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Add asset bathroom_supplies/personal_care/a08d35b753cb537b985ae8752a5f5d4d

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.gitattributes CHANGED
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+ "trim longer hairs",
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+ "semantic_description": "A narrow trimmer strip is integrated within the foil head, appearing metallic gray and slightly reflective, visible as a slim linear element on the cutter assembly.",
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+ "part_name": "front control panel",
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+ "display branding",
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+ "turn shaver on and off",
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+ "semantic_description": "The power button is a small oval control on the front face above the black panel, light gray and slightly recessed within the upper front handle area.",
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+ "id": null
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+ "part_name": "textured thumb pad",
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+ "mask_color": "Yellow",
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+ "scenario": "press against the textured pad to steady the grip during shaving",
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+ ],
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+ "functional_labels": [
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+ "provide thumb traction",
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+ "improve grip stability",
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+ "support controlled handling"
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+ "semantic_description": "The thumb pad is an oval textured region on the upper front of the handle, light gray with dense small dots and a matte rubberized appearance.",
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