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Add asset tools/repair_tools/17fc4f0161ba5a19889ef9dec6d606a1

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+ "semantic_description": "Tiny metallic fastener at the center pivot, silver-gray and slightly reflective with a hard smooth finish, appearing as a small circular connector on the tool joint.",
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+ "message": "Handle colors are swapped with mask mappings; red mask is green handle and green mask is yellow handle."
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