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Add asset kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066

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.gitattributes CHANGED
@@ -7507,3 +7507,4 @@ dataset/kitchen_supplies/ware/072e1b5449cb54919c3d30c07d7c2a89/affordance/mesh_p
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  dataset/kitchen_supplies/ware/0b0a108aa97a57389135a42de10a421c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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  dataset/kitchen_supplies/ware/0b5c3a6c03d85ea0b1c6336ac5113eda/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/affordance/affordance_annot.json ADDED
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+ "scenario": "hold the handle while drinking hot liquid to avoid touching the body",
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+ "message": "Blue mask includes handle and small bottom foot; annotation misses base/foot part and mislabels blue mask as only handle."
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