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+size 53723
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+version https://git-lfs.github.com/spec/v1
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+size 53211
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+version https://git-lfs.github.com/spec/v1
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+size 53101
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+size 52228
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new file mode 100644
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 51352
diff --git a/bridge_data_v1/672/im_9.jpg b/bridge_data_v1/672/im_9.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..d4d17880eda886569ece7bb5905b39e46b5e751c
--- /dev/null
+++ b/bridge_data_v1/672/im_9.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 51705
diff --git a/bridge_data_v2_test/10074/lang.txt b/bridge_data_v2_test/10074/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..7e6ac64b2bc0d8125b8651950320951c754e6362
--- /dev/null
+++ b/bridge_data_v2_test/10074/lang.txt
@@ -0,0 +1,2 @@
+move the can to the rigth bottom of the table
+confidence: 0.8
diff --git a/bridge_data_v2_test/10128/lang.txt b/bridge_data_v2_test/10128/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..339a9d5d92903055aa2495da642dd78607957637
--- /dev/null
+++ b/bridge_data_v2_test/10128/lang.txt
@@ -0,0 +1,2 @@
+move the silver pan onto the blue cloth
+confidence: 0.6
diff --git a/bridge_data_v2_test/10159/lang.txt b/bridge_data_v2_test/10159/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..71763d7cef52c0cf252c65d0ffc54d387f1af51d
--- /dev/null
+++ b/bridge_data_v2_test/10159/lang.txt
@@ -0,0 +1,2 @@
+move the green cloth to the left side of the table
+confidence: 0.6
diff --git a/bridge_data_v2_test/10234/lang.txt b/bridge_data_v2_test/10234/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..4309522e80b98a51954a35249a24ad4adeb3abca
--- /dev/null
+++ b/bridge_data_v2_test/10234/lang.txt
@@ -0,0 +1,2 @@
+remove the pink corn from the tin and put it on the right side of the table
+confidence: 0.6
diff --git a/bridge_data_v2_test/10490/lang.txt b/bridge_data_v2_test/10490/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..2ebebf6bdf43489223ed8f838b5243fcdd94c3c6
--- /dev/null
+++ b/bridge_data_v2_test/10490/lang.txt
@@ -0,0 +1,2 @@
+move the black object beside the spatula
+confidence: 1
diff --git a/bridge_data_v2_test/1061/lang.txt b/bridge_data_v2_test/1061/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..2c63cca5d2932a65585b72cdad3e5088409b7f5f
--- /dev/null
+++ b/bridge_data_v2_test/1061/lang.txt
@@ -0,0 +1,2 @@
+put a green object inside the silver pot
+confidence: 0.8
diff --git a/bridge_data_v2_test/10663/lang.txt b/bridge_data_v2_test/10663/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..4834499a60725cb75222740f9a4de497ea9849e8
--- /dev/null
+++ b/bridge_data_v2_test/10663/lang.txt
@@ -0,0 +1,2 @@
+Move thin white block on top of flat white block on right
+confidence: 1
diff --git a/bridge_data_v2_test/10744/lang.txt b/bridge_data_v2_test/10744/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..d665b7ddfb64e9e822b12caa2c67de347a0bb7dc
--- /dev/null
+++ b/bridge_data_v2_test/10744/lang.txt
@@ -0,0 +1,2 @@
+put a ring on a cylinder 
+confidence: 0.6
diff --git a/bridge_data_v2_test/10955/lang.txt b/bridge_data_v2_test/10955/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..585788fd8a907c1fa8fbe3bd1ce75fc22b564837
--- /dev/null
+++ b/bridge_data_v2_test/10955/lang.txt
@@ -0,0 +1,2 @@
+put the lid to the silver pot 
+confidence: 0.8
diff --git a/bridge_data_v2_test/11070/lang.txt b/bridge_data_v2_test/11070/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..ad4ab2898f8c482bf4e9141b040746d1eab01b6b
--- /dev/null
+++ b/bridge_data_v2_test/11070/lang.txt
@@ -0,0 +1,2 @@
+move the blue stuffed toy between the sink and the stove
+confidence: 0.6
diff --git a/bridge_data_v2_test/11266/lang.txt b/bridge_data_v2_test/11266/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..5868316e40f467a1f5c159e60516d6fa9a5ceec9
--- /dev/null
+++ b/bridge_data_v2_test/11266/lang.txt
@@ -0,0 +1,2 @@
+uncovered the silver pot and put the lid on the right side of the table
+confidence: 1
diff --git a/bridge_data_v2_test/11296/lang.txt b/bridge_data_v2_test/11296/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..6c8697664012b8042837ce37d6c7d35a9f4c4163
--- /dev/null
+++ b/bridge_data_v2_test/11296/lang.txt
@@ -0,0 +1,2 @@
+move the silver lid on top of the silver pot
+confidence: 0.4
diff --git a/bridge_data_v2_test/1134/lang.txt b/bridge_data_v2_test/1134/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..03a8bfa4572ef097481a285aac2df3273ec0019e
--- /dev/null
+++ b/bridge_data_v2_test/1134/lang.txt
@@ -0,0 +1,2 @@
+pick up the red fork and place it on the blue cloth
+confidence: 0.6
diff --git a/bridge_data_v2_test/11599/lang.txt b/bridge_data_v2_test/11599/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..efce78e6e5df3384cf253a58b3f00f8c491e8ee7
--- /dev/null
+++ b/bridge_data_v2_test/11599/lang.txt
@@ -0,0 +1,2 @@
+moved the blue spoon to the bottom right corner of the stove
+confidence: 0.6
diff --git a/bridge_data_v2_test/11859/lang.txt b/bridge_data_v2_test/11859/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..d2bd609853f25b45dfea9d713024cfe2b69a5c84
--- /dev/null
+++ b/bridge_data_v2_test/11859/lang.txt
@@ -0,0 +1,2 @@
+sadffds
+confidence: 0.4
diff --git a/bridge_data_v2_test/11901/lang.txt b/bridge_data_v2_test/11901/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..851c3066bb1aec2a6e164cc21e679d3349496c5b
--- /dev/null
+++ b/bridge_data_v2_test/11901/lang.txt
@@ -0,0 +1,2 @@
+put the green arch on the top of the red rectangle
+confidence: 1
diff --git a/bridge_data_v2_test/12035/lang.txt b/bridge_data_v2_test/12035/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..ad9b2c85e6c2a31517d8c6f885584a1384c2207d
--- /dev/null
+++ b/bridge_data_v2_test/12035/lang.txt
@@ -0,0 +1,2 @@
+put the yellow cube on top of the red block
+confidence: 0.6
diff --git a/bridge_data_v2_test/12057/lang.txt b/bridge_data_v2_test/12057/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..52d15c2c881551c54bd2de72c773c78155f9bdbe
--- /dev/null
+++ b/bridge_data_v2_test/12057/lang.txt
@@ -0,0 +1,2 @@
+put the yellow cube on top of the yellow block
+confidence: 1
diff --git a/bridge_data_v2_test/12137/lang.txt b/bridge_data_v2_test/12137/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f998c2f069efdab6fbaa48f71f0359f1925f9f47
--- /dev/null
+++ b/bridge_data_v2_test/12137/lang.txt
@@ -0,0 +1,2 @@
+put the banana in the drawer
+confidence: 0.8
diff --git a/bridge_data_v2_test/12390/lang.txt b/bridge_data_v2_test/12390/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..8ba0e2edf7eee73df4b65a67b4d461b90279ca94
--- /dev/null
+++ b/bridge_data_v2_test/12390/lang.txt
@@ -0,0 +1,2 @@
+Put the corn in the drawer
+confidence: 0.6
diff --git a/bridge_data_v2_test/12411/lang.txt b/bridge_data_v2_test/12411/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..8efd29765112e71b29b579072ff17466925674f1
--- /dev/null
+++ b/bridge_data_v2_test/12411/lang.txt
@@ -0,0 +1,2 @@
+open the drawer
+confidence: 1
diff --git a/bridge_data_v2_test/12687/lang.txt b/bridge_data_v2_test/12687/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..02e445c44af68d86146d53316f672408d3536909
--- /dev/null
+++ b/bridge_data_v2_test/12687/lang.txt
@@ -0,0 +1,2 @@
+close the drawer
+confidence: 0.6
diff --git a/bridge_data_v2_test/13160/lang.txt b/bridge_data_v2_test/13160/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c14d3658a52c57d7bc6efae7caf5d1697c2ff48f
--- /dev/null
+++ b/bridge_data_v2_test/13160/lang.txt
@@ -0,0 +1 @@
+sweep into pile
diff --git a/bridge_data_v2_test/13472/lang.txt b/bridge_data_v2_test/13472/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..5ac2c6c3d0938a31b4477cd4e98992b3008d4956
--- /dev/null
+++ b/bridge_data_v2_test/13472/lang.txt
@@ -0,0 +1,2 @@
+ move the silver pot to the upper right of table
+confidence: 0.8
diff --git a/bridge_data_v2_test/13591/lang.txt b/bridge_data_v2_test/13591/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..afdc2103eeca58c32e518544aeb4725645e7a297
--- /dev/null
+++ b/bridge_data_v2_test/13591/lang.txt
@@ -0,0 +1,2 @@
+took the green object that was in the upper left corner of the table and moved  to the right side
+confidence: 0.6
diff --git a/bridge_data_v2_test/13894/lang.txt b/bridge_data_v2_test/13894/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a90cbbf5a7488c324a636ad36716f7fb904a8af8
--- /dev/null
+++ b/bridge_data_v2_test/13894/lang.txt
@@ -0,0 +1,2 @@
+move the blue cloth in lower right of the table
+confidence: 0.6
diff --git a/bridge_data_v2_test/13927/lang.txt b/bridge_data_v2_test/13927/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..742728c67a08d2e94152a8eadd9d13f42aea9975
--- /dev/null
+++ b/bridge_data_v2_test/13927/lang.txt
@@ -0,0 +1,2 @@
+Take the thing and put it in an upright position.
+confidence: 0.2
diff --git a/bridge_data_v2_test/14013/lang.txt b/bridge_data_v2_test/14013/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..ae422c54f3c7188ff2fa81118e80de4f037312ab
--- /dev/null
+++ b/bridge_data_v2_test/14013/lang.txt
@@ -0,0 +1,2 @@
+remove the silver lid and put it to the left side of the table
+confidence: 1
diff --git a/bridge_data_v2_test/14831/lang.txt b/bridge_data_v2_test/14831/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..70fada60da10d93b72bc8e557b2d95ecd157f3a9
--- /dev/null
+++ b/bridge_data_v2_test/14831/lang.txt
@@ -0,0 +1,2 @@
+put the white arc block on top of the blue arch block
+confidence: 1
diff --git a/bridge_data_v2_test/15007/lang.txt b/bridge_data_v2_test/15007/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..8d530b1c8b0207dd5289a31b91430b20e2b6a089
--- /dev/null
+++ b/bridge_data_v2_test/15007/lang.txt
@@ -0,0 +1,2 @@
+put the cylinder on top of the rectangular block
+confidence: 0.8
diff --git a/bridge_data_v2_test/15156/lang.txt b/bridge_data_v2_test/15156/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a8b3fd1d241380f2d8b00ef3bb847a8d5abf4856
--- /dev/null
+++ b/bridge_data_v2_test/15156/lang.txt
@@ -0,0 +1,2 @@
+remove the triangle block from tower and put it in the right side of the table
+confidence: 0.8
diff --git a/bridge_data_v2_test/1544/lang.txt b/bridge_data_v2_test/1544/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..32fabf19ebdd663d8a4a2baff846af514702f654
--- /dev/null
+++ b/bridge_data_v2_test/1544/lang.txt
@@ -0,0 +1,2 @@
+move the cloth from the left to the right
+confidence: 0.8
diff --git a/bridge_data_v2_test/15725/lang.txt b/bridge_data_v2_test/15725/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..b60a678d15f0e1034f80e5d3e8d66ea7a6213adc
--- /dev/null
+++ b/bridge_data_v2_test/15725/lang.txt
@@ -0,0 +1,2 @@
+put the mouse toy on top of the drawer
+confidence: 0.8
diff --git a/bridge_data_v2_test/15760/lang.txt b/bridge_data_v2_test/15760/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..76ae7cb274171903dff5cc2e4cd7e4ffb7e8acd4
--- /dev/null
+++ b/bridge_data_v2_test/15760/lang.txt
@@ -0,0 +1,2 @@
+put the red object into the drawer 
+confidence: 0.8
diff --git a/bridge_data_v2_test/16338/lang.txt b/bridge_data_v2_test/16338/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..77380eb2bb2a57fd04d87871d5612454b0e41440
--- /dev/null
+++ b/bridge_data_v2_test/16338/lang.txt
@@ -0,0 +1,2 @@
+close the drawer
+confidence: 1
diff --git a/bridge_data_v2_test/16348/lang.txt b/bridge_data_v2_test/16348/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..2400efb7a1fd7cd9b1938a67fcaff7b1691471d2
--- /dev/null
+++ b/bridge_data_v2_test/16348/lang.txt
@@ -0,0 +1,2 @@
+close the drawer
+confidence: 0.8
diff --git a/bridge_data_v2_test/16885/lang.txt b/bridge_data_v2_test/16885/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..4764085557b13b685410dd4a694b6c97393bae68
--- /dev/null
+++ b/bridge_data_v2_test/16885/lang.txt
@@ -0,0 +1,2 @@
+Move the silver pot to the top left burner.
+confidence: 0.8
diff --git a/bridge_data_v2_test/17265/lang.txt b/bridge_data_v2_test/17265/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..845b52a3fab9961eb57e84e7929621a05b8b508f
--- /dev/null
+++ b/bridge_data_v2_test/17265/lang.txt
@@ -0,0 +1 @@
+open microwave
diff --git a/bridge_data_v2_test/1742/lang.txt b/bridge_data_v2_test/1742/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c03cd1cbe5aeac3c5cb213e53fb431d9e9d401bb
--- /dev/null
+++ b/bridge_data_v2_test/1742/lang.txt
@@ -0,0 +1,2 @@
+unfold cloth to bottom left 
+confidence: 0.6
diff --git a/bridge_data_v2_test/17842/lang.txt b/bridge_data_v2_test/17842/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..67abf1e5448e499a4c2f3860a5bac57f4d939ebe
--- /dev/null
+++ b/bridge_data_v2_test/17842/lang.txt
@@ -0,0 +1,2 @@
+move the arch from the rectangular block to the middle of the table
+confidence: 0.8
diff --git a/bridge_data_v2_test/17881/lang.txt b/bridge_data_v2_test/17881/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c2e611be876cbce1a05f4ef82a17a079ae65239c
--- /dev/null
+++ b/bridge_data_v2_test/17881/lang.txt
@@ -0,0 +1,2 @@
+move the yellow block to the bottom right of the table
+confidence: 0.8
diff --git a/bridge_data_v2_test/2248/lang.txt b/bridge_data_v2_test/2248/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..56e9f373a81853f9da314df7bd9f786ee16924a0
--- /dev/null
+++ b/bridge_data_v2_test/2248/lang.txt
@@ -0,0 +1,2 @@
+unfold the cloth from right to left
+confidence: 0.4
diff --git a/bridge_data_v2_test/2557/lang.txt b/bridge_data_v2_test/2557/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..32a0d588eddcfb3f2b82876c03af1638661309da
--- /dev/null
+++ b/bridge_data_v2_test/2557/lang.txt
@@ -0,0 +1,2 @@
+move the from orange figure from the cloth to the right
+confidence: 0.6
diff --git a/bridge_data_v2_test/2944/lang.txt b/bridge_data_v2_test/2944/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..55b2485f78bc2e86658f310e5e68d046b160fcb4
--- /dev/null
+++ b/bridge_data_v2_test/2944/lang.txt
@@ -0,0 +1,2 @@
+fold the cloth from bottom right to top left
+confidence: 0.6
diff --git a/bridge_data_v2_test/3061/lang.txt b/bridge_data_v2_test/3061/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..26bc24037e9e45334291c8a39651f65141a9a4e3
--- /dev/null
+++ b/bridge_data_v2_test/3061/lang.txt
@@ -0,0 +1,2 @@
+put the blue block on top of the yellow block
+confidence: 0.6
diff --git a/bridge_data_v2_test/4208/lang.txt b/bridge_data_v2_test/4208/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..1b21cc19f8f9a252b3c654f5fedfa19073e80ee3
--- /dev/null
+++ b/bridge_data_v2_test/4208/lang.txt
@@ -0,0 +1,2 @@
+moved the basket to the left side of the service
+confidence: 1
diff --git a/bridge_data_v2_test/4323/lang.txt b/bridge_data_v2_test/4323/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9b8377d1defd8925c4fee174d141c9da000df72c
--- /dev/null
+++ b/bridge_data_v2_test/4323/lang.txt
@@ -0,0 +1,3 @@
+take a blue cloth from the washing machine to the outside
+
+confidence: 0.8
diff --git a/bridge_data_v2_test/4379/lang.txt b/bridge_data_v2_test/4379/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..bb2dcca5ec59705937af54f049a5a430185ec22a
--- /dev/null
+++ b/bridge_data_v2_test/4379/lang.txt
@@ -0,0 +1,2 @@
+move the bucket to the left of the table
+confidence: 0.6
diff --git a/bridge_data_v2_test/4786/lang.txt b/bridge_data_v2_test/4786/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..cc4d5dfa2f2763c88221db154a59781d69a378fd
--- /dev/null
+++ b/bridge_data_v2_test/4786/lang.txt
@@ -0,0 +1,2 @@
+ put the blue figure on the top edge of the cloth
+confidence: 0.8
diff --git a/bridge_data_v2_test/4913/lang.txt b/bridge_data_v2_test/4913/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..19f9921c9c0d527fabc027fabaa2eb6cd03ddf27
--- /dev/null
+++ b/bridge_data_v2_test/4913/lang.txt
@@ -0,0 +1,2 @@
+fold the cloth from top to bottom
+confidence: 0.6
diff --git a/bridge_data_v2_test/5414/lang.txt b/bridge_data_v2_test/5414/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..3d8d9a8ee3b0bdd57cce08d1d455818b8a97d838
--- /dev/null
+++ b/bridge_data_v2_test/5414/lang.txt
@@ -0,0 +1,2 @@
+fold the cloth from top left to bottom right
+confidence: 0.6
diff --git a/bridge_data_v2_test/5734/lang.txt b/bridge_data_v2_test/5734/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..b80e3199df4b4e4880e8a841885425ec9f1d4506
--- /dev/null
+++ b/bridge_data_v2_test/5734/lang.txt
@@ -0,0 +1,2 @@
+unfold the cloth from top right to left bottom
+confidence: 1
diff --git a/bridge_data_v2_test/5805/lang.txt b/bridge_data_v2_test/5805/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..90f9b09dbeec1aa7b57f41c8adee5675cc2e50a6
--- /dev/null
+++ b/bridge_data_v2_test/5805/lang.txt
@@ -0,0 +1,2 @@
+fold the cloth from the bottom to the top
+confidence: 0.6
diff --git a/bridge_data_v2_test/5829/lang.txt b/bridge_data_v2_test/5829/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c20092f8a89e65347ade5239832111a3de045710
--- /dev/null
+++ b/bridge_data_v2_test/5829/lang.txt
@@ -0,0 +1,2 @@
+fold the cloth from the bottom left to the top right
+confidence: 0.6
diff --git a/bridge_data_v2_test/583/lang.txt b/bridge_data_v2_test/583/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..198f93b6b2fff74f4e781fed344608afddbeb54e
--- /dev/null
+++ b/bridge_data_v2_test/583/lang.txt
@@ -0,0 +1,2 @@
+put the yellow duck in the drawer
+confidence: 0.8
diff --git a/bridge_data_v2_test/5863/lang.txt b/bridge_data_v2_test/5863/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f5fd0c5355d84e49ab8c9e02c691671ba70c4472
--- /dev/null
+++ b/bridge_data_v2_test/5863/lang.txt
@@ -0,0 +1,2 @@
+Fold cloth from top right to bottom left
+confidence: 1
diff --git a/bridge_data_v2_test/6040/lang.txt b/bridge_data_v2_test/6040/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..3675b8ea4767c94c803e8a1be03367106605a546
--- /dev/null
+++ b/bridge_data_v2_test/6040/lang.txt
@@ -0,0 +1,2 @@
+move the green object to the right side of the table, on top of the tomato
+confidence: 0.8
diff --git a/bridge_data_v2_test/6057/lang.txt b/bridge_data_v2_test/6057/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..8700a2fb1af5596bc6a32bfda8a9fc144afe0620
--- /dev/null
+++ b/bridge_data_v2_test/6057/lang.txt
@@ -0,0 +1,2 @@
+move the tomato from the cloth to table between the capsicum and broccoli
+confidence: 1
diff --git a/bridge_data_v2_test/6213/lang.txt b/bridge_data_v2_test/6213/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..b4f9eec3f81d46ab8ddeeb658ffe7c3dd2581a3f
--- /dev/null
+++ b/bridge_data_v2_test/6213/lang.txt
@@ -0,0 +1,2 @@
+unfold the cloth from bottom right to top left
+confidence: 0.8
diff --git a/bridge_data_v2_test/6365/lang.txt b/bridge_data_v2_test/6365/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..62d0b1cfdb56b36e5ab91c8ffe152bc3d6e55806
--- /dev/null
+++ b/bridge_data_v2_test/6365/lang.txt
@@ -0,0 +1,2 @@
+fold the blue cloth from bottom left to top right
+confidence: 1
diff --git a/bridge_data_v2_test/6507/lang.txt b/bridge_data_v2_test/6507/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..d63e07557f83a3b67b4ea96129b7ba7d9c4c130f
--- /dev/null
+++ b/bridge_data_v2_test/6507/lang.txt
@@ -0,0 +1,2 @@
+unfold the cloth from top right to bottom left
+confidence: 0.8
diff --git a/bridge_data_v2_test/6806/lang.txt b/bridge_data_v2_test/6806/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0c6409ddda530ffb241ed52763cf95039beaa204
--- /dev/null
+++ b/bridge_data_v2_test/6806/lang.txt
@@ -0,0 +1,2 @@
+unfold the cloth from top right to top left
+confidence: 0.4
diff --git a/bridge_data_v2_test/6981/lang.txt b/bridge_data_v2_test/6981/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e3bc484807fd127768f191a2d0aa2c20e51dcce2
--- /dev/null
+++ b/bridge_data_v2_test/6981/lang.txt
@@ -0,0 +1,2 @@
+put the green toy  on top of the drawer
+confidence: 1
diff --git a/bridge_data_v2_test/699/lang.txt b/bridge_data_v2_test/699/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..ba105dbbf6c7c9c69d6f7907b9f597556553cbb0
--- /dev/null
+++ b/bridge_data_v2_test/699/lang.txt
@@ -0,0 +1,2 @@
+moved the red object to the left bottom corner of the cooker
+confidence: 1
diff --git a/bridge_data_v2_test/7151/lang.txt b/bridge_data_v2_test/7151/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..582e6b2e84ea1d319c27dc06120aff05d6ed1424
--- /dev/null
+++ b/bridge_data_v2_test/7151/lang.txt
@@ -0,0 +1,2 @@
+Take the toy out and put it on top of the drawer 
+confidence: 1
diff --git a/bridge_data_v2_test/7401/lang.txt b/bridge_data_v2_test/7401/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..02e445c44af68d86146d53316f672408d3536909
--- /dev/null
+++ b/bridge_data_v2_test/7401/lang.txt
@@ -0,0 +1,2 @@
+close the drawer
+confidence: 0.6
diff --git a/bridge_data_v2_test/7564/lang.txt b/bridge_data_v2_test/7564/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..901e644b4d0abc0ac759fd212ce73a63bd23ce11
--- /dev/null
+++ b/bridge_data_v2_test/7564/lang.txt
@@ -0,0 +1,2 @@
+pick up the banana from the table and place it on top of the drawer
+confidence: 0.4
diff --git a/bridge_data_v2_test/7582/lang.txt b/bridge_data_v2_test/7582/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..8efd29765112e71b29b579072ff17466925674f1
--- /dev/null
+++ b/bridge_data_v2_test/7582/lang.txt
@@ -0,0 +1,2 @@
+open the drawer
+confidence: 1
diff --git a/bridge_data_v2_test/7753/lang.txt b/bridge_data_v2_test/7753/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..52dc96e67e7e248751da63177116b2e5917f9b2e
--- /dev/null
+++ b/bridge_data_v2_test/7753/lang.txt
@@ -0,0 +1,2 @@
+picking and placing the green toy at the left side of the table
+confidence: 0.8
diff --git a/bridge_data_v2_test/7824/lang.txt b/bridge_data_v2_test/7824/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..513f1361058543242153bd355ede7ccbef9fb43a
--- /dev/null
+++ b/bridge_data_v2_test/7824/lang.txt
@@ -0,0 +1,2 @@
+close a drawer
+confidence: 0.6
diff --git a/bridge_data_v2_test/8048/lang.txt b/bridge_data_v2_test/8048/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..4b9b90a858ec673a052d411d1a0bf5a93183ab41
--- /dev/null
+++ b/bridge_data_v2_test/8048/lang.txt
@@ -0,0 +1,2 @@
+fold the cloth from bottom to top 
+confidence: 0.8
diff --git a/bridge_data_v2_test/8745/lang.txt b/bridge_data_v2_test/8745/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f47af291fdfcf914ff3aaa735249e366d98e04f2
--- /dev/null
+++ b/bridge_data_v2_test/8745/lang.txt
@@ -0,0 +1,2 @@
+move yellow container from middle of the table to the bottom right of the table
+confidence: 0.8
diff --git a/bridge_data_v2_test/8790/lang.txt b/bridge_data_v2_test/8790/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..23939a713da89d99bc268c2ca7f29fbbf7e9502a
--- /dev/null
+++ b/bridge_data_v2_test/8790/lang.txt
@@ -0,0 +1,2 @@
+opened the top lid of the silver pot 
+confidence: 0.8
diff --git a/bridge_data_v2_test/9474/lang.txt b/bridge_data_v2_test/9474/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e81b1588cb42df12bb6d4d909687ed514d93e102
--- /dev/null
+++ b/bridge_data_v2_test/9474/lang.txt
@@ -0,0 +1,2 @@
+put the lid on the silver bowl
+confidence: 0.6
diff --git a/bridge_data_v2_test/9779/lang.txt b/bridge_data_v2_test/9779/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..45c67bc42f68e8781af2e0b82c864bcd516aee8d
--- /dev/null
+++ b/bridge_data_v2_test/9779/lang.txt
@@ -0,0 +1,2 @@
+move the purple cloth to the top of the silver pot
+confidence: 1