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Add asset desktop_supplies/electronic_accessories/f1c3d655f753525db0917fa428be2097

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+ }
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dataset/desktop_supplies/electronic_accessories/f1c3d655f753525db0917fa428be2097/presenter_clicker_004.urdf CHANGED
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  <PartSegChecker>NO: {"summary":"Major functional parts are merged incorrectly; clip, button panel, main body, front cap and rear cap are not cleanly separated.","merge_groups":[]}</PartSegChecker>