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Add asset tools/repair_tools/f41fd13462285916b4f3e939f1ca7efe

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+ "set opening axis"
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+ "provide sharp cutting edges"
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+ {
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+ "part_name": "handle guard / bolster",
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+ "semantic_description": "Small dark metal spring element near the pivot between the handles, with a bent strip-like appearance and slightly reflective finish.",
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+ "quality_check": {
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+ "success": false,
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+ "message": "Several mask-color identities are wrong; bolster and cutting-edge descriptions/functions do not match segmented parts."
867
+ }
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+ }
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