upload standard vlm evaluation dataset v1

CommenSence/add_condiment_common_sense/example0/env_config/env_config.json

@@ -0,0 +1,165 @@
+{
+    "task": {
+        "components": [
+            {
+                "name": "counter",
+                "xml_path": "obj/meshes/counters/counter_0/counter.xml",
+                "position": [
+                    0.5296775893923035,
+                    0.007068917552636266,
+                    0.004031950177317421
+                ],
+                "orientation": [
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+                    0.010707783430756854,
+                    -0.0002450444565070289,
+                    -0.0038769410287325034
+                ],
+                "class": "Counter",
+                "materials": [
+                    "wood3"
+                ]
+            },
+            {
+                "name": "stove",
+                "xml_path": "obj/meshes/stoves/coil_burners_induc/model.xml",
+                "position": [
+                    -0.21500008597330927,
+                    4.75349722357338e-08,
+                    0.009963175060674715
+                ],
+                "orientation": [
+                    0.9999999999999117,
+                    -4.1997398396646535e-07,
+                    2.0654729139185412e-08,
+                    2.165264186042047e-09
+                ],
+                "class": "Stove"
+            },
+            {
+                "name": "pan_seen",
+                "xml_path": "obj/meshes/tablewares/pans/pan_8/model.xml",
+                "position": [
+                    -0.17767671409414226,
+                    -0.052703454662795225,
+                    0.7958214429084621
+                ],
+                "orientation": [
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+                    2.4200878054528654e-05,
+                    -6.5748799818232e-05,
+                    0.00011081739802981648
+                ],
+                "class": "FlatContainer"
+            },
+            {
+                "name": "dishes",
+                "xml_path": "obj/meshes/dishes/dish_without_plate_2/dish_without_plate_2.xml",
+                "position": [
+                    -0.17768336323343764,
+                    -0.02270345543476588,
+                    0.7958228945239663
+                ],
+                "orientation": [
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+                    2.4200878054528654e-05,
+                    -6.5748799818232e-05,
+                    0.00011081739802981648
+                ],
+                "class": "FlatContainer"
+            },
+            {
+                "name": "bbq_sauce",
+                "xml_path": "obj/meshes/condiment/bbq_sauce/bbq_sauce0/bbq_sauce.xml",
+                "position": [
+                    0.15201618089513666,
+                    -0.15923092284900112,
+                    0.804472883660108
+                ],
+                "orientation": [
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+                    -0.0010026502423604077,
+                    -0.00026195170394371534,
+                    -0.04165412167942705
+                ],
+                "class": "CommonGraspedEntity"
+            },
+            {
+                "name": "sugar",
+                "xml_path": "obj/meshes/condiment/shaker/shaker_0/model.xml",
+                "position": [
+                    0.1550815072605328,
+                    0.019642287502912643,
+                    0.7972110678932706
+                ],
+                "orientation": [
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+                    0.0006095634567410005,
+                    -0.000608230036481147,
+                    0.006440937500056353
+                ],
+                "class": "CommonGraspedEntity"
+            },
+            {
+                "name": "sugar_tag",
+                "xml_path": "obj/meshes/tube/nametag/nametag.xml",
+                "position": [
+                    0.2609318987401802,
+                    0.0,
+                    0.75
+                ],
+                "orientation": [
+                    1.0,
+                    0.0,
+                    0.0,
+                    0.0
+                ],
+                "class": "NameTag",
+                "content": "sugar"
+            },
+            {
+                "name": "ketchup",
+                "xml_path": "obj/meshes/condiment/ketchup/ketchup_8/model.xml",
+                "position": [
+                    0.1747781580759201,
+                    0.15379212844408505,
+                    0.8248674999999162
+                ],
+                "orientation": [
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+                    0.004632775251174377,
+                    -0.000857265028764948,
+                    0.03137022642024913
+                ],
+                "class": "CommonGraspedEntity"
+            }
+        ],
+        "scene": {
+            "name": "kitchen_2",
+            "position": [
+                -2.0,
+                -1.0,
+                0.0
+            ],
+            "orientation": [
+                1.0,
+                0.0,
+                0.0,
+                0.0
+            ],
+            "floor_textures": [
+                "floorplane"
+            ]
+        },
+        "instructions": [],
+        "conditions": {
+            "pour": {
+                "target_entity": "bbq_sauce"
+            },
+            "above": {
+                "target_entity": "bbq_sauce",
+                "platform": "pan_seen"
+            }
+        }
+    }
+}

CommenSence/add_condiment_common_sense/example0/input/instruction.txt

@@ -0,0 +1 @@
+ 'To complement the savory notes in this dish, something with a hint of sweetness and smoke might be perfect.'

CommenSence/add_condiment_common_sense/example0/output/operation_sequence.json

@@ -0,0 +1,16 @@
+{
+    "skill_sequence": [
+        {
+            "name": "pick",
+            "params": {
+                "target_entity_name": 4
+            }
+        },
+        {
+            "name": "pour",
+            "params": {
+                "target_container_name": 2
+            }
+        }
+    ]
+}

CommenSence/add_condiment_common_sense/example1/env_config/env_config.json

@@ -0,0 +1,165 @@
+{
+    "task": {
+        "components": [
+            {
+                "name": "counter",
+                "xml_path": "obj/meshes/counters/counter_0/counter.xml",
+                "position": [
+                    0.5303308700464456,
+                    0.010583820138613679,
+                    0.003987206815223485
+                ],
+                "orientation": [
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+                    0.01094492016898475,
+                    -9.21026416893182e-05,
+                    -0.0030570558097495733
+                ],
+                "class": "Counter",
+                "materials": [
+                    "wood2"
+                ]
+            },
+            {
+                "name": "stove",
+                "xml_path": "obj/meshes/stoves/frigidaire_gas/model.xml",
+                "position": [
+                    -0.22000000181993473,
+                    1.1281160497706855e-08,
+                    0.001983336157919095
+                ],
+                "orientation": [
+                    0.9999999999999228,
+                    -3.9316339780318136e-07,
+                    1.1668184233492432e-08,
+                    -4.4852914539665e-09
+                ],
+                "class": "Stove"
+            },
+            {
+                "name": "pan_seen",
+                "xml_path": "obj/meshes/tablewares/pans/pan_1/model.xml",
+                "position": [
+                    -0.16301521958625684,
+                    -0.06031376271983112,
+                    0.7874485392872306
+                ],
+                "orientation": [
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+                    -4.4852949587720025e-06,
+                    5.361281107196474e-05,
+                    1.9790638312620563e-05
+                ],
+                "class": "FlatContainer"
+            },
+            {
+                "name": "dishes",
+                "xml_path": "obj/meshes/dishes/dish_without_plate_1/dish_without_plate_1.xml",
+                "position": [
+                    -0.1630164070389818,
+                    -0.030313762744538352,
+                    0.7874482702331954
+                ],
+                "orientation": [
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+                    -4.4852949587720025e-06,
+                    5.361281107196474e-05,
+                    1.9790638312620563e-05
+                ],
+                "class": "FlatContainer"
+            },
+            {
+                "name": "sugar",
+                "xml_path": "obj/meshes/condiment/shaker/shaker_2/model.xml",
+                "position": [
+                    0.16352168091281252,
+                    -0.16859957204896994,
+                    0.7972916686254214
+                ],
+                "orientation": [
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+                    -5.5524460701097726e-05,
+                    0.0078115374064003
+                ],
+                "class": "CommonGraspedEntity"
+            },
+            {
+                "name": "sugar_tag",
+                "xml_path": "obj/meshes/tube/nametag/nametag.xml",
+                "position": [
+                    0.27570392691805545,
+                    -0.15,
+                    0.75
+                ],
+                "orientation": [
+                    1.0,
+                    0.0,
+                    0.0,
+                    0.0
+                ],
+                "class": "NameTag",
+                "content": "sugar"
+            },
+            {
+                "name": "ketchup",
+                "xml_path": "obj/meshes/condiment/ketchup/ketchup_8/model.xml",
+                "position": [
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+                    -0.005829554598713719,
+                    0.8248169780522921
+                ],
+                "orientation": [
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+                    -5.907125908579308e-05,
+                    -0.03843298628590098
+                ],
+                "class": "CommonGraspedEntity"
+            },
+            {
+                "name": "hotsauce",
+                "xml_path": "obj/meshes/condiment/hotsauce/model.xml",
+                "position": [
+                    0.19153573070960217,
+                    0.13839063625080544,
+                    0.8250264240411799
+                ],
+                "orientation": [
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+                    0.007648298478732951,
+                    -0.012309453516174913,
+                    0.007958804507746239
+                ],
+                "class": "CommonGraspedEntity"
+            }
+        ],
+        "scene": {
+            "name": "kitchen_2",
+            "position": [
+                -2.0,
+                -1.0,
+                0.0
+            ],
+            "orientation": [
+                1.0,
+                0.0,
+                0.0,
+                0.0
+            ],
+            "floor_textures": [
+                "floorplane"
+            ]
+        },
+        "instructions": [],
+        "conditions": {
+            "pour": {
+                "target_entity": "ketchup"
+            },
+            "above": {
+                "target_entity": "ketchup",
+                "platform": "pan_seen"
+            }
+        }
+    }
+}

CommenSence/add_condiment_common_sense/example1/input/instruction.txt

@@ -0,0 +1 @@
+ 'Something with a tomato-based tang might just be what this dish needs to elevate its taste.'

CommenSence/add_condiment_common_sense/example1/output/operation_sequence.json

@@ -0,0 +1,16 @@
+{
+    "skill_sequence": [
+        {
+            "name": "pick",
+            "params": {
+                "target_entity_name": 6
+            }
+        },
+        {
+            "name": "pour",
+            "params": {
+                "target_container_name": 2
+            }
+        }
+    ]
+}

CommenSence/add_condiment_common_sense/example10/env_config/env_config.json

@@ -0,0 +1,198 @@
+{
+    "task": {
+        "components": [
+            {
+                "name": "counter",
+                "xml_path": "obj/meshes/counters/counter_0/counter.xml",
+                "position": [
+                    0.5296704151042243,
+                    0.006994381125935881,
+                    0.004036426064952045
+                ],
+                "orientation": [
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+                    0.01070898011661509,
+                    -0.0002492915064302588,
+                    -0.003951497993358088
+                ],
+                "class": "Counter",
+                "materials": [
+                    "wood1"
+                ]
+            },
+            {
+                "name": "stove",
+                "xml_path": "obj/meshes/stoves/dual_gas/model.xml",
+                "position": [
+                    -0.37500000001264205,
+                    5.998250342986206e-11,
+                    -1.1390350640950289e-05
+                ],
+                "orientation": [
+                    0.9999999999999429,
+                    3.3815788675328457e-07,
+                    4.077793140124074e-09,
+                    -5.083950894563882e-13
+                ],
+                "class": "Stove"
+            },
+            {
+                "name": "pan_seen",
+                "xml_path": "obj/meshes/tablewares/pans/pan_10/model.xml",
+                "position": [
+                    -0.1593144488462521,
+                    -0.01615163419339314,
+                    0.8300166585071246
+                ],
+                "orientation": [
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+                    4.902521844083852e-06,
+                    6.21876580365563e-06,
+                    1.2483298163541785e-06
+                ],
+                "class": "FlatContainer"
+            },
+            {
+                "name": "dishes",
+                "xml_path": "obj/meshes/dishes/dish_without_plate_1/dish_without_plate_1.xml",
+                "position": [
+                    -0.15931452374421182,
+                    0.013848365805071268,
+                    0.830016952658901
+                ],
+                "orientation": [
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+                    4.902521844083852e-06,
+                    6.21876580365563e-06,
+                    1.2483298163541785e-06
+                ],
+                "class": "FlatContainer"
+            },
+            {
+                "name": "salad_dressing",
+                "xml_path": "obj/meshes/condiment/salad_dressing/salad_dressing.xml",
+                "position": [
+                    0.15795433811296036,
+                    -0.1520632663367527,
+                    0.8230406599579275
+                ],
+                "orientation": [
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+                    0.015391443137018493,
+                    -0.00042108247497817136,
+                    0.011362137993657503
+                ],
+                "class": "CommonGraspedEntity"
+            },
+            {
+                "name": "salt",
+                "xml_path": "obj/meshes/condiment/shaker/shaker_1/model.xml",
+                "position": [
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+                    -0.011032408036015065,
+                    0.7972275787517084
+                ],
+                "orientation": [
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+                ],
+                "class": "CommonGraspedEntity"
+            },
+            {
+                "name": "salt_tag",
+                "xml_path": "obj/meshes/tube/nametag/nametag.xml",
+                "position": [
+                    0.25346842190586155,
+                    0.0,
+                    0.75
+                ],
+                "orientation": [
+                    1.0,
+                    0.0,
+                    0.0,
+                    0.0
+                ],
+                "class": "NameTag",
+                "content": "salt"
+            },
+            {
+                "name": "sugar",
+                "xml_path": "obj/meshes/condiment/shaker/shaker_2/model.xml",
+                "position": [
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+                    0.16371734772649932,
+                    0.7972297457684119
+                ],
+                "orientation": [
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+                    0.00023705155908700524,
+                    -0.00017208786535909584,
+                    -0.07077546863411194
+                ],
+                "class": "CommonGraspedEntity"
+            },
+            {
+                "name": "sugar_tag",
+                "xml_path": "obj/meshes/tube/nametag/nametag.xml",
+                "position": [
+                    0.2740928728992591,
+                    0.15,
+                    0.75
+                ],
+                "orientation": [
+                    1.0,
+                    0.0,
+                    0.0,
+                    0.0
+                ],
+                "class": "NameTag",
+                "content": "sugar"
+            },
+            {
+                "name": "bbq_sauce",
+                "xml_path": "obj/meshes/condiment/bbq_sauce/bbq_sauce1/model.xml",
+                "position": [
+                    0.189460438196408,
+                    0.31636613149764187,
+                    0.8246912909539557
+                ],
+                "orientation": [
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+                    -0.0006674970119287041,
+                    -0.0001524068648920968,
+                    -0.01971820717043454
+                ],
+                "class": "CommonGraspedEntity"
+            }
+        ],
+        "scene": {
+            "name": "kitchen_2",
+            "position": [
+                -2.0,
+                -1.0,
+                0.0
+            ],
+            "orientation": [
+                1.0,
+                0.0,
+                0.0,
+                0.0
+            ],
+            "floor_textures": [
+                "floorplane"
+            ]
+        },
+        "instructions": [],
+        "conditions": {
+            "pour": {
+                "target_entity": "bbq_sauce"
+            },
+            "above": {
+                "target_entity": "bbq_sauce",
+                "platform": "pan_seen"
+            }
+        }
+    }
+}

CommenSence/add_condiment_common_sense/example10/input/instruction.txt

@@ -0,0 +1 @@
+ 'This dish lacks a certain depth, perhaps something tangy and sweet could elevate it.'

CommenSence/add_condiment_common_sense/example10/output/operation_sequence.json

@@ -0,0 +1,16 @@
+{
+    "skill_sequence": [
+        {
+            "name": "pick",
+            "params": {
+                "target_entity_name": 9
+            }
+        },
+        {
+            "name": "pour",
+            "params": {
+                "target_container_name": 2
+            }
+        }
+    ]
+}

CommenSence/add_condiment_common_sense/example11/env_config/env_config.json

@@ -0,0 +1,165 @@
+{
+    "task": {
+        "components": [
+            {
+                "name": "counter",
+                "xml_path": "obj/meshes/counters/counter_0/counter.xml",
+                "position": [
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+                    0.010474792572468772,
+                    0.003991401439266803
+                ],
+                "orientation": [
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+                    0.010940886491901348,
+                    -0.00010182659427575598,
+                    -0.0031760905339188582
+                ],
+                "class": "Counter",
+                "materials": [
+                    "wood2"
+                ]
+            },
+            {
+                "name": "stove",
+                "xml_path": "obj/meshes/stoves/square_gas/model.xml",
+                "position": [
+                    -0.25000000007461026,
+                    1.756549811550143e-08,
+                    0.001987633983208616
+                ],
+                "orientation": [
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+                    -5.374699560421352e-06,
+                    1.8974434204587324e-09,
+                    -2.8827050966045603e-10
+                ],
+                "class": "Stove"
+            },
+            {
+                "name": "pan_seen",
+                "xml_path": "obj/meshes/tablewares/pans/pan_0/model.xml",
+                "position": [
+                    -0.1639293117385672,
+                    -0.10906417293865008,
+                    0.8396921044435248
+                ],
+                "orientation": [
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+                    -3.1701381998091237e-07,
+                    -3.4385434902346673e-07
+                ],
+                "class": "FlatContainer"
+            },
+            {
+                "name": "dishes",
+                "xml_path": "obj/meshes/dishes/dish_without_plate_0/dish_without_plate_0.xml",
+                "position": [
+                    -0.16392929110721222,
+                    -0.0790641729401241,
+                    0.8396918077738822
+                ],
+                "orientation": [
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+                    -3.1701381998091237e-07,
+                    -3.4385434902346673e-07
+                ],
+                "class": "FlatContainer"
+            },
+            {
+                "name": "salt",
+                "xml_path": "obj/meshes/condiment/shaker/shaker_0/model.xml",
+                "position": [
+                    0.17640249359827664,
+                    -0.135388148834076,
+                    0.7972613638618685
+                ],
+                "orientation": [
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+                    0.0007536792047742576,
+                    0.04415722474536996
+                ],
+                "class": "CommonGraspedEntity"
+            },
+            {
+                "name": "salt_tag",
+                "xml_path": "obj/meshes/tube/nametag/nametag.xml",
+                "position": [
+                    0.2630499016049783,
+                    -0.15,
+                    0.75
+                ],
+                "orientation": [
+                    1.0,
+                    0.0,
+                    0.0,
+                    0.0
+                ],
+                "class": "NameTag",
+                "content": "salt"
+            },
+            {
+                "name": "ketchup",
+                "xml_path": "obj/meshes/condiment/ketchup/ketchup_3/model.xml",
+                "position": [
+                    0.16733422489005306,
+                    -0.017000910766990923,
+                    0.82507565916186
+                ],
+                "orientation": [
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+                    -0.0017095619027147969,
+                    -0.005609344746376675,
+                    0.07698762163185643
+                ],
+                "class": "CommonGraspedEntity"
+            },
+            {
+                "name": "salad_dressing",
+                "xml_path": "obj/meshes/condiment/salad_dressing/salad_dressing.xml",
+                "position": [
+                    0.1464929367335262,
+                    0.1636483987479987,
+                    0.8225571630033726
+                ],
+                "orientation": [
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+                    0.0004870321064737777,
+                    4.8496272620705136e-05,
+                    0.07803717434904643
+                ],
+                "class": "CommonGraspedEntity"
+            }
+        ],
+        "scene": {
+            "name": "kitchen_2",
+            "position": [
+                0.0,
+                0.0,
+                0.0
+            ],
+            "orientation": [
+                1.0,
+                0.0,
+                0.0,
+                0.0
+            ],
+            "floor_textures": [
+                "floorplane"
+            ]
+        },
+        "instructions": [],
+        "conditions": {
+            "pour": {
+                "target_entity": "ketchup"
+            },
+            "above": {
+                "target_entity": "ketchup",
+                "platform": "pan_seen"
+            }
+        }
+    }
+}

CommenSence/add_condiment_common_sense/example11/input/instruction.txt

@@ -0,0 +1 @@
+ 'The flavor profile of this dish feels a bit flat, adding something that can introduce a tangy twist might just do the trick.'

CommenSence/add_condiment_common_sense/example11/output/operation_sequence.json

@@ -0,0 +1,16 @@
+{
+    "skill_sequence": [
+        {
+            "name": "pick",
+            "params": {
+                "target_entity_name": 6
+            }
+        },
+        {
+            "name": "pour",
+            "params": {
+                "target_container_name": 2
+            }
+        }
+    ]
+}

CommenSence/add_condiment_common_sense/example12/env_config/env_config.json

@@ -0,0 +1,148 @@
+{
+    "task": {
+        "components": [
+            {
+                "name": "counter",
+                "xml_path": "obj/meshes/counters/counter_0/counter.xml",
+                "position": [
+                    0.5300000499558788,
+                    -0.00013983690613571478,
+                    0.004124508924880074
+                ],
+                "orientation": [
+                    0.9999408956634709,
+                    0.010872220552105818,
+                    2.1974316258954554e-10,
+                    -4.566023561208279e-08
+                ],
+                "class": "Counter",
+                "materials": [
+                    "stone3"
+                ]
+            },
+            {
+                "name": "stove",
+                "xml_path": "obj/meshes/stoves/frigidaire_gas/model.xml",
+                "position": [
+                    -0.21999999997849062,
+                    1.1968666923930196e-09,
+                    0.0019833448227894283
+                ],
+                "orientation": [
+                    0.9999999999999223,
+                    -3.927311256526119e-07,
+                    2.0209367083631097e-08,
+                    1.712591043943623e-10
+                ],
+                "class": "Stove"
+            },
+            {
+                "name": "pan_seen",
+                "xml_path": "obj/meshes/tablewares/pans/pan_11/model.xml",
+                "position": [
+                    -0.11101575159055091,
+                    -0.1024926276143056,
+                    0.7730773436375518
+                ],
+                "orientation": [
+                    0.9999999994123241,
+                    -3.4270962222106534e-05,
+                    -9.189377558239586e-07,
+                    9.034167692852783e-08
+                ],
+                "class": "FlatContainer"
+            },
+            {
+                "name": "dishes",
+                "xml_path": "obj/meshes/dishes/dish_without_plate_1/dish_without_plate_1.xml",
+                "position": [
+                    -0.11101575700916196,
+                    -0.07249262768477603,
+                    0.7730752873798147
+                ],
+                "orientation": [
+                    0.9999999994123241,
+                    -3.4270962222106534e-05,
+                    -9.189377558239586e-07,
+                    9.034167692852783e-08
+                ],
+                "class": "FlatContainer"
+            },
+            {
+                "name": "salad_dressing",
+                "xml_path": "obj/meshes/condiment/salad_dressing/salad_dressing.xml",
+                "position": [
+                    0.16302387911791105,
+                    -0.15993706036326927,
+                    0.8231282224634849
+                ],
+                "orientation": [
+                    0.9996068084400591,
+                    -0.011910594800905127,
+                    -4.152340179056256e-05,
+                    -0.02538433626423075
+                ],
+                "class": "CommonGraspedEntity"
+            },
+            {
+                "name": "hotsauce",
+                "xml_path": "obj/meshes/condiment/hotsauce/model.xml",
+                "position": [
+                    0.18973705084363682,
+                    0.005780319596527075,
+                    0.8247617023192831
+                ],
+                "orientation": [
+                    0.999574460448044,
+                    -0.0010673131469608418,
+                    -0.00020628340941140645,
+                    -0.029149893821461208
+                ],
+                "class": "CommonGraspedEntity"
+            },
+            {
+                "name": "ketchup",
+                "xml_path": "obj/meshes/condiment/ketchup/ketchup_4/model.xml",
+                "position": [
+                    0.17675572087419225,
+                    0.17108565748221594,
+                    0.8237267505886581
+                ],
+                "orientation": [
+                    0.9980144192162834,
+                    -0.033452595928641506,
+                    -0.0045998762950536475,
+                    -0.05316938969078243
+                ],
+                "class": "CommonGraspedEntity"
+            }
+        ],
+        "scene": {
+            "name": "kitchen_2",
+            "position": [
+                -2.0,
+                -1.0,
+                0.0
+            ],
+            "orientation": [
+                1.0,
+                0.0,
+                0.0,
+                0.0
+            ],
+            "floor_textures": [
+                "floorplane"
+            ]
+        },
+        "instructions": [],
+        "conditions": {
+            "pour": {
+                "target_entity": "ketchup"
+            },
+            "above": {
+                "target_entity": "ketchup",
+                "platform": "pan_seen"
+            }
+        }
+    }
+}

CommenSence/add_condiment_common_sense/example12/input/instruction.txt

@@ -0,0 +1 @@
+ 'If you think this dish lacks a sweet and tangy flavor, perhaps add something that could help.'

CommenSence/add_condiment_common_sense/example12/output/operation_sequence.json

@@ -0,0 +1,16 @@
+{
+    "skill_sequence": [
+        {
+            "name": "pick",
+            "params": {
+                "target_entity_name": 6
+            }
+        },
+        {
+            "name": "pour",
+            "params": {
+                "target_container_name": 2
+            }
+        }
+    ]
+}

CommenSence/add_condiment_common_sense/example13/env_config/env_config.json

@@ -0,0 +1,148 @@
+{
+    "task": {
+        "components": [
+            {
+                "name": "counter",
+                "xml_path": "obj/meshes/counters/counter_0/counter.xml",
+                "position": [
+                    0.5300000575884181,
+                    -0.00013984248457589907,
+                    0.004124507618475661
+                ],
+                "orientation": [
+                    0.9999408954935965,
+                    0.010872236175805907,
+                    1.566892622179982e-08,
+                    -4.653503181316283e-08
+                ],
+                "class": "Counter",
+                "materials": [
+                    "wood4"
+                ]
+            },
+            {
+                "name": "stove",
+                "xml_path": "obj/meshes/stoves/dual_gas/model.xml",
+                "position": [
+                    -0.37500000501647834,
+                    1.3572191001291904e-09,
+                    -1.1383599852287082e-05
+                ],
+                "orientation": [
+                    0.9999999999999428,
+                    3.39652837156574e-07,
+                    2.333611582228135e-09,
+                    -7.358240270475784e-10
+                ],
+                "class": "Stove"
+            },
+            {
+                "name": "pan_seen",
+                "xml_path": "obj/meshes/tablewares/pans/pan_15/model.xml",
+                "position": [
+                    -0.1158764200574267,
+                    -0.05057172444079932,
+                    0.8358099549238561
+                ],
+                "orientation": [
+                    0.9999999999883123,
+                    1.390472515183894e-06,
+                    1.310931732251898e-07,
+                    -4.628702310689643e-06
+                ],
+                "class": "FlatContainer"
+            },
+            {
+                "name": "dishes",
+                "xml_path": "obj/meshes/dishes/dish_without_plate_0/dish_without_plate_0.xml",
+                "position": [
+                    -0.11587614233527713,
+                    -0.020571724442200814,
+                    0.8358100383521706
+                ],
+                "orientation": [
+                    0.9999999999883123,
+                    1.390472515183894e-06,
+                    1.310931732251898e-07,
+                    -4.628702310689643e-06
+                ],
+                "class": "FlatContainer"
+            },
+            {
+                "name": "bbq_sauce",
+                "xml_path": "obj/meshes/condiment/bbq_sauce/bbq_sauce1/model.xml",
+                "position": [
+                    0.1594428308837792,
+                    -0.13810700508146764,
+                    0.8252618417596705
+                ],
+                "orientation": [
+                    0.9996830213234051,
+                    -0.006108680229760671,
+                    0.00013848772368356066,
+                    -0.0244237942324509
+                ],
+                "class": "CommonGraspedEntity"
+            },
+            {
+                "name": "salad_dressing",
+                "xml_path": "obj/meshes/condiment/salad_dressing/salad_dressing.xml",
+                "position": [
+                    0.14639258307084074,
+                    0.01992978756894929,
+                    0.8231794887092485
+                ],
+                "orientation": [
+                    0.9994188373710743,
+                    -0.013778617265340786,
+                    -0.0006082503166999674,
+                    0.031173181513240666
+                ],
+                "class": "CommonGraspedEntity"
+            },
+            {
+                "name": "hotsauce",
+                "xml_path": "obj/meshes/condiment/hotsauce/model.xml",
+                "position": [
+                    0.21401711440248739,
+                    0.15213419494824892,
+                    0.8247618330611955
+                ],
+                "orientation": [
+                    0.999183712173975,
+                    0.002380928647112678,
+                    0.003871307164221244,
+                    -0.0401404220936103
+                ],
+                "class": "CommonGraspedEntity"
+            }
+        ],
+        "scene": {
+            "name": "kitchen_2",
+            "position": [
+                -2.0,
+                1.5,
+                0.0
+            ],
+            "orientation": [
+                1.0,
+                0.0,
+                0.0,
+                0.0
+            ],
+            "floor_textures": [
+                "floorplane"
+            ]
+        },
+        "instructions": [],
+        "conditions": {
+            "pour": {
+                "target_entity": "bbq_sauce"
+            },
+            "above": {
+                "target_entity": "bbq_sauce",
+                "platform": "pan_seen"
+            }
+        }
+    }
+}

CommenSence/add_condiment_common_sense/example13/input/instruction.txt

@@ -0,0 +1 @@
+ 'This dish lacks a deep, tangy touch. Maybe adding something could elevate its taste.'

CommenSence/add_condiment_common_sense/example13/output/operation_sequence.json

@@ -0,0 +1,16 @@
+{
+    "skill_sequence": [
+        {
+            "name": "pick",
+            "params": {
+                "target_entity_name": 4
+            }
+        },
+        {
+            "name": "pour",
+            "params": {
+                "target_container_name": 2
+            }
+        }
+    ]
+}

CommenSence/add_condiment_common_sense/example14/env_config/env_config.json

@@ -0,0 +1,148 @@
+{
+    "task": {
+        "components": [
+            {
+                "name": "counter",
+                "xml_path": "obj/meshes/counters/counter_0/counter.xml",
+                "position": [
+                    0.5300000262020549,
+                    -0.00013986277354345098,
+                    0.004124508711088485
+                ],
+                "orientation": [
+                    0.9999408958867338,
+                    0.01087220001808422,
+                    -2.003298005875627e-08,
+                    -4.90128500887301e-08
+                ],
+                "class": "Counter",
+                "materials": [
+                    "wood0"
+                ]
+            },
+            {
+                "name": "stove",
+                "xml_path": "obj/meshes/stoves/square_gas/model.xml",
+                "position": [
+                    -0.2500001732314148,
+                    1.2107136602371776e-07,
+                    0.0019876088708860986
+                ],
+                "orientation": [
+                    0.9999999999855614,
+                    -5.373158808412121e-06,
+                    2.1015574784631644e-08,
+                    7.176570658149664e-08
+                ],
+                "class": "Stove"
+            },
+            {
+                "name": "pan_seen",
+                "xml_path": "obj/meshes/tablewares/pans/pan_11/model.xml",
+                "position": [
+                    -0.10113906870603927,
+                    -0.115895213887616,
+                    0.8135962250964551
+                ],
+                "orientation": [
+                    0.9999997266313662,
+                    -0.0007261110601215438,
+                    8.652416700657048e-05,
+                    0.00010960606543056625
+                ],
+                "class": "FlatContainer"
+            },
+            {
+                "name": "dishes",
+                "xml_path": "obj/meshes/dishes/dish_without_plate_0/dish_without_plate_0.xml",
+                "position": [
+                    -0.10114564883773661,
+                    -0.08589524624266169,
+                    0.813552659013772
+                ],
+                "orientation": [
+                    0.9999997266313662,
+                    -0.0007261110601215438,
+                    8.652416700657048e-05,
+                    0.00010960606543056625
+                ],
+                "class": "FlatContainer"
+            },
+            {
+                "name": "ketchup",
+                "xml_path": "obj/meshes/condiment/ketchup/ketchup_11/model.xml",
+                "position": [
+                    0.18104173426775147,
+                    -0.15534426215373717,
+                    0.8253249769323836
+                ],
+                "orientation": [
+                    0.999918438911539,
+                    -0.010679261406262828,
+                    -0.004600335042454542,
+                    0.005282595765875602
+                ],
+                "class": "CommonGraspedEntity"
+            },
+            {
+                "name": "bbq_sauce",
+                "xml_path": "obj/meshes/condiment/bbq_sauce/bbq_sauce0/bbq_sauce.xml",
+                "position": [
+                    0.1584430669391994,
+                    0.0018026977023816216,
+                    0.8046400952883367
+                ],
+                "orientation": [
+                    0.9999787616211264,
+                    -0.00010136361090377604,
+                    2.1570847324215316e-06,
+                    0.006516596308129506
+                ],
+                "class": "CommonGraspedEntity"
+            },
+            {
+                "name": "salad_dressing",
+                "xml_path": "obj/meshes/condiment/salad_dressing/salad_dressing.xml",
+                "position": [
+                    0.1355775917259033,
+                    0.14744118890293367,
+                    0.8231276357887205
+                ],
+                "orientation": [
+                    0.9993653043055528,
+                    -0.012443670525905998,
+                    -0.0002608664059547295,
+                    0.033377770489212304
+                ],
+                "class": "CommonGraspedEntity"
+            }
+        ],
+        "scene": {
+            "name": "kitchen_2",
+            "position": [
+                -2.0,
+                -1.0,
+                0.0
+            ],
+            "orientation": [
+                1.0,
+                0.0,
+                0.0,
+                0.0
+            ],
+            "floor_textures": [
+                "floorplane"
+            ]
+        },
+        "instructions": [],
+        "conditions": {
+            "pour": {
+                "target_entity": "ketchup"
+            },
+            "above": {
+                "target_entity": "ketchup",
+                "platform": "pan_seen"
+            }
+        }
+    }
+}

CommenSence/add_condiment_common_sense/example14/input/instruction.txt

@@ -0,0 +1 @@
+ 'I think this could use a touch of tomato-based sweetness. Can you add something to help with that?'

CommenSence/add_condiment_common_sense/example14/output/operation_sequence.json

@@ -0,0 +1,16 @@
+{
+    "skill_sequence": [
+        {
+            "name": "pick",
+            "params": {
+                "target_entity_name": 4
+            }
+        },
+        {
+            "name": "pour",
+            "params": {
+                "target_container_name": 2
+            }
+        }
+    ]
+}

CommenSence/add_condiment_common_sense/example15/env_config/env_config.json

@@ -0,0 +1,148 @@
+{
+    "task": {
+        "components": [
+            {
+                "name": "counter",
+                "xml_path": "obj/meshes/counters/counter_0/counter.xml",
+                "position": [
+                    0.5300000492498155,
+                    -0.00013983695703021138,
+                    0.004124506157315393
+                ],
+                "orientation": [
+                    0.9999408959154849,
+                    0.010872197373805915,
+                    -2.2229249641066354e-08,
+                    -4.405801508905459e-08
+                ],
+                "class": "Counter",
+                "materials": [
+                    "wood4"
+                ]
+            },
+            {
+                "name": "stove",
+                "xml_path": "obj/meshes/stoves/coil_burners_induc/model.xml",
+                "position": [
+                    -0.21500000015870588,
+                    7.014784073186216e-09,
+                    0.009963187725767493
+                ],
+                "orientation": [
+                    0.9999999999999059,
+                    -4.35416538347948e-07,
+                    8.537726637860034e-09,
+                    -1.6920643853211407e-10
+                ],
+                "class": "Stove"
+            },
+            {
+                "name": "pan_seen",
+                "xml_path": "obj/meshes/tablewares/pans/pan_15/model.xml",
+                "position": [
+                    -0.1485873428917234,
+                    -0.004670004139737014,
+                    0.8044789942509457
+                ],
+                "orientation": [
+                    0.9999999999940118,
+                    1.4248487370914948e-06,
+                    7.724574126149473e-07,
+                    -3.0576355513695737e-06
+                ],
+                "class": "FlatContainer"
+            },
+            {
+                "name": "dishes",
+                "xml_path": "obj/meshes/dishes/dish_without_plate_1/dish_without_plate_1.xml",
+                "position": [
+                    -0.14858715943352427,
+                    0.025329995859580214,
+                    0.8044790797417283
+                ],
+                "orientation": [
+                    0.9999999999940118,
+                    1.4248487370914948e-06,
+                    7.724574126149473e-07,
+                    -3.0576355513695737e-06
+                ],
+                "class": "FlatContainer"
+            },
+            {
+                "name": "hotsauce",
+                "xml_path": "obj/meshes/condiment/hotsauce/model.xml",
+                "position": [
+                    0.17715935867063143,
+                    -0.15063183941245883,
+                    0.8248286355914453
+                ],
+                "orientation": [
+                    0.9999792205837773,
+                    -0.002901018600688437,
+                    -0.005685108166513676,
+                    0.0009066624931429218
+                ],
+                "class": "CommonGraspedEntity"
+            },
+            {
+                "name": "ketchup",
+                "xml_path": "obj/meshes/condiment/ketchup/ketchup_1/model.xml",
+                "position": [
+                    0.15111072410697435,
+                    0.02253016944289424,
+                    0.8303777543086986
+                ],
+                "orientation": [
+                    0.9998684631639763,
+                    -0.015200238006580796,
+                    0.005267838272943258,
+                    0.0020637380116210672
+                ],
+                "class": "CommonGraspedEntity"
+            },
+            {
+                "name": "bbq_sauce",
+                "xml_path": "obj/meshes/condiment/bbq_sauce/bbq_sauce1/model.xml",
+                "position": [
+                    0.18442302395048138,
+                    0.16542232026095108,
+                    0.8258381464557816
+                ],
+                "orientation": [
+                    0.9976471665599481,
+                    -0.020414548201187772,
+                    0.0013721128227388735,
+                    -0.06543313062242485
+                ],
+                "class": "CommonGraspedEntity"
+            }
+        ],
+        "scene": {
+            "name": "kitchen_2",
+            "position": [
+                -2.0,
+                1.5,
+                0.0
+            ],
+            "orientation": [
+                1.0,
+                0.0,
+                0.0,
+                0.0
+            ],
+            "floor_textures": [
+                "floorplane"
+            ]
+        },
+        "instructions": [],
+        "conditions": {
+            "pour": {
+                "target_entity": "ketchup"
+            },
+            "above": {
+                "target_entity": "ketchup",
+                "platform": "pan_seen"
+            }
+        }
+    }
+}

CommenSence/add_condiment_common_sense/example15/input/instruction.txt

@@ -0,0 +1 @@
+ 'This dish seems like it could use an extra kick. Maybe something thick, tangy, and sweet could do the trick.'

CommenSence/add_condiment_common_sense/example15/output/operation_sequence.json

@@ -0,0 +1,16 @@
+{
+    "skill_sequence": [
+        {
+            "name": "pick",
+            "params": {
+                "target_entity_name": 5
+            }
+        },
+        {
+            "name": "pour",
+            "params": {
+                "target_container_name": 2
+            }
+        }
+    ]
+}

CommenSence/add_condiment_common_sense/example16/env_config/env_config.json

@@ -0,0 +1,165 @@
+{
+    "task": {
+        "components": [
+            {
+                "name": "counter",
+                "xml_path": "obj/meshes/counters/counter_0/counter.xml",
+                "position": [
+                    0.5303957386400536,
+                    0.010398357070108707,
+                    0.003996862911359619
+                ],
+                "orientation": [
+                    0.9999348352427909,
+                    0.010935859582977542,
+                    -0.00011374723376236634,
+                    -0.003274034929768858
+                ],
+                "class": "Counter",
+                "materials": [
+                    "stone0"
+                ]
+            },
+            {
+                "name": "stove",
+                "xml_path": "obj/meshes/stoves/basic_sleek_induc/model.xml",
+                "position": [
+                    -0.21999999998873193,
+                    -6.610864764077382e-09,
+                    -0.010077917740724675
+                ],
+                "orientation": [
+                    0.9999999999998456,
+                    -5.56504346316873e-07,
+                    7.199579151328295e-10,
+                    -5.8251600630080454e-12
+                ],
+                "class": "Stove"
+            },
+            {
+                "name": "pan_seen",
+                "xml_path": "obj/meshes/tablewares/pans/pan_15/model.xml",
+                "position": [
+                    -0.180758763647431,
+                    -0.11891882050307237,
+                    0.7420771442698306
+                ],
+                "orientation": [
+                    0.9999999985610684,
+                    5.338137491481649e-05,
+                    -5.318934418714677e-06,
+                    -3.1140738809674384e-08
+                ],
+                "class": "FlatContainer"
+            },
+            {
+                "name": "dishes",
+                "xml_path": "obj/meshes/dishes/dish_without_plate_1/dish_without_plate_1.xml",
+                "position": [
+                    -0.18075876179602257,
+                    -0.0889188206740467,
+                    0.7420803471523308
+                ],
+                "orientation": [
+                    0.9999999985610684,
+                    5.338137491481649e-05,
+                    -5.318934418714677e-06,
+                    -3.1140738809674384e-08
+                ],
+                "class": "FlatContainer"
+            },
+            {
+                "name": "sugar",
+                "xml_path": "obj/meshes/condiment/shaker/shaker_1/model.xml",
+                "position": [
+                    0.136088544656679,
+                    -0.14593753475440457,
+                    0.7972530482540916
+                ],
+                "orientation": [
+                    0.9979244035416243,
+                    0.001999993685017609,
+                    0.0005690563747091363,
+                    -0.06436273002441908
+                ],
+                "class": "CommonGraspedEntity"
+            },
+            {
+                "name": "sugar_tag",
+                "xml_path": "obj/meshes/tube/nametag/nametag.xml",
+                "position": [
+                    0.25062147136391993,
+                    -0.15,
+                    0.75
+                ],
+                "orientation": [
+                    1.0,
+                    0.0,
+                    0.0,
+                    0.0
+                ],
+                "class": "NameTag",
+                "content": "sugar"
+            },
+            {
+                "name": "bbq_sauce",
+                "xml_path": "obj/meshes/condiment/bbq_sauce/bbq_sauce0/bbq_sauce.xml",
+                "position": [
+                    0.17012070244579078,
+                    -0.009798617973177647,
+                    0.8044568541559115
+                ],
+                "orientation": [
+                    0.9996314126042132,
+                    2.6447745737402856e-05,
+                    3.592214526205105e-05,
+                    -0.027148424356178015
+                ],
+                "class": "CommonGraspedEntity"
+            },
+            {
+                "name": "hotsauce",
+                "xml_path": "obj/meshes/condiment/hotsauce/model.xml",
+                "position": [
+                    0.1655251805544375,
+                    0.13127955984645676,
+                    0.8250062635182673
+                ],
+                "orientation": [
+                    0.9968358251415118,
+                    0.005294419877097392,
+                    -0.013910845914221166,
+                    -0.07808197742473863
+                ],
+                "class": "CommonGraspedEntity"
+            }
+        ],
+        "scene": {
+            "name": "kitchen_2",
+            "position": [
+                -2.0,
+                1.5,
+                0.0
+            ],
+            "orientation": [
+                1.0,
+                0.0,
+                0.0,
+                0.0
+            ],
+            "floor_textures": [
+                "floorplane"
+            ]
+        },
+        "instructions": [],
+        "conditions": {
+            "pour": {
+                "target_entity": "bbq_sauce"
+            },
+            "above": {
+                "target_entity": "bbq_sauce",
+                "platform": "pan_seen"
+            }
+        }
+    }
+}

CommenSence/add_condiment_common_sense/example16/input/instruction.txt

@@ -0,0 +1 @@
+ 'Think about incorporating a condiment that offers a deep, barbecue flavor to complement the current dish.'

CommenSence/add_condiment_common_sense/example16/output/operation_sequence.json

@@ -0,0 +1,16 @@
+{
+    "skill_sequence": [
+        {
+            "name": "pick",
+            "params": {
+                "target_entity_name": 6
+            }
+        },
+        {
+            "name": "pour",
+            "params": {
+                "target_container_name": 2
+            }
+        }
+    ]
+}

CommenSence/add_condiment_common_sense/example17/env_config/env_config.json

@@ -0,0 +1,165 @@
+{
+    "task": {
+        "components": [
+            {
+                "name": "counter",
+                "xml_path": "obj/meshes/counters/counter_0/counter.xml",
+                "position": [
+                    0.529484614366294,
+                    0.0036384438194594295,
+                    0.00445208992945107
+                ],
+                "orientation": [
+                    0.9999496413164278,
+                    0.009721083021507072,
+                    -0.0003884384330027347,
+                    -0.0024626188543389704
+                ],
+                "class": "Counter",
+                "materials": [
+                    "wood1"
+                ]
+            },
+            {
+                "name": "stove",
+                "xml_path": "obj/meshes/stoves/basic_sleek_induc/model.xml",
+                "position": [
+                    -0.22000000021916025,
+                    -4.3328159294076454e-09,
+                    -0.010077986637597885
+                ],
+                "orientation": [
+                    0.9999999999998817,
+                    -4.878730767407601e-07,
+                    1.1075489136197345e-08,
+                    3.2711352271331695e-11
+                ],
+                "class": "Stove"
+            },
+            {
+                "name": "pan_seen",
+                "xml_path": "obj/meshes/tablewares/pans/pan_0/model.xml",
+                "position": [
+                    -0.1863830712676075,
+                    -0.1400135199209269,
+                    0.757947998963787
+                ],
+                "orientation": [
+                    0.9999999997609835,
+                    2.172343731250309e-05,
+                    -2.474990879897636e-06,
+                    1.917883115861638e-08
+                ],
+                "class": "FlatContainer"
+            },
+            {
+                "name": "dishes",
+                "xml_path": "obj/meshes/dishes/dish_without_plate_2/dish_without_plate_2.xml",
+                "position": [
+                    -0.1863830724215633,
+                    -0.11001351994924136,
+                    0.7579493023700226
+                ],
+                "orientation": [
+                    0.9999999997609835,
+                    2.172343731250309e-05,
+                    -2.474990879897636e-06,
+                    1.917883115861638e-08
+                ],
+                "class": "FlatContainer"
+            },
+            {
+                "name": "bbq_sauce",
+                "xml_path": "obj/meshes/condiment/bbq_sauce/bbq_sauce1/model.xml",
+                "position": [
+                    0.16121434583815447,
+                    -0.14137538258799393,
+                    0.8261404046891542
+                ],
+                "orientation": [
+                    0.9993990913840229,
+                    0.01581342222636966,
+                    0.00042888705446062625,
+                    0.030841658097045494
+                ],
+                "class": "CommonGraspedEntity"
+            },
+            {
+                "name": "ketchup",
+                "xml_path": "obj/meshes/condiment/ketchup/ketchup_9/model.xml",
+                "position": [
+                    0.1810785599185331,
+                    -0.019262090253415305,
+                    0.8255877763527801
+                ],
+                "orientation": [
+                    0.9983334103036983,
+                    0.008199148023171713,
+                    0.0009547165639602122,
+                    -0.05711623551463085
+                ],
+                "class": "CommonGraspedEntity"
+            },
+            {
+                "name": "sugar",
+                "xml_path": "obj/meshes/condiment/shaker/shaker_1/model.xml",
+                "position": [
+                    0.16738772564982915,
+                    0.14193816959384373,
+                    0.7972105011649251
+                ],
+                "orientation": [
+                    0.9997502560709294,
+                    -0.0003511853833127898,
+                    -0.0006996228671701196,
+                    0.022334114774946068
+                ],
+                "class": "CommonGraspedEntity"
+            },
+            {
+                "name": "sugar_tag",
+                "xml_path": "obj/meshes/tube/nametag/nametag.xml",
+                "position": [
+                    0.266945479060813,
+                    0.15,
+                    0.75
+                ],
+                "orientation": [
+                    1.0,
+                    0.0,
+                    0.0,
+                    0.0
+                ],
+                "class": "NameTag",
+                "content": "sugar"
+            }
+        ],
+        "scene": {
+            "name": "kitchen_2",
+            "position": [
+                -2.0,
+                1.5,
+                0.0
+            ],
+            "orientation": [
+                1.0,
+                0.0,
+                0.0,
+                0.0
+            ],
+            "floor_textures": [
+                "floorplane"
+            ]
+        },
+        "instructions": [],
+        "conditions": {
+            "pour": {
+                "target_entity": "bbq_sauce"
+            },
+            "above": {
+                "target_entity": "bbq_sauce",
+                "platform": "pan_seen"
+            }
+        }
+    }
+}

CommenSence/add_condiment_common_sense/example17/input/instruction.txt

@@ -0,0 +1 @@
+ 'To complement the savory flavors, this dish might need an addition that provides a sweet yet smoky touch.'

CommenSence/add_condiment_common_sense/example17/output/operation_sequence.json

@@ -0,0 +1,16 @@
+{
+    "skill_sequence": [
+        {
+            "name": "pick",
+            "params": {
+                "target_entity_name": 4
+            }
+        },
+        {
+            "name": "pour",
+            "params": {
+                "target_container_name": 2
+            }
+        }
+    ]
+}