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Add asset desktop_supplies/office_stationery/fe78b9e4d57b5c4fb5dd8a7bbfdd7091

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+ "part_name": "clip tab",
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+ "functional_labels": [
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+ "secure clip structure",
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+ "provide local reinforcement",
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+ "assist clip retention"
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+ "semantic_description": "Tiny dark gray raised detail on the clip area, likely plastic, with a smooth finish and hard texture, appearing as a small latch-like protrusion.",
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+ "id": 5,
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+ "grasp_group": {}
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+ ],
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+ "quality_check": {
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+ "success": false,
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+ "message": "Yellow part is exposed writing tip, not nose cone; red part is front grip/barrel, not yellow cone. Several part identities/functions mismatch."
805
+ }
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+ }
dataset/desktop_supplies/office_stationery/fe78b9e4d57b5c4fb5dd8a7bbfdd7091/affordance/mesh_part_seg.glb ADDED
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