.md │ │ ├── benchmark.yaml │ │ ├── launch │ │ │ ├── analyze_n6_intra_network_security_vpn.launch.py │ │ │ ├── trace_n6_intra_network_security_vpn_client.launch.py │ │ │ ├── trace_n6_intra_network_security_vpn_client_power.launch.py │ │ │ ├── trace_n6_intra_network_security_vpn_server.launch.py │ │ │ └── trace_n6_intra_network_security_vpn_server_power.launch.py │ │ └── package.xml │ ├── n7_inter_network_vpn │ │ ├── CMakeLists.txt │ │ ├── README.md │ │ ├── benchmark.yaml │ │ ├── launch │ │ │ ├── analyze_n7_inter_network_vpn.launch.py │ │ │ ├── trace_n7_inter_network_vpn_client.launch.py │ │ │ ├── trace_n7_inter_network_vpn_power.launch.py │ │ │ ├── trace_n7_inter_network_vpn_server.launch.py │ │ │ └── trace_n7_inter_network_vpn_server_power.launch.py │ │ └── package.xml │ └── n8_inter_network_vpn_security │ │ ├── CMakeLists.txt │ │ ├── README.md │ │ ├── benchmark.yaml │ │ ├── launch │ │ ├── analyze_n8_inter_network_vpn_security.launch.py │ │ ├── trace_n8_inter_network_vpn_security_client.launch.py │ │ ├── trace_n8_inter_network_vpn_security_client_power.launch.py │ │ ├── trace_n8_inter_network_vpn_security_server.launch.py │ │ └── trace_n8_inter_network_vpn_security_server_power.launch.py │ │ └── package.xml ├── other │ ├── benchmark_utilities │ │ ├── benchmark_utilities │ │ │ ├── __init__.py │ │ │ └── analysis │ │ │ │ └── __init__.py │ │ ├── package.xml │ │ ├── resource │ │ │ └── benchmark_utilities │ │ ├── setup.py │ │ └── test │ │ │ ├── test_copyright.py │ │ │ ├── test_flake8.py │ │ │ └── test_pep257.py │ ├── ros2benchmark │ │ ├── README.md │ │ ├── package.xml │ │ ├── resource │ │ │ └── ros2benchmark │ │ ├── ros2benchmark │ │ │ ├── __init__.py │ │ │ ├── api │ │ │ │ └── __init__.py │ │ │ ├── command │ │ │ │ ├── __init__.py │ │ │ │ └── benchmark.py │ │ │ └── verb │ │ │ │ ├── __init__.py │ │ │ │ ├── list.py │ │ │ │ ├── report.py │ │ │ │ ├── summary.py │ │ │ │ └── update.py │ │ ├── setup.py │ │ └── test │ │ │ ├── test_copyright.py │ │ │ ├── test_flake8.py │ │ │ ├── test_pep257.py │ │ │ └── test_xmllint.py │ ├── rosgraph_png.py │ └── tracetools_benchmark │ │ ├── .gitignore │ │ ├── CHANGELOG.rst │ │ ├── CMakeLists.txt │ │ ├── LICENSE │ │ ├── README.md │ │ ├── include │ │ └── tracetools_benchmark │ │ │ ├── config.h.in │ │ │ ├── tp_call.h │ │ │ ├── tracetools.h │ │ │ ├── utils.hpp │ │ │ └── visibility_control.hpp │ │ ├── package.xml │ │ └── src │ │ ├── status.c │ │ ├── tp_call.c │ │ ├── tracetools.c │ │ └── utils.cpp └── perception │ ├── a1_perception_2nodes │ ├── CMakeLists.txt │ ├── README.md │ ├── benchmark.yaml │ ├── include │ │ └── a1_perception_2nodes │ │ │ ├── image_input_component.hpp │ │ │ └── image_output_component.hpp │ ├── launch │ │ ├── analyze_a1_perception_2nodes.launch.py │ │ ├── trace_a1_perception_2nodes.launch.py │ │ ├── trace_a1_perception_2nodes_auto.launch.py │ │ ├── trace_a1_perception_2nodes_auto_gpu.launch.py │ │ ├── trace_a1_perception_2nodes_fpga.launch.py │ │ ├── trace_a1_perception_2nodes_fpga_integrated.launch.py │ │ ├── trace_a1_perception_2nodes_fpga_integrated_power.launch.py │ │ ├── trace_a1_perception_2nodes_fpga_power.launch.py │ │ ├── trace_a1_perception_2nodes_gpu.launch.py │ │ └── trace_a1_perception_2nodes_power.launch.py │ ├── package.xml │ └── src │ │ ├── image_input_component.cpp │ │ └── image_output_component.cpp │ ├── a2_rectify │ ├── CMakeLists.txt │ ├── README.md │ ├── benchmark.yaml │ ├── launch │ │ ├── a2_rectify.launch.py │ │ ├── analyze_a2_rectify.launch.py │ │ ├── trace_a2_rectify.launch.py │ │ ├── trace_a2_rectify_auto.launch.py │ │ ├── trace_a2_rectify_auto_gpu.launch.py │ │ └── trace_a2_rectify_power.launch.py │ └── package.xml │ ├── a3_stereo_image_proc │ ├── CMakeLists.txt │ ├── README.md │ ├── benchmark.yaml │ ├── config │ │ ├── camera_bot.rviz │ │ ├── drive_bot.rviz │ │ └── view_bot.rviz │ ├── description │ │ ├── camera.xacro │ │ ├── gazebo_control.xacro │ │ ├── inertial_macros.xacro │ │ ├── left_camera.xacro │ │ ├── right_camera.xacro │ │ ├── robot.urdf.xacro │ │ ├── robot_core.xacro │ │ └── stereo_camera.xacro │ ├── imgs │ │ ├── a3_stereo_image_proc_graph.png │ │ ├── neighborhood_world.png │ │ └── recorded_rosbag_rviz.gif │ ├── include │ │ └── a3_stereo_image_proc │ │ │ └── disparity_output_component.hpp │ ├── launch │ │ ├── analyze_a3_stereo_image_proc.launch.py │ │ ├── launch_sim.launch.py │ │ ├── rsp.launch.py │ │ ├── stereo_image_test.launch.py │ │ ├── trace_a3_stereo_image_proc.launch.py │ │ ├── trace_a3_stereo_image_proc_auto.launch.py │ │ ├── trace_a3_stereo_image_proc_auto_gpu.launch.py │ │ └── trace_a3_stereo_image_proc_power.launch.py │ ├── package.xml │ ├── scripts │ │ └── visualize_benchmark.sh │ ├── src │ │ └── disparity_output_component.cpp │ └── worlds │ │ ├── empty.world │ │ └── neighborhood.world │ ├── a4_depth_image_proc │ ├── CMakeLists.txt │ ├── README.md │ ├── benchmark.yaml │ ├── config │ │ ├── camera_bot.rviz │ │ ├── depth_camera_bot.rviz │ │ ├── drive_bot.rviz │ │ ├── sim_depth_camera_bot.rviz │ │ └── view_bot.rviz │ ├── description │ │ ├── camera.xacro │ │ ├── depth_camera.xacro │ │ ├── gazebo_control.xacro │ │ ├── inertial_macros.xacro │ │ ├── left_camera.xacro │ │ ├── right_camera.xacro │ │ ├── robot.urdf.xacro │ │ ├── robot_core.xacro │ │ └── stereo_camera.xacro │ ├── imgs │ │ ├── a4_depth_image_proc_graph.png │ │ ├── color_image.png │ │ ├── depth_image.png │ │ ├── parking_garage_simulation_env.png │ │ └── pointcloud.png │ ├── include │ │ └── a4_depth_image_proc │ │ │ └── point_cloud_output_component.hpp │ ├── launch │ │ ├── analyze_a4_depth_image_proc.launch.py │ │ ├── depth_image_test.launch.py │ │ ├── launch_sim.launch.py │ │ ├── rsp.launch.py │ │ ├── trace_a4_depth_image_proc.launch.py │ │ ├── trace_a4_depth_image_proc_auto.launch.py │ │ └── trace_a4_depth_image_proc_power.launch.py │ ├── package.xml │ ├── scripts │ │ └── visualize_benchmark.sh │ ├── src │ │ └── point_cloud_output_component.cpp │ └── worlds │ │ └── parking_garage.world │ └── a5_resize │ ├── CMakeLists.txt │ ├── README.md │ ├── benchmark.yaml │ ├── launch │ ├── analyze_a5_resize.launch.py │ ├── trace_a5_resize.launch.py │ ├── trace_a5_resize_auto.launch.py │ ├── trace_a5_resize_auto_gpu.launch.py │ └── trace_a5_resize_power.launch.py │ └── package.xml └── imgs ├── ROBOTPerf.svg ├── a1_perception_2nodes.png ├── a1_perception_2nodes.svg ├── a2_rectify.png ├── a2_rectify.svg ├── a3_stereo_image_proc.png ├── a4_depth_image_proc.png ├── a5_resize.png ├── a5_resize.svg ├── b1_visual_slam_isaac_ros.svg ├── b1_visual_slam_stella.svg ├── b2_map_localization.png ├── b3_apriltag_detection_graph.svg ├── b3_apriltag_detection_node.svg ├── c1_rrbot_joint_trajectory_controller.svg ├── c2_diffbot_diff_driver_controller.svg ├── c3_rrbot_forward_command_controller_acceleration.svg ├── c3_rrbot_forward_command_controller_position.svg ├── c3_rrbot_forward_command_controller_velocity.svg ├── d1_xarm6_planning_and_traj_execution.svg ├── d2_collision_checking_fcl.svg ├── d3_collision_checking_bullet.svg ├── d4_inverse_kinematics_kdl.svg ├── d5_inverse_kinematics_lma.svg ├── d6_direct_kinematics.svg ├── d7_dual_arm_static_avoidance.svg ├── d8_single_arm_static_avoidance_perception.svg ├── icon-control.png ├── icon-localization.png ├── icon-manipulation.png ├── icon-navigation.png ├── icon-perception.png ├── n1_intra_process.png ├── n2_inter_process.png ├── n3_intra_network.png ├── n4_intra_network_security.png ├── n5_intra_network_vpn.png ├── n6_intra_network_security_vpn.png ├── n7_inter_network_vpn.png └── robotperf-diagram-ros2.png /.devcontainer/Dockerfile: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/robotperf/benchmarks/HEAD/.devcontainer/Dockerfile -------------------------------------------------------------------------------- /.devcontainer/devcontainer.json: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/robotperf/benchmarks/HEAD/.devcontainer/devcontainer.json 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