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Add asset bathroom_supplies/personal_care/9c2ce8b4b5305610acab27055bdcbe8f

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+ "functional_labels": [
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+ "semantic_description": "Small dark printed logo patch on the upper front blue section of the tube, appearing as a flat printed decorative area with portrait-style artwork.",
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+ ],
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+ "quality_check": {
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+ "success": false,
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+ "message": "Body color/identity and logo patch description are incorrect; red mask covers full tube, not only blue upper portion."
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+ }
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+ }
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