Ranjit (116) and Senapati (137) put together a 233-run partnership for the third wicket as both batsmen reached centuries before lunch, before both were dismissed in the space of four runs.
Odisha at that stage slipped from 318 for 2 to 334 for 5.
Yadav then struck a 157-ball 115 not out supported by Saurabh Rawat (45) as they ended on 508 for 6 at stumps at the Dhruve Pandove Stadium here.
Odisha received a solitary point despite the fine rearguard act of their batsmen in their second innings.
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Yesterday, Odisha were asked to follow on after they were dismissed for 172 in reply to Rajasthan's first innings total of 323 all out.
Brief Scores:
Rajasthan: 323 all out
Odisha: 172 & 508/6 dec in 156 overs (Ranjit Singh 116, Subhranshu Senapati 137, Abhishek Yadav 115 not out).
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