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diff --git a/bridge_data_v2_test/10077/lang.txt b/bridge_data_v2_test/10077/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f6f7520c88c7eba4bf6f0c624dd0e7cb35a889c1
--- /dev/null
+++ b/bridge_data_v2_test/10077/lang.txt
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+move the violet cloth besides the bread located in the middle of the table
+confidence: 1
diff --git a/bridge_data_v2_test/10093/lang.txt b/bridge_data_v2_test/10093/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..530ce22286a2d79a6a753da059e63dc6702645d7
--- /dev/null
+++ b/bridge_data_v2_test/10093/lang.txt
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+move the purple cloth toward the middle left side of the table
+confidence: 0.2
diff --git a/bridge_data_v2_test/10501/lang.txt b/bridge_data_v2_test/10501/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a9f6f120a9cfa73ff1303e6fae1cf8e339413730
--- /dev/null
+++ b/bridge_data_v2_test/10501/lang.txt
@@ -0,0 +1,2 @@
+pick up the blue spatula and place it to the left of the orange napkin
+confidence: 1
diff --git a/bridge_data_v2_test/10770/lang.txt b/bridge_data_v2_test/10770/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..19eca10732ac4b16fd692d44e2a26109fa7a4351
--- /dev/null
+++ b/bridge_data_v2_test/10770/lang.txt
@@ -0,0 +1,2 @@
+put the egg inside a cup
+confidence: 0.8
diff --git a/bridge_data_v2_test/11095/lang.txt b/bridge_data_v2_test/11095/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..17a97cec079332fd5da17ed09b7c96774f401496
--- /dev/null
+++ b/bridge_data_v2_test/11095/lang.txt
@@ -0,0 +1,2 @@
+move the yellow cloth to the bottom right corner of the stove
+confidence: 0.6
diff --git a/bridge_data_v2_test/11138/lang.txt b/bridge_data_v2_test/11138/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..ab9afca6007d6e7eb853f9aad9c9d6f287725dcf
--- /dev/null
+++ b/bridge_data_v2_test/11138/lang.txt
@@ -0,0 +1,2 @@
+move the silver pot to the top left of the stove
+confidence: 0.2
diff --git a/bridge_data_v2_test/11310/lang.txt b/bridge_data_v2_test/11310/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..16d9bccbed8e1417c41d2c4697441fae650c39ee
--- /dev/null
+++ b/bridge_data_v2_test/11310/lang.txt
@@ -0,0 +1,2 @@
+Moves the green object to the centre of the right and left burner
+confidence: 0.4
diff --git a/bridge_data_v2_test/11395/lang.txt b/bridge_data_v2_test/11395/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..3d07f57f0b76eb8ca5807de3fe84985769f643da
--- /dev/null
+++ b/bridge_data_v2_test/11395/lang.txt
@@ -0,0 +1,2 @@
+take the blue spoon and put it to the end of the right burner
+confidence: 0.2
diff --git a/bridge_data_v2_test/1185/lang.txt b/bridge_data_v2_test/1185/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..5b2e99941321a0da7a45bf1d3bfa55869778e2f2
--- /dev/null
+++ b/bridge_data_v2_test/1185/lang.txt
@@ -0,0 +1,2 @@
+put the blue object to the bottom right of the burner
+confidence: 0.8
diff --git a/bridge_data_v2_test/11964/lang.txt b/bridge_data_v2_test/11964/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..5a32ba30272dcf5f511a53226a487124f350091a
--- /dev/null
+++ b/bridge_data_v2_test/11964/lang.txt
@@ -0,0 +1,2 @@
+move the cylindrical block with a hole in the middle and put it on top of the green rectangular block
+confidence: 0.8
diff --git a/bridge_data_v2_test/12228/lang.txt b/bridge_data_v2_test/12228/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..02e445c44af68d86146d53316f672408d3536909
--- /dev/null
+++ b/bridge_data_v2_test/12228/lang.txt
@@ -0,0 +1,2 @@
+close the drawer
+confidence: 0.6
diff --git a/bridge_data_v2_test/12462/lang.txt b/bridge_data_v2_test/12462/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..498a5b18df9ea6c1f5c6111d404c23f52f83fd37
--- /dev/null
+++ b/bridge_data_v2_test/12462/lang.txt
@@ -0,0 +1,2 @@
+put the toy on top of the drawer
+confidence: 0.6
diff --git a/bridge_data_v2_test/12553/lang.txt b/bridge_data_v2_test/12553/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..960221b43a5f953f89ea6c43b98750e5f19b36bb
--- /dev/null
+++ b/bridge_data_v2_test/12553/lang.txt
@@ -0,0 +1,3 @@
+
+taking the green stuff and placing it inside the drawer
+confidence: 0.8
diff --git a/bridge_data_v2_test/12951/lang.txt b/bridge_data_v2_test/12951/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..74dbda793b2068c1a976fe610f0a6a4e76e8d1f6
--- /dev/null
+++ b/bridge_data_v2_test/12951/lang.txt
@@ -0,0 +1,2 @@
+put the brown thing in the drawer
+confidence: 0.6
diff --git a/bridge_data_v2_test/12971/lang.txt b/bridge_data_v2_test/12971/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..8ecebcbc8dc658cd6620501c23e8176bf26950bb
--- /dev/null
+++ b/bridge_data_v2_test/12971/lang.txt
@@ -0,0 +1,2 @@
+Close the drawer 
+confidence: 0.6
diff --git a/bridge_data_v2_test/13162/lang.txt b/bridge_data_v2_test/13162/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c14d3658a52c57d7bc6efae7caf5d1697c2ff48f
--- /dev/null
+++ b/bridge_data_v2_test/13162/lang.txt
@@ -0,0 +1 @@
+sweep into pile
diff --git a/bridge_data_v2_test/13292/lang.txt b/bridge_data_v2_test/13292/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c14d3658a52c57d7bc6efae7caf5d1697c2ff48f
--- /dev/null
+++ b/bridge_data_v2_test/13292/lang.txt
@@ -0,0 +1 @@
+sweep into pile
diff --git a/bridge_data_v2_test/13573/lang.txt b/bridge_data_v2_test/13573/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..05abc94a843a43ad656d47d00130f5ed509fe4f0
--- /dev/null
+++ b/bridge_data_v2_test/13573/lang.txt
@@ -0,0 +1,2 @@
+put the silver lid above the silver pot 
+confidence: 0.6
diff --git a/bridge_data_v2_test/13726/lang.txt b/bridge_data_v2_test/13726/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..74675a4bea7bb9c5b46c08fb03c7c04ca3d1a149
--- /dev/null
+++ b/bridge_data_v2_test/13726/lang.txt
@@ -0,0 +1,2 @@
+take the green object and put it the bottom of the table
+confidence: 0.6
diff --git a/bridge_data_v2_test/13842/lang.txt b/bridge_data_v2_test/13842/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e8e697d1a175e13b76d00c1d76a10ea2d76815c3
--- /dev/null
+++ b/bridge_data_v2_test/13842/lang.txt
@@ -0,0 +1,2 @@
+move the can in a straight line to the upper side of the table next to the green object
+confidence: 1
diff --git a/bridge_data_v2_test/13854/lang.txt b/bridge_data_v2_test/13854/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..6b094c7282c2cf32f7ffad4da14d365a5cd625ba
--- /dev/null
+++ b/bridge_data_v2_test/13854/lang.txt
@@ -0,0 +1,2 @@
+moved the pot from the top to the bottom of the table
+confidence: 0.2
diff --git a/bridge_data_v2_test/1404/lang.txt b/bridge_data_v2_test/1404/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f404de38839b56d3b635becdf0e6921f6efe9a41
--- /dev/null
+++ b/bridge_data_v2_test/1404/lang.txt
@@ -0,0 +1,2 @@
+fold the cloth from left to right
+confidence: 0.6
diff --git a/bridge_data_v2_test/14283/lang.txt b/bridge_data_v2_test/14283/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e7bb05a2e35244f2525e9b69366a935f1f6d2a48
--- /dev/null
+++ b/bridge_data_v2_test/14283/lang.txt
@@ -0,0 +1,2 @@
+déplacer le tissu bleu vers le coin du table
+confidence: 0.8
diff --git a/bridge_data_v2_test/14390/lang.txt b/bridge_data_v2_test/14390/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..b2d3628adb586224d1ce1d1d0ac47510a7125823
--- /dev/null
+++ b/bridge_data_v2_test/14390/lang.txt
@@ -0,0 +1,2 @@
+place  the yellow spoon vertically beside the can
+confidence: 0.8
diff --git a/bridge_data_v2_test/14773/lang.txt b/bridge_data_v2_test/14773/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0195556a1c3dac72a6b3b77c65d263d51d7daeb0
--- /dev/null
+++ b/bridge_data_v2_test/14773/lang.txt
@@ -0,0 +1,2 @@
+move the red cone with ball to center of the table
+confidence: 0.8
diff --git a/bridge_data_v2_test/14815/lang.txt b/bridge_data_v2_test/14815/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..4052f612ab53fc9cc299c58f0988f4d090fe22d8
--- /dev/null
+++ b/bridge_data_v2_test/14815/lang.txt
@@ -0,0 +1,2 @@
+Put the green arch on top of the blue arch
+confidence: 0.4
diff --git a/bridge_data_v2_test/15130/lang.txt b/bridge_data_v2_test/15130/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..2c2a4423d87ab10a3644323eee71c80cae63f892
--- /dev/null
+++ b/bridge_data_v2_test/15130/lang.txt
@@ -0,0 +1,2 @@
+put the red rectangular block on the green cube
+confidence: 0.6
diff --git a/bridge_data_v2_test/1515/lang.txt b/bridge_data_v2_test/1515/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..ac0bde3f86bb8821e1ea6fc3956512ab875e279a
--- /dev/null
+++ b/bridge_data_v2_test/1515/lang.txt
@@ -0,0 +1,2 @@
+fold the cloth from right to centre
+confidence: 0.4
diff --git a/bridge_data_v2_test/15317/lang.txt b/bridge_data_v2_test/15317/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e923ebf75cd1164a5ffb9a9878420f911cb9621e
--- /dev/null
+++ b/bridge_data_v2_test/15317/lang.txt
@@ -0,0 +1,2 @@
+take the green rectangle block and put it above the green cube
+confidence: 1
diff --git a/bridge_data_v2_test/16769/lang.txt b/bridge_data_v2_test/16769/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..ff1c9da65f8dae977d323eb6c8943f88fb096e44
--- /dev/null
+++ b/bridge_data_v2_test/16769/lang.txt
@@ -0,0 +1,2 @@
+put the lid of the pot between the left burners
+confidence: 0.6
diff --git a/bridge_data_v2_test/17111/lang.txt b/bridge_data_v2_test/17111/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..b55dd7b0811eee10a81ba5fe6e12bed8333ef24d
--- /dev/null
+++ b/bridge_data_v2_test/17111/lang.txt
@@ -0,0 +1,2 @@
+took  the silver lid and placed on top of silver pot on the left bottom burner
+confidence: 0.8
diff --git a/bridge_data_v2_test/17319/lang.txt b/bridge_data_v2_test/17319/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..b1e13bdcf669d4a42dc86437f08c30093a622dfc
--- /dev/null
+++ b/bridge_data_v2_test/17319/lang.txt
@@ -0,0 +1,2 @@
+put the yellow bar on top of the red arch
+confidence: 1
diff --git a/bridge_data_v2_test/17386/lang.txt b/bridge_data_v2_test/17386/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..6927c72f71d14f6cf4aa90834a4da5f333aaec66
--- /dev/null
+++ b/bridge_data_v2_test/17386/lang.txt
@@ -0,0 +1,2 @@
+put the blue block on top of the arch
+confidence: 0.8
diff --git a/bridge_data_v2_test/18044/lang.txt b/bridge_data_v2_test/18044/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c5f6d7dce4f0bdca4d97b61e5e1cb6366b3d9b33
--- /dev/null
+++ b/bridge_data_v2_test/18044/lang.txt
@@ -0,0 +1,2 @@
+remove the scalene triangle from the tower and put it in the the table
+confidence: 0.8
diff --git a/bridge_data_v2_test/24/lang.txt b/bridge_data_v2_test/24/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..033ffccfee010b1a68b6f367ef598841b8ca13a2
--- /dev/null
+++ b/bridge_data_v2_test/24/lang.txt
@@ -0,0 +1,2 @@
+take the red spoon from the left and put it on the right stove
+confidence: 0.8
diff --git a/bridge_data_v2_test/2422/lang.txt b/bridge_data_v2_test/2422/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..2ef9a9ba185ab741bc7d8fa181c13ad1b9c25407
--- /dev/null
+++ b/bridge_data_v2_test/2422/lang.txt
@@ -0,0 +1,2 @@
+fold the cloth from bottom right to top left
+confidence: 0.8
diff --git a/bridge_data_v2_test/3186/lang.txt b/bridge_data_v2_test/3186/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..33ad8bead5ffc613d3e969405c38a3cc1ec49526
--- /dev/null
+++ b/bridge_data_v2_test/3186/lang.txt
@@ -0,0 +1,2 @@
+close the drawer and pull to have a slight opening
+confidence: 0.8
diff --git a/bridge_data_v2_test/3201/lang.txt b/bridge_data_v2_test/3201/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..8b7c15a057aea4fabb201f385cfff207e7b21ecc
--- /dev/null
+++ b/bridge_data_v2_test/3201/lang.txt
@@ -0,0 +1,3 @@
+closing the drawer
+
+confidence: 1
diff --git a/bridge_data_v2_test/3215/lang.txt b/bridge_data_v2_test/3215/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..90aea8c236d34ada2a830aa4562d6fef80de73a3
--- /dev/null
+++ b/bridge_data_v2_test/3215/lang.txt
@@ -0,0 +1,2 @@
+open the drawer.
+confidence: 1
diff --git a/bridge_data_v2_test/3290/lang.txt b/bridge_data_v2_test/3290/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c14d3658a52c57d7bc6efae7caf5d1697c2ff48f
--- /dev/null
+++ b/bridge_data_v2_test/3290/lang.txt
@@ -0,0 +1 @@
+sweep into pile
diff --git a/bridge_data_v2_test/3319/lang.txt b/bridge_data_v2_test/3319/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c14d3658a52c57d7bc6efae7caf5d1697c2ff48f
--- /dev/null
+++ b/bridge_data_v2_test/3319/lang.txt
@@ -0,0 +1 @@
+sweep into pile
diff --git a/bridge_data_v2_test/339/lang.txt b/bridge_data_v2_test/339/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..2b308447152d180f43ed6d79ea2f576b9dbe7ce9
--- /dev/null
+++ b/bridge_data_v2_test/339/lang.txt
@@ -0,0 +1,2 @@
+move the silver pot to the bottom left of the stove
+confidence: 0.8
diff --git a/bridge_data_v2_test/4103/lang.txt b/bridge_data_v2_test/4103/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..b6ebb59696380508f79b9e76c73abe8e09bb6f69
--- /dev/null
+++ b/bridge_data_v2_test/4103/lang.txt
@@ -0,0 +1,2 @@
+take yellow cloth from washing machine
+confidence: 0.2
diff --git a/bridge_data_v2_test/4385/lang.txt b/bridge_data_v2_test/4385/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..b1353c4f73769e121d3ae3c8fa1aa495cfc34865
--- /dev/null
+++ b/bridge_data_v2_test/4385/lang.txt
@@ -0,0 +1,2 @@
+Move the green cloth from left to right side of table.
+confidence: 0.8
diff --git a/bridge_data_v2_test/459/lang.txt b/bridge_data_v2_test/459/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e72161b4bf2fdb3014cad23da761fea21f0c45f6
--- /dev/null
+++ b/bridge_data_v2_test/459/lang.txt
@@ -0,0 +1,2 @@
+sacar el objeto rojo del recipiente plateado y ponerlo en la parte superior del cuchillo
+confidence: 0.8
diff --git a/bridge_data_v2_test/4720/lang.txt b/bridge_data_v2_test/4720/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..43c65b86137ca1d448c1bad4a2c12ee18a28705d
--- /dev/null
+++ b/bridge_data_v2_test/4720/lang.txt
@@ -0,0 +1,2 @@
+unfold the cloth from left to bottom right
+confidence: 0.8
diff --git a/bridge_data_v2_test/478/lang.txt b/bridge_data_v2_test/478/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..aa816eff52799e9b3b4bb7339a413b48c2d9dc71
--- /dev/null
+++ b/bridge_data_v2_test/478/lang.txt
@@ -0,0 +1,2 @@
+Moved the yellow cloth from the middle front of the burners to behind the right side of the burners.
+confidence: 1
diff --git a/bridge_data_v2_test/5177/lang.txt b/bridge_data_v2_test/5177/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..1ef04124ffd006f2a65ab7a072794d2257ea3be0
--- /dev/null
+++ b/bridge_data_v2_test/5177/lang.txt
@@ -0,0 +1,2 @@
+fold the cloth from the top to the bottom
+confidence: 1
diff --git a/bridge_data_v2_test/5222/lang.txt b/bridge_data_v2_test/5222/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..4b4eb453a8643fba7006ba19ddf37793abad1168
--- /dev/null
+++ b/bridge_data_v2_test/5222/lang.txt
@@ -0,0 +1,2 @@
+fold the cloth from bottom right to left
+confidence: 0.6
diff --git a/bridge_data_v2_test/5593/lang.txt b/bridge_data_v2_test/5593/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..6f0b2568748ac47249b97276d5830d9863988bc0
--- /dev/null
+++ b/bridge_data_v2_test/5593/lang.txt
@@ -0,0 +1,2 @@
+unfold the cloth from top right to left
+confidence: 0.6
diff --git a/bridge_data_v2_test/5725/lang.txt b/bridge_data_v2_test/5725/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f0301eb6b692c5cf85bc9d1925ff2d65808398b2
--- /dev/null
+++ b/bridge_data_v2_test/5725/lang.txt
@@ -0,0 +1,2 @@
+fold the cloth from left to right
+confidence: 1
diff --git a/bridge_data_v2_test/611/lang.txt b/bridge_data_v2_test/611/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..bf4637fcebc235c32761fdd225a6fbc69aef741d
--- /dev/null
+++ b/bridge_data_v2_test/611/lang.txt
@@ -0,0 +1,2 @@
+put the potato on the green cloth
+confidence: 0.6
diff --git a/bridge_data_v2_test/6112/lang.txt b/bridge_data_v2_test/6112/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..3975a33384200397a5566411a20d7794bea7b455
--- /dev/null
+++ b/bridge_data_v2_test/6112/lang.txt
@@ -0,0 +1,2 @@
+unfold the cloth from top right to bottom left
+confidence: 1
diff --git a/bridge_data_v2_test/615/lang.txt b/bridge_data_v2_test/615/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..746afab1a2e89bb0e44771a9df1edbf8d9973c32
--- /dev/null
+++ b/bridge_data_v2_test/615/lang.txt
@@ -0,0 +1,2 @@
+takes the plastic fork and puts it on the green cloth
+confidence: 0.8
diff --git a/bridge_data_v2_test/635/lang.txt b/bridge_data_v2_test/635/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..159e5691a3206234370626ac695f4a201fd041f7
--- /dev/null
+++ b/bridge_data_v2_test/635/lang.txt
@@ -0,0 +1,2 @@
+put the pot in the stove
+confidence: 0.2
diff --git a/bridge_data_v2_test/6398/lang.txt b/bridge_data_v2_test/6398/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..d483d5d0655cabfa7a491294042dc2ea5902fce8
--- /dev/null
+++ b/bridge_data_v2_test/6398/lang.txt
@@ -0,0 +1,2 @@
+unfold the cloth from right to left
+confidence: 0.8
diff --git a/bridge_data_v2_test/6469/lang.txt b/bridge_data_v2_test/6469/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..7954edce36af52d0f28346712137b902ea1618ce
--- /dev/null
+++ b/bridge_data_v2_test/6469/lang.txt
@@ -0,0 +1,2 @@
+unfold the green cloth from bottom right to top left
+confidence: 0.8
diff --git a/bridge_data_v2_test/6553/lang.txt b/bridge_data_v2_test/6553/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..df0b56d9261e3b890cadd6404754050545ed875e
--- /dev/null
+++ b/bridge_data_v2_test/6553/lang.txt
@@ -0,0 +1,2 @@
+fold the cloth from bottom left to top right
+confidence: 0.8
diff --git a/bridge_data_v2_test/6586/lang.txt b/bridge_data_v2_test/6586/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..aaab31d2e6df12d12a7895ec44fb9d5c43ec7b1e
--- /dev/null
+++ b/bridge_data_v2_test/6586/lang.txt
@@ -0,0 +1,2 @@
+fold the cloth from top to bottom
+confidence: 1
diff --git a/bridge_data_v2_test/6941/lang.txt b/bridge_data_v2_test/6941/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..af34dcd261f2209d7e2ecf0a141bdad997f88e37
--- /dev/null
+++ b/bridge_data_v2_test/6941/lang.txt
@@ -0,0 +1,2 @@
+put the yellow object at the middle of the table
+confidence: 0.8
diff --git a/bridge_data_v2_test/7107/lang.txt b/bridge_data_v2_test/7107/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..8a3a7a303242e05b10cca4fa7aa32032ff76fd45
--- /dev/null
+++ b/bridge_data_v2_test/7107/lang.txt
@@ -0,0 +1,2 @@
+move the yellow bell pepper to the left side of the table
+confidence: 0.4
diff --git a/bridge_data_v2_test/7737/lang.txt b/bridge_data_v2_test/7737/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..2400efb7a1fd7cd9b1938a67fcaff7b1691471d2
--- /dev/null
+++ b/bridge_data_v2_test/7737/lang.txt
@@ -0,0 +1,2 @@
+close the drawer
+confidence: 0.8
diff --git a/bridge_data_v2_test/8188/lang.txt b/bridge_data_v2_test/8188/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f0301eb6b692c5cf85bc9d1925ff2d65808398b2
--- /dev/null
+++ b/bridge_data_v2_test/8188/lang.txt
@@ -0,0 +1,2 @@
+fold the cloth from left to right
+confidence: 1
diff --git a/bridge_data_v2_test/8302/lang.txt b/bridge_data_v2_test/8302/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..2c6039bedd0a44d39dc50b2a0c36094ca6c48cfd
--- /dev/null
+++ b/bridge_data_v2_test/8302/lang.txt
@@ -0,0 +1,2 @@
+unfold the cloth from top to bottom
+confidence: 0.8
diff --git a/bridge_data_v2_test/8324/lang.txt b/bridge_data_v2_test/8324/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f9086f6150163ba64077574f4d018a8d2c84ff00
--- /dev/null
+++ b/bridge_data_v2_test/8324/lang.txt
@@ -0,0 +1,2 @@
+Unfold the cloth from the top right to the bottom left.
+confidence: 0.6
diff --git a/bridge_data_v2_test/8428/lang.txt b/bridge_data_v2_test/8428/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0156918212c7f07e4170a96163bc3686b199b4f2
--- /dev/null
+++ b/bridge_data_v2_test/8428/lang.txt
@@ -0,0 +1,2 @@
+fold the cloth from bottom to the top 
+confidence: 0.4
diff --git a/bridge_data_v2_test/8569/lang.txt b/bridge_data_v2_test/8569/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..cfcfb6a68b57d01873d4b8dca1fb60ee35d8617e
--- /dev/null
+++ b/bridge_data_v2_test/8569/lang.txt
@@ -0,0 +1,2 @@
+fold the cloth from left to right
+confidence: 0.8
diff --git a/bridge_data_v2_test/9008/lang.txt b/bridge_data_v2_test/9008/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..8f2d3f15ac7190945a45647a1ff477321e7682a7
--- /dev/null
+++ b/bridge_data_v2_test/9008/lang.txt
@@ -0,0 +1,2 @@
+moved the spatula from the left side of the silver pot to the upper part of the table
+confidence: 1
diff --git a/bridge_data_v2_test/9023/lang.txt b/bridge_data_v2_test/9023/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..69090cae07187ed6e11021dc6c1e72ef5c0d5cd5
--- /dev/null
+++ b/bridge_data_v2_test/9023/lang.txt
@@ -0,0 +1,2 @@
+move a doll to the upper part of the table
+confidence: 0.4
diff --git a/bridge_data_v2_test/9095/lang.txt b/bridge_data_v2_test/9095/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..97aeab7db4723c6054e25d9a21ac7d9db8e785f0
--- /dev/null
+++ b/bridge_data_v2_test/9095/lang.txt
@@ -0,0 +1,2 @@
+moves the blue towel from the bottom side  of the table to the top side
+confidence: 0.6
diff --git a/bridge_data_v2_test/9208/lang.txt b/bridge_data_v2_test/9208/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f76b2c9410d8bff47b5529de7bcfc65a21c1ed1d
--- /dev/null
+++ b/bridge_data_v2_test/9208/lang.txt
@@ -0,0 +1,2 @@
+moved the brown golden lid on top of the brown goled pot
+confidence: 1
diff --git a/bridge_data_v2_test/9640/lang.txt b/bridge_data_v2_test/9640/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c50cd2be6d8a0f5b07bb00c2773e9e84e97de142
--- /dev/null
+++ b/bridge_data_v2_test/9640/lang.txt
@@ -0,0 +1,2 @@
+move the silver lid to the middle left of the table
+confidence: 0.4
diff --git a/bridge_data_v2_test/9745/lang.txt b/bridge_data_v2_test/9745/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..6ada54276f40d89352c4a470b456d2db7eab35b8
--- /dev/null
+++ b/bridge_data_v2_test/9745/lang.txt
@@ -0,0 +1,2 @@
+move the knife to the lower right of the table
+confidence: 0.6
diff --git a/bridge_data_v2_test/9821/lang.txt b/bridge_data_v2_test/9821/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..20f87045714839a9e96759f9eaeba97a0619fa44
--- /dev/null
+++ b/bridge_data_v2_test/9821/lang.txt
@@ -0,0 +1,2 @@
+put the wooden brush left of the yellow towel
+confidence: 0.8
diff --git a/bridge_data_v2_test/9959/lang.txt b/bridge_data_v2_test/9959/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..021b7ae2a0445502f36ab9de75729f505ba268ed
--- /dev/null
+++ b/bridge_data_v2_test/9959/lang.txt
@@ -0,0 +1,2 @@
+open  the lid of the pot
+confidence: 0.8