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diff --git a/bridge_data_v2_test/10046/lang.txt b/bridge_data_v2_test/10046/lang.txt
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index 0000000000000000000000000000000000000000..c28129f84e465ac624d9bb2b2390726546b6f920
--- /dev/null
+++ b/bridge_data_v2_test/10046/lang.txt
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+moved the silver pot cover to the upper right of the table
+confidence: 0.6
diff --git a/bridge_data_v2_test/1073/lang.txt b/bridge_data_v2_test/1073/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..2cfd2474d5fa0fafbe84cbcae4a3334690b17a39
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+Place the blue piece to the left of the burner
+
+confidence: 0.4
diff --git a/bridge_data_v2_test/12352/lang.txt b/bridge_data_v2_test/12352/lang.txt
new file mode 100644
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--- /dev/null
+++ b/bridge_data_v2_test/12352/lang.txt
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+move the sushi from the top the drawer to the bottom left of the table
+confidence: 0.8
diff --git a/bridge_data_v2_test/12518/lang.txt b/bridge_data_v2_test/12518/lang.txt
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--- /dev/null
+++ b/bridge_data_v2_test/12518/lang.txt
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+opened the drawer 
+confidence: 0.6
diff --git a/bridge_data_v2_test/12676/lang.txt b/bridge_data_v2_test/12676/lang.txt
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index 0000000000000000000000000000000000000000..02e445c44af68d86146d53316f672408d3536909
--- /dev/null
+++ b/bridge_data_v2_test/12676/lang.txt
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+close the drawer
+confidence: 0.6
diff --git a/bridge_data_v2_test/13271/lang.txt b/bridge_data_v2_test/13271/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c14d3658a52c57d7bc6efae7caf5d1697c2ff48f
--- /dev/null
+++ b/bridge_data_v2_test/13271/lang.txt
@@ -0,0 +1 @@
+sweep into pile
diff --git a/bridge_data_v2_test/13742/lang.txt b/bridge_data_v2_test/13742/lang.txt
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--- /dev/null
+++ b/bridge_data_v2_test/13742/lang.txt
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+move the spoon a little to the right
+confidence: 0.8
diff --git a/bridge_data_v2_test/13744/lang.txt b/bridge_data_v2_test/13744/lang.txt
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index 0000000000000000000000000000000000000000..1ae0accbd598a12c8a3774acaf4a62fda920f54a
--- /dev/null
+++ b/bridge_data_v2_test/13744/lang.txt
@@ -0,0 +1,2 @@
+move the blue cloth to the left top of the table
+confidence: 0.6
diff --git a/bridge_data_v2_test/13840/lang.txt b/bridge_data_v2_test/13840/lang.txt
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index 0000000000000000000000000000000000000000..20d4c6cfb98cc1e79304829aee85b7f928d1e4c0
--- /dev/null
+++ b/bridge_data_v2_test/13840/lang.txt
@@ -0,0 +1,2 @@
+take the blue spoon and place it in the middle of the table
+confidence: 0.8
diff --git a/bridge_data_v2_test/1390/lang.txt b/bridge_data_v2_test/1390/lang.txt
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index 0000000000000000000000000000000000000000..14112256d2f677dcc82d19d221484c3d01013d0a
--- /dev/null
+++ b/bridge_data_v2_test/1390/lang.txt
@@ -0,0 +1,2 @@
+unfold the cloth from right to left
+confidence: 1
diff --git a/bridge_data_v2_test/14106/lang.txt b/bridge_data_v2_test/14106/lang.txt
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index 0000000000000000000000000000000000000000..c2db479c36352bb5b5b39b13192975e7c7728a79
--- /dev/null
+++ b/bridge_data_v2_test/14106/lang.txt
@@ -0,0 +1,2 @@
+Take the silver lid and place it over the soap strainer
+confidence: 0.6
diff --git a/bridge_data_v2_test/14264/lang.txt b/bridge_data_v2_test/14264/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..10c1da71db906e179f4219ecc1219b58c735c6bd
--- /dev/null
+++ b/bridge_data_v2_test/14264/lang.txt
@@ -0,0 +1,2 @@
+slide the can of corn across the table and against the blue towel to the bottom right of the table
+confidence: 0.8
diff --git a/bridge_data_v2_test/14294/lang.txt b/bridge_data_v2_test/14294/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..5fab4c7df30324d26d8297d9d0ce569ff86c96f6
--- /dev/null
+++ b/bridge_data_v2_test/14294/lang.txt
@@ -0,0 +1,2 @@
+move the lid from the silver pot to the lower left of the table
+confidence: 0.2
diff --git a/bridge_data_v2_test/14333/lang.txt b/bridge_data_v2_test/14333/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..44c662331656ff746e59b8b6fa0604960f5a6b19
--- /dev/null
+++ b/bridge_data_v2_test/14333/lang.txt
@@ -0,0 +1,2 @@
+Put the lid over the blue cloth.
+confidence: 1
diff --git a/bridge_data_v2_test/14393/lang.txt b/bridge_data_v2_test/14393/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..684684ec74f41de7fed21c794c2f29e9540ec246
--- /dev/null
+++ b/bridge_data_v2_test/14393/lang.txt
@@ -0,0 +1,2 @@
+moved the can to the middle of the table
+confidence: 0.8
diff --git a/bridge_data_v2_test/14508/lang.txt b/bridge_data_v2_test/14508/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..88b8896a309d05c0f0a39061d12b4ada2626d446
--- /dev/null
+++ b/bridge_data_v2_test/14508/lang.txt
@@ -0,0 +1,2 @@
+move the block 
+confidence: 1
diff --git a/bridge_data_v2_test/14630/lang.txt b/bridge_data_v2_test/14630/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..aaa949fd128481debb078ee30c4775dec75172c5
--- /dev/null
+++ b/bridge_data_v2_test/14630/lang.txt
@@ -0,0 +1,2 @@
+put the ball in the cup
+confidence: 0.6
diff --git a/bridge_data_v2_test/14790/lang.txt b/bridge_data_v2_test/14790/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9b63110357108832e211c031132f284b9a044fc6
--- /dev/null
+++ b/bridge_data_v2_test/14790/lang.txt
@@ -0,0 +1,2 @@
+put the green arch on top of the tower to the right side of the table
+confidence: 0.2
diff --git a/bridge_data_v2_test/15026/lang.txt b/bridge_data_v2_test/15026/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9657f5a261b19afbba20beabc6a26b87689d8ac9
--- /dev/null
+++ b/bridge_data_v2_test/15026/lang.txt
@@ -0,0 +1,2 @@
+put the cylinder on top of the cube with hole
+confidence: 0.6
diff --git a/bridge_data_v2_test/15044/lang.txt b/bridge_data_v2_test/15044/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..806dd72cc2a8deeea880c7bf9724c5488bec39bc
--- /dev/null
+++ b/bridge_data_v2_test/15044/lang.txt
@@ -0,0 +1,2 @@
+the robot has placed the red block on top of the green block .
+confidence: 1
diff --git a/bridge_data_v2_test/15226/lang.txt b/bridge_data_v2_test/15226/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..ebebe69884df8d38296c82d64b946f99df0cdc0a
--- /dev/null
+++ b/bridge_data_v2_test/15226/lang.txt
@@ -0,0 +1,3 @@
+the machine picks up green and moves it to red
+
+confidence: 0.4
diff --git a/bridge_data_v2_test/15341/lang.txt b/bridge_data_v2_test/15341/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..ddcf7819eaa505b522432605c5c203382adcf2fa
--- /dev/null
+++ b/bridge_data_v2_test/15341/lang.txt
@@ -0,0 +1,2 @@
+put the blue cube on top of the tower with the other blue cube
+confidence: 0.8
diff --git a/bridge_data_v2_test/15420/lang.txt b/bridge_data_v2_test/15420/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..73a2c33d3419399746493e947eff3c329d52ff89
--- /dev/null
+++ b/bridge_data_v2_test/15420/lang.txt
@@ -0,0 +1,2 @@
+put yellow block on top of red block
+confidence: 0.6
diff --git a/bridge_data_v2_test/1551/lang.txt b/bridge_data_v2_test/1551/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..60b89df46d4814f2614b0e63eed90ebe4dced50a
--- /dev/null
+++ b/bridge_data_v2_test/1551/lang.txt
@@ -0,0 +1,2 @@
+unfold the cloth from the middle to the top 
+confidence: 0.6
diff --git a/bridge_data_v2_test/15692/lang.txt b/bridge_data_v2_test/15692/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..71b4d519420fc125739dd7e270009009414d5b5d
--- /dev/null
+++ b/bridge_data_v2_test/15692/lang.txt
@@ -0,0 +1,2 @@
+close and open the drawer
+confidence: 0.8
diff --git a/bridge_data_v2_test/1572/lang.txt b/bridge_data_v2_test/1572/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..5ed899468853007a9c5a27eb4be33fc82089ffd8
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+++ b/bridge_data_v2_test/1572/lang.txt
@@ -0,0 +1,2 @@
+fold the cloth from top left to the right bottom
+confidence: 0.8
diff --git a/bridge_data_v2_test/15818/lang.txt b/bridge_data_v2_test/15818/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..4cbe1669f8b965e838f11534f30df5e172d2153b
--- /dev/null
+++ b/bridge_data_v2_test/15818/lang.txt
@@ -0,0 +1,2 @@
+put the pink object to the left side of the table
+confidence: 1
diff --git a/bridge_data_v2_test/15858/lang.txt b/bridge_data_v2_test/15858/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..cd274e2b42572b9812f2056d1aefbe1511cc1c32
--- /dev/null
+++ b/bridge_data_v2_test/15858/lang.txt
@@ -0,0 +1,2 @@
+closed the drawer
+confidence: 0.8
diff --git a/bridge_data_v2_test/15905/lang.txt b/bridge_data_v2_test/15905/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..907d6c74ae1c35129acbc61cbf0d7ab277df11ed
--- /dev/null
+++ b/bridge_data_v2_test/15905/lang.txt
@@ -0,0 +1,2 @@
+move the red thing in the right side of the table
+confidence: 0.8
diff --git a/bridge_data_v2_test/16098/lang.txt b/bridge_data_v2_test/16098/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..2a62f8b560954e0de978ec4b436fe96c46249715
--- /dev/null
+++ b/bridge_data_v2_test/16098/lang.txt
@@ -0,0 +1,2 @@
+open the drawer
+confidence: 0.4
diff --git a/bridge_data_v2_test/16325/lang.txt b/bridge_data_v2_test/16325/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e225ed8becc0b0e936a1c15dd4171d385e134956
--- /dev/null
+++ b/bridge_data_v2_test/16325/lang.txt
@@ -0,0 +1,2 @@
+takes the toy and leaves it on top of the drawer
+confidence: 0.8
diff --git a/bridge_data_v2_test/16721/lang.txt b/bridge_data_v2_test/16721/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..47a7951600fec53a019a3fca594f5dd3817d335c
--- /dev/null
+++ b/bridge_data_v2_test/16721/lang.txt
@@ -0,0 +1,2 @@
+move the blue spoon to the lower left burner
+confidence: 0.2
diff --git a/bridge_data_v2_test/16778/lang.txt b/bridge_data_v2_test/16778/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..de4365cfde184480c22050136a44d3d20b5a7783
--- /dev/null
+++ b/bridge_data_v2_test/16778/lang.txt
@@ -0,0 +1,2 @@
+move the lid of the silver pot in the right side burner
+confidence: 1
diff --git a/bridge_data_v2_test/17614/lang.txt b/bridge_data_v2_test/17614/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..5334f38ba933319ed22a8913ba053f3b8031edb8
--- /dev/null
+++ b/bridge_data_v2_test/17614/lang.txt
@@ -0,0 +1,2 @@
+put the green arch on top of the block
+confidence: 0.4
diff --git a/bridge_data_v2_test/1821/lang.txt b/bridge_data_v2_test/1821/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e23f6c494af6a2480e17f3d4e93654c1180f4c8e
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+++ b/bridge_data_v2_test/1821/lang.txt
@@ -0,0 +1,2 @@
+unfold the cloth from center to left top 
+confidence: 0.8
diff --git a/bridge_data_v2_test/1859/lang.txt b/bridge_data_v2_test/1859/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..6d44ac03633ededd86296737a7e9a479fa983489
--- /dev/null
+++ b/bridge_data_v2_test/1859/lang.txt
@@ -0,0 +1,2 @@
+fold the cloth from bottom left to top right
+confidence: 0.6
diff --git a/bridge_data_v2_test/1915/lang.txt b/bridge_data_v2_test/1915/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e4bc9d3156a2e2f6d12e8e747cf651a11826ea2b
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+++ b/bridge_data_v2_test/1915/lang.txt
@@ -0,0 +1,2 @@
+fold the cloth from the bottom right to the upper right
+confidence: 0.8
diff --git a/bridge_data_v2_test/2284/lang.txt b/bridge_data_v2_test/2284/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..1d1741603c906de3843ce09cd4f87fb10cbca9ef
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+++ b/bridge_data_v2_test/2284/lang.txt
@@ -0,0 +1,2 @@
+put the object at the top side of the cloth 
+confidence: 1
diff --git a/bridge_data_v2_test/2323/lang.txt b/bridge_data_v2_test/2323/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..fff77ac0dcf635b1c32176c5fc20d4de6abd2453
--- /dev/null
+++ b/bridge_data_v2_test/2323/lang.txt
@@ -0,0 +1,2 @@
+put the strawberry into the left of the table
+confidence: 0.6
diff --git a/bridge_data_v2_test/2343/lang.txt b/bridge_data_v2_test/2343/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..216ab49db53608a7d0e3f6cc3130bc1e0ab856fe
--- /dev/null
+++ b/bridge_data_v2_test/2343/lang.txt
@@ -0,0 +1,2 @@
+Move the red object from the cloth to the left
+confidence: 1
diff --git a/bridge_data_v2_test/244/lang.txt b/bridge_data_v2_test/244/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..308b42c8632adfa16b2ea386973f330d4c76215a
--- /dev/null
+++ b/bridge_data_v2_test/244/lang.txt
@@ -0,0 +1,2 @@
+place the banana on top of the bottom right burner
+confidence: 0.8
diff --git a/bridge_data_v2_test/2609/lang.txt b/bridge_data_v2_test/2609/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..8146b0842844eaebe0dc95ec19a5cb25785f77ce
--- /dev/null
+++ b/bridge_data_v2_test/2609/lang.txt
@@ -0,0 +1,2 @@
+move the red object from the top right of the table to the bottom left side of the yellow cloth
+confidence: 0.8
diff --git a/bridge_data_v2_test/2804/lang.txt b/bridge_data_v2_test/2804/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f0301eb6b692c5cf85bc9d1925ff2d65808398b2
--- /dev/null
+++ b/bridge_data_v2_test/2804/lang.txt
@@ -0,0 +1,2 @@
+fold the cloth from left to right
+confidence: 1
diff --git a/bridge_data_v2_test/3077/lang.txt b/bridge_data_v2_test/3077/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..b257c6f1b79b797acd323ec9cb9ff4dfdc6fb62f
--- /dev/null
+++ b/bridge_data_v2_test/3077/lang.txt
@@ -0,0 +1,2 @@
+put the green block on top of the yellow block
+confidence: 0.8
diff --git a/bridge_data_v2_test/3411/lang.txt b/bridge_data_v2_test/3411/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c14d3658a52c57d7bc6efae7caf5d1697c2ff48f
--- /dev/null
+++ b/bridge_data_v2_test/3411/lang.txt
@@ -0,0 +1 @@
+sweep into pile
diff --git a/bridge_data_v2_test/3423/lang.txt b/bridge_data_v2_test/3423/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c14d3658a52c57d7bc6efae7caf5d1697c2ff48f
--- /dev/null
+++ b/bridge_data_v2_test/3423/lang.txt
@@ -0,0 +1 @@
+sweep into pile
diff --git a/bridge_data_v2_test/3496/lang.txt b/bridge_data_v2_test/3496/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c14d3658a52c57d7bc6efae7caf5d1697c2ff48f
--- /dev/null
+++ b/bridge_data_v2_test/3496/lang.txt
@@ -0,0 +1 @@
+sweep into pile
diff --git a/bridge_data_v2_test/3662/lang.txt b/bridge_data_v2_test/3662/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c14d3658a52c57d7bc6efae7caf5d1697c2ff48f
--- /dev/null
+++ b/bridge_data_v2_test/3662/lang.txt
@@ -0,0 +1 @@
+sweep into pile
diff --git a/bridge_data_v2_test/3674/lang.txt b/bridge_data_v2_test/3674/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c14d3658a52c57d7bc6efae7caf5d1697c2ff48f
--- /dev/null
+++ b/bridge_data_v2_test/3674/lang.txt
@@ -0,0 +1 @@
+sweep into pile
diff --git a/bridge_data_v2_test/3732/lang.txt b/bridge_data_v2_test/3732/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c14d3658a52c57d7bc6efae7caf5d1697c2ff48f
--- /dev/null
+++ b/bridge_data_v2_test/3732/lang.txt
@@ -0,0 +1 @@
+sweep into pile
diff --git a/bridge_data_v2_test/4035/lang.txt b/bridge_data_v2_test/4035/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e68c8fdedf93493b989b191ba624fe006ed95766
--- /dev/null
+++ b/bridge_data_v2_test/4035/lang.txt
@@ -0,0 +1,2 @@
+take the orange cloth out of the basket and put it on the washing machine
+confidence: 0.8
diff --git a/bridge_data_v2_test/4193/lang.txt b/bridge_data_v2_test/4193/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..40401e6a8996069833f25520ee854495d77f6b30
--- /dev/null
+++ b/bridge_data_v2_test/4193/lang.txt
@@ -0,0 +1,3 @@
+removed the green cloth from the basket and placed it right of the basket
+
+confidence: 0.6
diff --git a/bridge_data_v2_test/4930/lang.txt b/bridge_data_v2_test/4930/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..b6318caa650d86588fe6f7e1529773088fe3b4b7
--- /dev/null
+++ b/bridge_data_v2_test/4930/lang.txt
@@ -0,0 +1,2 @@
+unfold the cloth from right
+confidence: 1
diff --git a/bridge_data_v2_test/4935/lang.txt b/bridge_data_v2_test/4935/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..2db2acdca21974e04d7376a08c582d95461fabfb
--- /dev/null
+++ b/bridge_data_v2_test/4935/lang.txt
@@ -0,0 +1,2 @@
+unfold the cloth from the middle to right
+confidence: 0.8
diff --git a/bridge_data_v2_test/5130/lang.txt b/bridge_data_v2_test/5130/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..339c9abb2b73b746c68584d354c194bc60d3266c
--- /dev/null
+++ b/bridge_data_v2_test/5130/lang.txt
@@ -0,0 +1,2 @@
+unfold the cloth from the bottom to the left top
+confidence: 0.8
diff --git a/bridge_data_v2_test/5645/lang.txt b/bridge_data_v2_test/5645/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..38d888c7e58910f8873b9e15522edcc28f347c53
--- /dev/null
+++ b/bridge_data_v2_test/5645/lang.txt
@@ -0,0 +1,2 @@
+fold fabric top left to bottom right
+confidence: 0.8
diff --git a/bridge_data_v2_test/5810/lang.txt b/bridge_data_v2_test/5810/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..11c01c8c1a7b47210cb2bb3f8ebf7e11ccafda7f
--- /dev/null
+++ b/bridge_data_v2_test/5810/lang.txt
@@ -0,0 +1,2 @@
+fold the green thing from bottom left to top right
+confidence: 0.6
diff --git a/bridge_data_v2_test/5858/lang.txt b/bridge_data_v2_test/5858/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..980c76183941affbc2c53af509af530f005c37f0
--- /dev/null
+++ b/bridge_data_v2_test/5858/lang.txt
@@ -0,0 +1,2 @@
+Fold the cloth from top left to bottom right
+confidence: 0.2
diff --git a/bridge_data_v2_test/6032/lang.txt b/bridge_data_v2_test/6032/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a41a3abd2c5e3eb542ff327343412c699468e811
--- /dev/null
+++ b/bridge_data_v2_test/6032/lang.txt
@@ -0,0 +1,2 @@
+fold the cloth from
+confidence: 0.8
diff --git a/bridge_data_v2_test/6373/lang.txt b/bridge_data_v2_test/6373/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..b26cd356bd5e1b58957af4794f1d1951deec2873
--- /dev/null
+++ b/bridge_data_v2_test/6373/lang.txt
@@ -0,0 +1,2 @@
+fold from right to left
+confidence: 0.6
diff --git a/bridge_data_v2_test/7109/lang.txt b/bridge_data_v2_test/7109/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..aed28509c62b106166404e0de3e71a692685a818
--- /dev/null
+++ b/bridge_data_v2_test/7109/lang.txt
@@ -0,0 +1,2 @@
+picked the yellow thing and placed it on the left side of the table
+confidence: 0.8
diff --git a/bridge_data_v2_test/7186/lang.txt b/bridge_data_v2_test/7186/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f1cd958c11cc01752b3b02654bca70e0c857c25
--- /dev/null
+++ b/bridge_data_v2_test/7186/lang.txt
@@ -0,0 +1,2 @@
+move the white object to the right of the yellow object
+confidence: 0.6
diff --git a/bridge_data_v2_test/7406/lang.txt b/bridge_data_v2_test/7406/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..02e445c44af68d86146d53316f672408d3536909
--- /dev/null
+++ b/bridge_data_v2_test/7406/lang.txt
@@ -0,0 +1,2 @@
+close the drawer
+confidence: 0.6
diff --git a/bridge_data_v2_test/7475/lang.txt b/bridge_data_v2_test/7475/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..4a760fa32a51cbb056a98b5f15d5325975142bfb
--- /dev/null
+++ b/bridge_data_v2_test/7475/lang.txt
@@ -0,0 +1,2 @@
+move the yellow object to the bottom side of the table.
+confidence: 0.8
diff --git a/bridge_data_v2_test/7686/lang.txt b/bridge_data_v2_test/7686/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..09e7cf1d578a2c01243406efea2214fbfcb15b2e
--- /dev/null
+++ b/bridge_data_v2_test/7686/lang.txt
@@ -0,0 +1,2 @@
+move the red bell pepper from the top of the drawer to table
+confidence: 0.6
diff --git a/bridge_data_v2_test/7748/lang.txt b/bridge_data_v2_test/7748/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e3c05fc166aa611491f00f906b61568cd5151f88
--- /dev/null
+++ b/bridge_data_v2_test/7748/lang.txt
@@ -0,0 +1,2 @@
+take out the pink bunny from the drawer
+confidence: 0.8
diff --git a/bridge_data_v2_test/8043/lang.txt b/bridge_data_v2_test/8043/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..3975a33384200397a5566411a20d7794bea7b455
--- /dev/null
+++ b/bridge_data_v2_test/8043/lang.txt
@@ -0,0 +1,2 @@
+unfold the cloth from top right to bottom left
+confidence: 1
diff --git a/bridge_data_v2_test/8064/lang.txt b/bridge_data_v2_test/8064/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..21f0b605f3f05cb337d9c58da628380880c9cc9c
--- /dev/null
+++ b/bridge_data_v2_test/8064/lang.txt
@@ -0,0 +1,2 @@
+fold the fabric from left to right
+confidence: 0.8
diff --git a/bridge_data_v2_test/8247/lang.txt b/bridge_data_v2_test/8247/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f6bbf66dbb6c29b2ffc66493c8da96e895301769
--- /dev/null
+++ b/bridge_data_v2_test/8247/lang.txt
@@ -0,0 +1,2 @@
+Fold the cloth from bottom to top
+confidence: 0.8
diff --git a/bridge_data_v2_test/8605/lang.txt b/bridge_data_v2_test/8605/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..d498074fecb19c1c5ee55143036025ec9cac021c
--- /dev/null
+++ b/bridge_data_v2_test/8605/lang.txt
@@ -0,0 +1,2 @@
+ put the blue figure on the top edge of the cloth
+confidence: 0.6
diff --git a/bridge_data_v2_test/9111/lang.txt b/bridge_data_v2_test/9111/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..4a0a4460ce8b81bdeb65076d6eb87b4356d6f93b
--- /dev/null
+++ b/bridge_data_v2_test/9111/lang.txt
@@ -0,0 +1,2 @@
+moved blue napkin to the upper right of table
+confidence: 0.8
diff --git a/bridge_data_v2_test/950/lang.txt b/bridge_data_v2_test/950/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..358dcd21459c70506ffebd4bb76008e934ab7004
--- /dev/null
+++ b/bridge_data_v2_test/950/lang.txt
@@ -0,0 +1,2 @@
+move the silver pot to the upper left part of the stove
+confidence: 1
diff --git a/bridge_data_v2_test/9598/lang.txt b/bridge_data_v2_test/9598/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c7b834771dea125fa41a194cea8c03a129a97cdc
--- /dev/null
+++ b/bridge_data_v2_test/9598/lang.txt
@@ -0,0 +1,2 @@
+moved the fork to the upper part of the table
+confidence: 0.6
diff --git a/bridge_data_v2_test/9730/lang.txt b/bridge_data_v2_test/9730/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..905c903d1ca55f0bcbd34a2b1486dbd977f87bdd
--- /dev/null
+++ b/bridge_data_v2_test/9730/lang.txt
@@ -0,0 +1,2 @@
+move the purple cloth to the top right of the table 
+confidence: 0.6
diff --git a/bridge_data_v2_test/9981/lang.txt b/bridge_data_v2_test/9981/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f41dc2e89184617c474c70810482492877dbb68b
--- /dev/null
+++ b/bridge_data_v2_test/9981/lang.txt
@@ -0,0 +1,2 @@
+moved the lid from the yellow cloth to the top of the pot
+confidence: 1