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diff --git a/bridge_data_v2_test/10132/lang.txt b/bridge_data_v2_test/10132/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..b960d35b2d95908f4d7dd854a5125c3bb4241fa6
--- /dev/null
+++ b/bridge_data_v2_test/10132/lang.txt
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+moved the things of the table
+confidence: 0.6
diff --git a/bridge_data_v2_test/10158/lang.txt b/bridge_data_v2_test/10158/lang.txt
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index 0000000000000000000000000000000000000000..a653dc17eb3304ff01044af1789fd11f924bbce5
--- /dev/null
+++ b/bridge_data_v2_test/10158/lang.txt
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+move the blue brush to the upper left of the table
+confidence: 0.8
diff --git a/bridge_data_v2_test/10541/lang.txt b/bridge_data_v2_test/10541/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..2f87dfca0d9757c18fc0f5b7e3a5a72d07b7ff72
--- /dev/null
+++ b/bridge_data_v2_test/10541/lang.txt
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+ move the silver pot to the upper right of table
+confidence: 0.6
diff --git a/bridge_data_v2_test/10566/lang.txt b/bridge_data_v2_test/10566/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..113b40951f03a20b5bf69f934a911d45098dc9f5
--- /dev/null
+++ b/bridge_data_v2_test/10566/lang.txt
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+put the spatula above the orange cloth
+confidence: 1
diff --git a/bridge_data_v2_test/10805/lang.txt b/bridge_data_v2_test/10805/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..4bd4d138e2c73787a821f6bb7415b7f715c39e03
--- /dev/null
+++ b/bridge_data_v2_test/10805/lang.txt
@@ -0,0 +1,2 @@
+put the ball on the top left side of the table
+confidence: 1
diff --git a/bridge_data_v2_test/10947/lang.txt b/bridge_data_v2_test/10947/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..432fb7debbf066693b035bbe4264b4466b4e5029
--- /dev/null
+++ b/bridge_data_v2_test/10947/lang.txt
@@ -0,0 +1,2 @@
+move the blue spoon to the right side of the stove
+confidence: 1
diff --git a/bridge_data_v2_test/10988/lang.txt b/bridge_data_v2_test/10988/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..92d4898a4cde74cb30adcd2357956e2cbb1b2d8c
--- /dev/null
+++ b/bridge_data_v2_test/10988/lang.txt
@@ -0,0 +1,2 @@
+moved the lid of the metal pot on the on upper corner of the right burner or stove
+confidence: 0.8
diff --git a/bridge_data_v2_test/11017/lang.txt b/bridge_data_v2_test/11017/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e8cbf3d719b5260b45ee8e00878e445d8ef5286e
--- /dev/null
+++ b/bridge_data_v2_test/11017/lang.txt
@@ -0,0 +1,2 @@
+move the silver pot above the yellow brush
+confidence: 1
diff --git a/bridge_data_v2_test/11605/lang.txt b/bridge_data_v2_test/11605/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0ec598f7fa01a938d3f505d61137e5e7499b315a
--- /dev/null
+++ b/bridge_data_v2_test/11605/lang.txt
@@ -0,0 +1,2 @@
+move the banana right next to the green cloth
+confidence: 0.8
diff --git a/bridge_data_v2_test/11630/lang.txt b/bridge_data_v2_test/11630/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..7412ef66b540a5b119f88c81790cb1eed624fea8
--- /dev/null
+++ b/bridge_data_v2_test/11630/lang.txt
@@ -0,0 +1,2 @@
+Remove the lid from the metal container and place it on the orange towel
+confidence: 0.8
diff --git a/bridge_data_v2_test/11688/lang.txt b/bridge_data_v2_test/11688/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..caa84c39e308ca76d8a94ec45dc9a4800197fdd4
--- /dev/null
+++ b/bridge_data_v2_test/11688/lang.txt
@@ -0,0 +1,3 @@
+move the orange object to the left side of the left burner
+
+confidence: 1
diff --git a/bridge_data_v2_test/11905/lang.txt b/bridge_data_v2_test/11905/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..33ef85cdefbbf90645c1b81b53c3f1d8e75aacd5
--- /dev/null
+++ b/bridge_data_v2_test/11905/lang.txt
@@ -0,0 +1,2 @@
+Put the blue cube on top of the red arch
+confidence: 1
diff --git a/bridge_data_v2_test/11978/lang.txt b/bridge_data_v2_test/11978/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..2c74c36393000d9916e4146e7dce81fc5462af01
--- /dev/null
+++ b/bridge_data_v2_test/11978/lang.txt
@@ -0,0 +1,2 @@
+put the blue cube on top of the ring
+confidence: 0.6
diff --git a/bridge_data_v2_test/12076/lang.txt b/bridge_data_v2_test/12076/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..ae9c4a97346cc7505b195d0b90ea314aa0c611c3
--- /dev/null
+++ b/bridge_data_v2_test/12076/lang.txt
@@ -0,0 +1,2 @@
+put the yellow rectangular block on top of the yellow cube
+confidence: 0.2
diff --git a/bridge_data_v2_test/12512/lang.txt b/bridge_data_v2_test/12512/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..77380eb2bb2a57fd04d87871d5612454b0e41440
--- /dev/null
+++ b/bridge_data_v2_test/12512/lang.txt
@@ -0,0 +1,2 @@
+close the drawer
+confidence: 1
diff --git a/bridge_data_v2_test/12526/lang.txt b/bridge_data_v2_test/12526/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c4e78b2c8a0a43049657dbe77abbe966c9a1a7b2
--- /dev/null
+++ b/bridge_data_v2_test/12526/lang.txt
@@ -0,0 +1,2 @@
+picking up the red toy and putting it outside the drawer
+confidence: 0.4
diff --git a/bridge_data_v2_test/12620/lang.txt b/bridge_data_v2_test/12620/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..02e445c44af68d86146d53316f672408d3536909
--- /dev/null
+++ b/bridge_data_v2_test/12620/lang.txt
@@ -0,0 +1,2 @@
+close the drawer
+confidence: 0.6
diff --git a/bridge_data_v2_test/1392/lang.txt b/bridge_data_v2_test/1392/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..bf74a389c18d66f427fdea4d4cf38e0ba19a1340
--- /dev/null
+++ b/bridge_data_v2_test/1392/lang.txt
@@ -0,0 +1,2 @@
+move the cloth from left to right
+confidence: 0.8
diff --git a/bridge_data_v2_test/14110/lang.txt b/bridge_data_v2_test/14110/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a1c5091097e84a26b8c2e4cca3aaf6fc62da14c3
--- /dev/null
+++ b/bridge_data_v2_test/14110/lang.txt
@@ -0,0 +1,2 @@
+moved the silver pot to the left side of the table
+confidence: 0.6
diff --git a/bridge_data_v2_test/1412/lang.txt b/bridge_data_v2_test/1412/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..2bbdf02748ed5f85245cb6925489af9d956382a2
--- /dev/null
+++ b/bridge_data_v2_test/1412/lang.txt
@@ -0,0 +1,2 @@
+unfolding the cloth from top left to bottom right
+confidence: 0.6
diff --git a/bridge_data_v2_test/1414/lang.txt b/bridge_data_v2_test/1414/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..813df2c7b0ff6305963813a5003618c491534ed5
--- /dev/null
+++ b/bridge_data_v2_test/1414/lang.txt
@@ -0,0 +1,2 @@
+move the cloth from bottom left corner of the stove to top right corner of the stove.
+confidence: 1
diff --git a/bridge_data_v2_test/14220/lang.txt b/bridge_data_v2_test/14220/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..4ba5bb968463fbff270d4cb93b178e789951a415
--- /dev/null
+++ b/bridge_data_v2_test/14220/lang.txt
@@ -0,0 +1,2 @@
+remove the lid from the pot and put it on the upper right side of the table
+confidence: 1
diff --git a/bridge_data_v2_test/1464/lang.txt b/bridge_data_v2_test/1464/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..d50a0c752cd4474055bb447bb6ed2e031db83c18
--- /dev/null
+++ b/bridge_data_v2_test/1464/lang.txt
@@ -0,0 +1,2 @@
+fold the cloth from bottom to the top
+confidence: 0.6
diff --git a/bridge_data_v2_test/14649/lang.txt b/bridge_data_v2_test/14649/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a8c3e55ad0959d1fc7df87acf90628c053f34cbf
--- /dev/null
+++ b/bridge_data_v2_test/14649/lang.txt
@@ -0,0 +1,2 @@
+put the brown chess on top of the cube
+confidence: 0.8
diff --git a/bridge_data_v2_test/14798/lang.txt b/bridge_data_v2_test/14798/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..bdcc99005469c70a6d7b8a861c8b430b00f6a312
--- /dev/null
+++ b/bridge_data_v2_test/14798/lang.txt
@@ -0,0 +1,2 @@
+move the  green figure the top edge of the figure blue
+confidence: 0.8
diff --git a/bridge_data_v2_test/14938/lang.txt b/bridge_data_v2_test/14938/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..5dbc19c1f3258756c6a09fbd03b8e5bee7750974
--- /dev/null
+++ b/bridge_data_v2_test/14938/lang.txt
@@ -0,0 +1,2 @@
+take the rectangular block and put it on top of the rectangular
+confidence: 0.6
diff --git a/bridge_data_v2_test/14968/lang.txt b/bridge_data_v2_test/14968/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e79d98a570a88aaba04761ecab96f129c24515d7
--- /dev/null
+++ b/bridge_data_v2_test/14968/lang.txt
@@ -0,0 +1,2 @@
+put the cylinder on top of the arch
+confidence: 0.6
diff --git a/bridge_data_v2_test/15052/lang.txt b/bridge_data_v2_test/15052/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c4a06430cd156ccaf6d0352d623a23f919d071f9
--- /dev/null
+++ b/bridge_data_v2_test/15052/lang.txt
@@ -0,0 +1,2 @@
+put the white pawn on top of the tall white cylinder
+confidence: 1
diff --git a/bridge_data_v2_test/15528/lang.txt b/bridge_data_v2_test/15528/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9174684de9b3c827d287b7957597679bdbbe64fe
--- /dev/null
+++ b/bridge_data_v2_test/15528/lang.txt
@@ -0,0 +1,2 @@
+move the triangle box and place top of the other triangle 
+confidence: 0.8
diff --git a/bridge_data_v2_test/15684/lang.txt b/bridge_data_v2_test/15684/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..74036baae15671a2801af9ab370411d2d250ddad
--- /dev/null
+++ b/bridge_data_v2_test/15684/lang.txt
@@ -0,0 +1,2 @@
+move the red thing to on the drawer
+confidence: 0.4
diff --git a/bridge_data_v2_test/15877/lang.txt b/bridge_data_v2_test/15877/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..2f87c4c6df695122da9924e00a967fe96c26abcc
--- /dev/null
+++ b/bridge_data_v2_test/15877/lang.txt
@@ -0,0 +1,2 @@
+picked up the black-and-white thing from the table
+confidence: 0.4
diff --git a/bridge_data_v2_test/15891/lang.txt b/bridge_data_v2_test/15891/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..cf9ed3fc6699e443eadbbc5e0324ff5c31b2ba26
--- /dev/null
+++ b/bridge_data_v2_test/15891/lang.txt
@@ -0,0 +1,2 @@
+placed the tiger between the elephant and egg
+confidence: 0.8
diff --git a/bridge_data_v2_test/1594/lang.txt b/bridge_data_v2_test/1594/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c828e1deca93bb3daac553610eadeb7e0b54d321
--- /dev/null
+++ b/bridge_data_v2_test/1594/lang.txt
@@ -0,0 +1,2 @@
+move the cloth to the left of the table
+confidence: 0.8
diff --git a/bridge_data_v2_test/16005/lang.txt b/bridge_data_v2_test/16005/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..2400efb7a1fd7cd9b1938a67fcaff7b1691471d2
--- /dev/null
+++ b/bridge_data_v2_test/16005/lang.txt
@@ -0,0 +1,2 @@
+close the drawer
+confidence: 0.8
diff --git a/bridge_data_v2_test/16139/lang.txt b/bridge_data_v2_test/16139/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..2400efb7a1fd7cd9b1938a67fcaff7b1691471d2
--- /dev/null
+++ b/bridge_data_v2_test/16139/lang.txt
@@ -0,0 +1,2 @@
+close the drawer
+confidence: 0.8
diff --git a/bridge_data_v2_test/16155/lang.txt b/bridge_data_v2_test/16155/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..95b97cdfdbff2d6ed227782b8746da58cb03ea46
--- /dev/null
+++ b/bridge_data_v2_test/16155/lang.txt
@@ -0,0 +1,2 @@
+take the yellow duck out of the drawer and put it on top of the drawer
+confidence: 0.6
diff --git a/bridge_data_v2_test/16288/lang.txt b/bridge_data_v2_test/16288/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c3e0db03afb35cd33fdbb5bd5efc17fd323ad2a3
--- /dev/null
+++ b/bridge_data_v2_test/16288/lang.txt
@@ -0,0 +1,2 @@
+picked up the yellow object and placed it closer to the left edge of the table
+confidence: 0.4
diff --git a/bridge_data_v2_test/16329/lang.txt b/bridge_data_v2_test/16329/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..113d4227a2b713fc9ae10834987baf1eb104dc63
--- /dev/null
+++ b/bridge_data_v2_test/16329/lang.txt
@@ -0,0 +1,2 @@
+move the object to the middle of the table
+confidence: 0.6
diff --git a/bridge_data_v2_test/16382/lang.txt b/bridge_data_v2_test/16382/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..90f5351867c23e0e99d825e90160e7826d0abe1f
--- /dev/null
+++ b/bridge_data_v2_test/16382/lang.txt
@@ -0,0 +1,2 @@
+put the red object on top of the drawer
+confidence: 0.8
diff --git a/bridge_data_v2_test/17056/lang.txt b/bridge_data_v2_test/17056/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..4eabdedc8b9d49549db693e29ff923690fb85731
--- /dev/null
+++ b/bridge_data_v2_test/17056/lang.txt
@@ -0,0 +1,2 @@
+moves the silver pot to the top right burner
+confidence: 1
diff --git a/bridge_data_v2_test/17140/lang.txt b/bridge_data_v2_test/17140/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..359324f6d4f93d33ebabe6a9f28beeebfe9b8b80
--- /dev/null
+++ b/bridge_data_v2_test/17140/lang.txt
@@ -0,0 +1,2 @@
+move the yellow object and put it on the lower left burner
+confidence: 1
diff --git a/bridge_data_v2_test/17315/lang.txt b/bridge_data_v2_test/17315/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..772ea033cb7713e1caf8c649c27c93386204d30a
--- /dev/null
+++ b/bridge_data_v2_test/17315/lang.txt
@@ -0,0 +1,2 @@
+put the green triangle on top of the cube with a hole
+confidence: 0.8
diff --git a/bridge_data_v2_test/17584/lang.txt b/bridge_data_v2_test/17584/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..31d49e4ebb504df09b013619210d8baeb58c56be
--- /dev/null
+++ b/bridge_data_v2_test/17584/lang.txt
@@ -0,0 +1,2 @@
+move white cylinder on the white rectangle 
+confidence: 1
diff --git a/bridge_data_v2_test/17720/lang.txt b/bridge_data_v2_test/17720/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..25168ab4b90df8bd13f3e8ad6f3b5fda4620ac34
--- /dev/null
+++ b/bridge_data_v2_test/17720/lang.txt
@@ -0,0 +1,2 @@
+move the cube from the tower on top of the yellow cube
+confidence: 1
diff --git a/bridge_data_v2_test/17746/lang.txt b/bridge_data_v2_test/17746/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..8f4a97397f05cfaaec3dd39597827b773e5c9d6c
--- /dev/null
+++ b/bridge_data_v2_test/17746/lang.txt
@@ -0,0 +1,2 @@
+pick up the white cylinder and put it back on the centre of the table
+confidence: 0.4
diff --git a/bridge_data_v2_test/18265/lang.txt b/bridge_data_v2_test/18265/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c14d3658a52c57d7bc6efae7caf5d1697c2ff48f
--- /dev/null
+++ b/bridge_data_v2_test/18265/lang.txt
@@ -0,0 +1 @@
+sweep into pile
diff --git a/bridge_data_v2_test/2239/lang.txt b/bridge_data_v2_test/2239/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..4602b644af9133bac4b8be23a7b20065e8c27291
--- /dev/null
+++ b/bridge_data_v2_test/2239/lang.txt
@@ -0,0 +1,2 @@
+pick the orange thing and place it on the cloth
+confidence: 0.8
diff --git a/bridge_data_v2_test/2286/lang.txt b/bridge_data_v2_test/2286/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..926a3b0552dbc4f800e916c1d79a929d44627e6e
--- /dev/null
+++ b/bridge_data_v2_test/2286/lang.txt
@@ -0,0 +1,2 @@
+unfold the cloth from right to left
+confidence: 0.6
diff --git a/bridge_data_v2_test/2302/lang.txt b/bridge_data_v2_test/2302/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..8761ab5ad5383374b99774229b1b8f84df2fbc85
--- /dev/null
+++ b/bridge_data_v2_test/2302/lang.txt
@@ -0,0 +1,2 @@
+unfold the cloth from bottom to top
+confidence: 0.8
diff --git a/bridge_data_v2_test/2328/lang.txt b/bridge_data_v2_test/2328/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e3bae0dbd04cc5ead017f51c51ac27aea3854b73
--- /dev/null
+++ b/bridge_data_v2_test/2328/lang.txt
@@ -0,0 +1,2 @@
+fold the cloth from top right to bottom left
+confidence: 0.8
diff --git a/bridge_data_v2_test/2866/lang.txt b/bridge_data_v2_test/2866/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..41652c92bb87c707ee06ec75a5cbd7ab9dc67dc2
--- /dev/null
+++ b/bridge_data_v2_test/2866/lang.txt
@@ -0,0 +1,2 @@
+ put the blue figure on the top edge of the cloth
+confidence: 0.4
diff --git a/bridge_data_v2_test/3345/lang.txt b/bridge_data_v2_test/3345/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c14d3658a52c57d7bc6efae7caf5d1697c2ff48f
--- /dev/null
+++ b/bridge_data_v2_test/3345/lang.txt
@@ -0,0 +1 @@
+sweep into pile
diff --git a/bridge_data_v2_test/3360/lang.txt b/bridge_data_v2_test/3360/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c14d3658a52c57d7bc6efae7caf5d1697c2ff48f
--- /dev/null
+++ b/bridge_data_v2_test/3360/lang.txt
@@ -0,0 +1 @@
+sweep into pile
diff --git a/bridge_data_v2_test/3466/lang.txt b/bridge_data_v2_test/3466/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c14d3658a52c57d7bc6efae7caf5d1697c2ff48f
--- /dev/null
+++ b/bridge_data_v2_test/3466/lang.txt
@@ -0,0 +1 @@
+sweep into pile
diff --git a/bridge_data_v2_test/3717/lang.txt b/bridge_data_v2_test/3717/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c14d3658a52c57d7bc6efae7caf5d1697c2ff48f
--- /dev/null
+++ b/bridge_data_v2_test/3717/lang.txt
@@ -0,0 +1 @@
+sweep into pile
diff --git a/bridge_data_v2_test/3728/lang.txt b/bridge_data_v2_test/3728/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c14d3658a52c57d7bc6efae7caf5d1697c2ff48f
--- /dev/null
+++ b/bridge_data_v2_test/3728/lang.txt
@@ -0,0 +1 @@
+sweep into pile
diff --git a/bridge_data_v2_test/398/lang.txt b/bridge_data_v2_test/398/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..da52a02b744af349b195b302ea0c7eda7f981d87
--- /dev/null
+++ b/bridge_data_v2_test/398/lang.txt
@@ -0,0 +1,2 @@
+take the red spoon and put it on the upper left side of the stove 
+confidence: 0.8
diff --git a/bridge_data_v2_test/4020/lang.txt b/bridge_data_v2_test/4020/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..4c842979863374be6c5730ce2f199e48c784d101
--- /dev/null
+++ b/bridge_data_v2_test/4020/lang.txt
@@ -0,0 +1,2 @@
+take the purple cloth from the basket to the middle of the table
+confidence: 0.6
diff --git a/bridge_data_v2_test/499/lang.txt b/bridge_data_v2_test/499/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..5c4ed5c1e7947ac1ab8885e1e51b597695390e46
--- /dev/null
+++ b/bridge_data_v2_test/499/lang.txt
@@ -0,0 +1,2 @@
+took the object and put it on the right side of the stove
+confidence: 0.2
diff --git a/bridge_data_v2_test/5047/lang.txt b/bridge_data_v2_test/5047/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..875a61e3ef7db1d3cc8419f20b4b4188af6d190b
--- /dev/null
+++ b/bridge_data_v2_test/5047/lang.txt
@@ -0,0 +1,2 @@
+folded the cloth from top right to bottom left
+confidence: 0.8
diff --git a/bridge_data_v2_test/5163/lang.txt b/bridge_data_v2_test/5163/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..d217330eafaa454e2deda5655fac0f0fcd8a117b
--- /dev/null
+++ b/bridge_data_v2_test/5163/lang.txt
@@ -0,0 +1,2 @@
+the robot did nothing
+confidence: 0.8
diff --git a/bridge_data_v2_test/5420/lang.txt b/bridge_data_v2_test/5420/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..926a3b0552dbc4f800e916c1d79a929d44627e6e
--- /dev/null
+++ b/bridge_data_v2_test/5420/lang.txt
@@ -0,0 +1,2 @@
+unfold the cloth from right to left
+confidence: 0.6
diff --git a/bridge_data_v2_test/6707/lang.txt b/bridge_data_v2_test/6707/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..8bc5b68c54ab50429d71ddafd5baf485b36e2f50
--- /dev/null
+++ b/bridge_data_v2_test/6707/lang.txt
@@ -0,0 +1,2 @@
+unfold from left to right
+confidence: 0.8
diff --git a/bridge_data_v2_test/6993/lang.txt b/bridge_data_v2_test/6993/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..8efd29765112e71b29b579072ff17466925674f1
--- /dev/null
+++ b/bridge_data_v2_test/6993/lang.txt
@@ -0,0 +1,2 @@
+open the drawer
+confidence: 1
diff --git a/bridge_data_v2_test/7262/lang.txt b/bridge_data_v2_test/7262/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..70c5299af2725e38701707516ce94ce63bc4bbec
--- /dev/null
+++ b/bridge_data_v2_test/7262/lang.txt
@@ -0,0 +1,2 @@
+take the yellow banana and put in the left bottom of the table
+confidence: 0.8
diff --git a/bridge_data_v2_test/8163/lang.txt b/bridge_data_v2_test/8163/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..ae375b69639bd3674f6ca017d2007879d747bd19
--- /dev/null
+++ b/bridge_data_v2_test/8163/lang.txt
@@ -0,0 +1,2 @@
+folded the loth from top to bottom
+confidence: 0.8
diff --git a/bridge_data_v2_test/8224/lang.txt b/bridge_data_v2_test/8224/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..63ff8affbe61dcd2730568c1929a0845be15108e
--- /dev/null
+++ b/bridge_data_v2_test/8224/lang.txt
@@ -0,0 +1,2 @@
+fold the cloth from top to bottom
+confidence: 0.8
diff --git a/bridge_data_v2_test/838/lang.txt b/bridge_data_v2_test/838/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..ad3a299251d31af3059132e869558c76529626bf
--- /dev/null
+++ b/bridge_data_v2_test/838/lang.txt
@@ -0,0 +1,2 @@
+moves the yellow brush on the top side of the right stove
+confidence: 0.4
diff --git a/bridge_data_v2_test/8528/lang.txt b/bridge_data_v2_test/8528/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..4fccf6a3fe5682c69609ad45510d8199848295a9
--- /dev/null
+++ b/bridge_data_v2_test/8528/lang.txt
@@ -0,0 +1,2 @@
+fold the fabric from right to left
+confidence: 0.4
diff --git a/bridge_data_v2_test/8634/lang.txt b/bridge_data_v2_test/8634/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..609fa8171eb5a4656b855724cb3721f7da9657c7
--- /dev/null
+++ b/bridge_data_v2_test/8634/lang.txt
@@ -0,0 +1,2 @@
+move the cloth to the left of the table
+confidence: 0.6
diff --git a/bridge_data_v2_test/864/lang.txt b/bridge_data_v2_test/864/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e8518e1e9de60ab3635f2125be75f1151b829f5d
--- /dev/null
+++ b/bridge_data_v2_test/864/lang.txt
@@ -0,0 +1,2 @@
+put the cuboid into the pot
+confidence: 0.8
diff --git a/bridge_data_v2_test/8694/lang.txt b/bridge_data_v2_test/8694/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..d554ec250b18ed36a847661fd25f14f50539d178
--- /dev/null
+++ b/bridge_data_v2_test/8694/lang.txt
@@ -0,0 +1,2 @@
+move the strawberry on the right side of the table
+confidence: 0.4
diff --git a/bridge_data_v2_test/8833/lang.txt b/bridge_data_v2_test/8833/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..624c518668b418b8ccb506bbdba7f372121da7f3
--- /dev/null
+++ b/bridge_data_v2_test/8833/lang.txt
@@ -0,0 +1,2 @@
+move the pot to the left side of the table
+confidence: 0.4
diff --git a/bridge_data_v2_test/9076/lang.txt b/bridge_data_v2_test/9076/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f316d1fc8e0164c9939bf600527b46a3da5ec6c9
--- /dev/null
+++ b/bridge_data_v2_test/9076/lang.txt
@@ -0,0 +1,2 @@
+moved the silver pot the center of the table
+confidence: 0.2
diff --git a/bridge_data_v2_test/9536/lang.txt b/bridge_data_v2_test/9536/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..b2a6ac2a4d0a603caeab1e13f88ce194d3a3452d
--- /dev/null
+++ b/bridge_data_v2_test/9536/lang.txt
@@ -0,0 +1,2 @@
+move the silver pot into the upper right side of the table 
+confidence: 0.6