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Add asset desktop_supplies/office_tools/0ccb6cdcdb775437bc9943a66169b739

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.gitattributes CHANGED
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  dataset/desktop_supplies/office_tools/096194dff5e75dcb837f6f930c3fe22f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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  dataset/desktop_supplies/office_tools/0a681ccd7b1a50b3a65f780d2e524b45/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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  dataset/desktop_supplies/office_tools/0b238e87266e59e691520be64880f525/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
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  dataset/desktop_supplies/office_tools/096194dff5e75dcb837f6f930c3fe22f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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  dataset/desktop_supplies/office_tools/0a681ccd7b1a50b3a65f780d2e524b45/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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  dataset/desktop_supplies/office_tools/0b238e87266e59e691520be64880f525/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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+ "provide structural support"
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+ "semantic_description": "A circular light gray housing, likely plastic or painted metal, with a smooth semi-matte hard finish forming the ring around the lens at the head of the magnifier.",
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+ "connect handle to frame",
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+ "set handle attachment point",
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+ "reinforce the head-handle junction"
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+ "semantic_description": "A small light gray connector with a smooth hard surface between the handle and frame, compact and slightly collar-shaped at the side of the magnifier head.",
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+ {
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+ "part_name": "magnifying lens",
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+ "mask_color": "Blue",
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+ "magnify viewed objects",
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+ "allow close inspection",
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+ "transmit light for viewing",
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+ "provide viewing surface"
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+ "semantic_description": "A round translucent clear lens with a glossy smooth glass-like surface, occupying most of the front head opening and appearing pale blue from reflections.",
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+ "id": 2,
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+ "part_name": "back face of lens assembly",
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+ "mask_color": "Orange",
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+ "graspable": false,
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+ "grasp_scenarios": [],
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+ "functional_labels": [
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+ "form rear surface of the lens area",
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+ "cover the back opening of the lens assembly",
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+ "support and retain the lens from the opposite side"
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+ ],
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+ "semantic_description": "An oval-to-round pale translucent rear-facing surface seen from the underside of the magnifier head, appearing light bluish or gray through the housing rather than as a separate orange physical part.",
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+ "quality_check": {
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+ "success": true,
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+ "message": "YES"
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