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diff --git a/bridge_data_v2_test/10097/lang.txt b/bridge_data_v2_test/10097/lang.txt
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index 0000000000000000000000000000000000000000..86ef998f51c0d554906f9e1b7bad1b9cc5c01903
--- /dev/null
+++ b/bridge_data_v2_test/10097/lang.txt
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+move the blue thing at the center of the table near the purple spoon and the towel
+confidence: 0.6
diff --git a/bridge_data_v2_test/10115/lang.txt b/bridge_data_v2_test/10115/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..d37b528574ee42f033c6158bd62e08940b5e90b2
--- /dev/null
+++ b/bridge_data_v2_test/10115/lang.txt
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+move the silver pot to the left side of the lid
+confidence: 0.8
diff --git a/bridge_data_v2_test/10141/lang.txt b/bridge_data_v2_test/10141/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c11c9e8b455aeef2524c9543bc6d4ee621503026
--- /dev/null
+++ b/bridge_data_v2_test/10141/lang.txt
@@ -0,0 +1,2 @@
+move the can to the bottom left side of the table 
+confidence: 0.8
diff --git a/bridge_data_v2_test/10182/lang.txt b/bridge_data_v2_test/10182/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e5b29a960ad3c43636bbacfaa1c66ea983391d20
--- /dev/null
+++ b/bridge_data_v2_test/10182/lang.txt
@@ -0,0 +1,2 @@
+move the green cloth to the left side of the table
+confidence: 0.8
diff --git a/bridge_data_v2_test/10448/lang.txt b/bridge_data_v2_test/10448/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..fdb7882bde449a0bbcd8391d609d21c68f18386f
--- /dev/null
+++ b/bridge_data_v2_test/10448/lang.txt
@@ -0,0 +1,2 @@
+put together the lid and the cooking pot.
+confidence: 1
diff --git a/bridge_data_v2_test/10511/lang.txt b/bridge_data_v2_test/10511/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..cc8df9290e0e1a5a93b804a7fdf1f6a2cf2ce22a
--- /dev/null
+++ b/bridge_data_v2_test/10511/lang.txt
@@ -0,0 +1,2 @@
+place the blue fork to the rigth side of the table
+confidence: 0.8
diff --git a/bridge_data_v2_test/1053/lang.txt b/bridge_data_v2_test/1053/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..564146b4a41a3bf7c801763f65d1d38714d1a3c6
--- /dev/null
+++ b/bridge_data_v2_test/1053/lang.txt
@@ -0,0 +1,2 @@
+take the sliver pot and put it on the switches of the stove
+confidence: 1
diff --git a/bridge_data_v2_test/11059/lang.txt b/bridge_data_v2_test/11059/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..6b79b798e21911c2389af2ac72dbe9aa512a0d2d
--- /dev/null
+++ b/bridge_data_v2_test/11059/lang.txt
@@ -0,0 +1,2 @@
+move the blue elephant to the right side of the stove
+confidence: 0.4
diff --git a/bridge_data_v2_test/11100/lang.txt b/bridge_data_v2_test/11100/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..6b6efffde3d93b556c6f64baf2fa62671ea5b900
--- /dev/null
+++ b/bridge_data_v2_test/11100/lang.txt
@@ -0,0 +1,2 @@
+move the yellow spatula to the right side of the burner
+confidence: 0.6
diff --git a/bridge_data_v2_test/12267/lang.txt b/bridge_data_v2_test/12267/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..1ca6d7b5391d563a183187aa54ddcb15ea7c85e9
--- /dev/null
+++ b/bridge_data_v2_test/12267/lang.txt
@@ -0,0 +1,2 @@
+Close the drawer
+confidence: 0.8
diff --git a/bridge_data_v2_test/12560/lang.txt b/bridge_data_v2_test/12560/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..8efd29765112e71b29b579072ff17466925674f1
--- /dev/null
+++ b/bridge_data_v2_test/12560/lang.txt
@@ -0,0 +1,2 @@
+open the drawer
+confidence: 1
diff --git a/bridge_data_v2_test/13093/lang.txt b/bridge_data_v2_test/13093/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c14d3658a52c57d7bc6efae7caf5d1697c2ff48f
--- /dev/null
+++ b/bridge_data_v2_test/13093/lang.txt
@@ -0,0 +1 @@
+sweep into pile
diff --git a/bridge_data_v2_test/13276/lang.txt b/bridge_data_v2_test/13276/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c14d3658a52c57d7bc6efae7caf5d1697c2ff48f
--- /dev/null
+++ b/bridge_data_v2_test/13276/lang.txt
@@ -0,0 +1 @@
+sweep into pile
diff --git a/bridge_data_v2_test/13317/lang.txt b/bridge_data_v2_test/13317/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c14d3658a52c57d7bc6efae7caf5d1697c2ff48f
--- /dev/null
+++ b/bridge_data_v2_test/13317/lang.txt
@@ -0,0 +1 @@
+sweep into pile
diff --git a/bridge_data_v2_test/14337/lang.txt b/bridge_data_v2_test/14337/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..d0ab9986fb6ec0c2b7cdf7f6fc59fbee5be19258
--- /dev/null
+++ b/bridge_data_v2_test/14337/lang.txt
@@ -0,0 +1,2 @@
+throws the can to the left side of the table
+confidence: 0.6
diff --git a/bridge_data_v2_test/15022/lang.txt b/bridge_data_v2_test/15022/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c086287b82024cec7d1f2fc56381ea7947a65e17
--- /dev/null
+++ b/bridge_data_v2_test/15022/lang.txt
@@ -0,0 +1,2 @@
+put the white cube on top of the white rectangle
+confidence: 1
diff --git a/bridge_data_v2_test/15331/lang.txt b/bridge_data_v2_test/15331/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..d404b8eb428f930588795adfa084669648e7ec5a
--- /dev/null
+++ b/bridge_data_v2_test/15331/lang.txt
@@ -0,0 +1,2 @@
+put the blue cube on the top of right tower.
+confidence: 0.6
diff --git a/bridge_data_v2_test/15507/lang.txt b/bridge_data_v2_test/15507/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..6800729ffb9d691ba07475b0224ac83e0716e60b
--- /dev/null
+++ b/bridge_data_v2_test/15507/lang.txt
@@ -0,0 +1,2 @@
+put the blue object on the table 
+confidence: 0.8
diff --git a/bridge_data_v2_test/15647/lang.txt b/bridge_data_v2_test/15647/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..ef5e07860185c19f7a93ddef548bd71e400797cc
--- /dev/null
+++ b/bridge_data_v2_test/15647/lang.txt
@@ -0,0 +1,2 @@
+removing the yellow object from the drawer and placing to the right side
+confidence: 0.8
diff --git a/bridge_data_v2_test/15686/lang.txt b/bridge_data_v2_test/15686/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..4128cfe809cc5f293e2e6101192fd84c66c115e8
--- /dev/null
+++ b/bridge_data_v2_test/15686/lang.txt
@@ -0,0 +1,2 @@
+move the red object to the bottom of the table
+confidence: 0.6
diff --git a/bridge_data_v2_test/1576/lang.txt b/bridge_data_v2_test/1576/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..5570b4ef0c9516b7d8bacf5b1e7d93e6ecff32e6
--- /dev/null
+++ b/bridge_data_v2_test/1576/lang.txt
@@ -0,0 +1,2 @@
+move the clothes
+confidence: 0.8
diff --git a/bridge_data_v2_test/1625/lang.txt b/bridge_data_v2_test/1625/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..6c0f29cac7d3e782079016258c67541c906eb48c
--- /dev/null
+++ b/bridge_data_v2_test/1625/lang.txt
@@ -0,0 +1,2 @@
+move the cloth from left to right
+confidence: 1
diff --git a/bridge_data_v2_test/16284/lang.txt b/bridge_data_v2_test/16284/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..8e4310f11be908a5824d5ee8c022673c6aab077a
--- /dev/null
+++ b/bridge_data_v2_test/16284/lang.txt
@@ -0,0 +1,2 @@
+open the drawer 
+confidence: 0.6
diff --git a/bridge_data_v2_test/1636/lang.txt b/bridge_data_v2_test/1636/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..7fe406973ec00e6f10f220618bcd638808487dd3
--- /dev/null
+++ b/bridge_data_v2_test/1636/lang.txt
@@ -0,0 +1,2 @@
+fold the fabric from top to bottom
+confidence: 0.6
diff --git a/bridge_data_v2_test/16437/lang.txt b/bridge_data_v2_test/16437/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9ab6286fa99b73f06016e22ae5f58dc14f3da0e2
--- /dev/null
+++ b/bridge_data_v2_test/16437/lang.txt
@@ -0,0 +1,2 @@
+move the silver pot to the upper right of table
+confidence: 0.4
diff --git a/bridge_data_v2_test/17183/lang.txt b/bridge_data_v2_test/17183/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..08eba8a29ec56f80e0780dc1cc019654d531efaf
--- /dev/null
+++ b/bridge_data_v2_test/17183/lang.txt
@@ -0,0 +1,2 @@
+take the sweet potato and put it on the lower left side of the stove
+confidence: 0.8
diff --git a/bridge_data_v2_test/17249/lang.txt b/bridge_data_v2_test/17249/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..845b52a3fab9961eb57e84e7929621a05b8b508f
--- /dev/null
+++ b/bridge_data_v2_test/17249/lang.txt
@@ -0,0 +1 @@
+open microwave
diff --git a/bridge_data_v2_test/17303/lang.txt b/bridge_data_v2_test/17303/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f1d529966c85a1eff06ad01f1bcf2fed818f256b
--- /dev/null
+++ b/bridge_data_v2_test/17303/lang.txt
@@ -0,0 +1,2 @@
+put the cylinder on top of the blue block
+confidence: 1
diff --git a/bridge_data_v2_test/17380/lang.txt b/bridge_data_v2_test/17380/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..aaa949fd128481debb078ee30c4775dec75172c5
--- /dev/null
+++ b/bridge_data_v2_test/17380/lang.txt
@@ -0,0 +1,2 @@
+put the ball in the cup
+confidence: 0.6
diff --git a/bridge_data_v2_test/17503/lang.txt b/bridge_data_v2_test/17503/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f765671c38680e07d0a356d5dc764015d9a89c91
--- /dev/null
+++ b/bridge_data_v2_test/17503/lang.txt
@@ -0,0 +1,3 @@
+put the cylinder on the table
+
+confidence: 0.8
diff --git a/bridge_data_v2_test/17563/lang.txt b/bridge_data_v2_test/17563/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f657a7cb3b71f20a2b3d2414ca7f9df0a9363959
--- /dev/null
+++ b/bridge_data_v2_test/17563/lang.txt
@@ -0,0 +1,2 @@
+put the yellow rectangular block on top of the tower on the right side of the table 
+confidence: 0.8
diff --git a/bridge_data_v2_test/17811/lang.txt b/bridge_data_v2_test/17811/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..eedad011c15eaddfb396893c4f7855e10ce4128d
--- /dev/null
+++ b/bridge_data_v2_test/17811/lang.txt
@@ -0,0 +1,2 @@
+put the green cube on the bottom right side of the table
+confidence: 0.4
diff --git a/bridge_data_v2_test/18101/lang.txt b/bridge_data_v2_test/18101/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e70509d6346ac2627076ae784f723ae808a079ef
--- /dev/null
+++ b/bridge_data_v2_test/18101/lang.txt
@@ -0,0 +1,2 @@
+put the blue rectangle block on top of the cube
+confidence: 0.8
diff --git a/bridge_data_v2_test/2014/lang.txt b/bridge_data_v2_test/2014/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e3bae0dbd04cc5ead017f51c51ac27aea3854b73
--- /dev/null
+++ b/bridge_data_v2_test/2014/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/2262/lang.txt b/bridge_data_v2_test/2262/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..1ea5b7aff114e456177dae3998c47c28141e624a
--- /dev/null
+++ b/bridge_data_v2_test/2262/lang.txt
@@ -0,0 +1,2 @@
+fold the cloth from bottom left to top right
+confidence: 1
diff --git a/bridge_data_v2_test/2266/lang.txt b/bridge_data_v2_test/2266/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..53d11172ff8a27b77137825e41b63cae6fed1e4b
--- /dev/null
+++ b/bridge_data_v2_test/2266/lang.txt
@@ -0,0 +1,2 @@
+unfold the cloth from top right to bottom left
+confidence: 0.6
diff --git a/bridge_data_v2_test/2291/lang.txt b/bridge_data_v2_test/2291/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..b3e1df5c09d601611712f9782167cb188b9b0cd8
--- /dev/null
+++ b/bridge_data_v2_test/2291/lang.txt
@@ -0,0 +1,2 @@
+fold the cloth from top left to bottom right
+confidence: 0.8
diff --git a/bridge_data_v2_test/2425/lang.txt b/bridge_data_v2_test/2425/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..583adc1d1abfa703465375dafe0eff2a0a56e4d0
--- /dev/null
+++ b/bridge_data_v2_test/2425/lang.txt
@@ -0,0 +1,2 @@
+unfold the cloth from bottom left to top right
+confidence: 0.6
diff --git a/bridge_data_v2_test/2434/lang.txt b/bridge_data_v2_test/2434/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f52cc21ec8cd43c2614ed37304bf159e54cce462
--- /dev/null
+++ b/bridge_data_v2_test/2434/lang.txt
@@ -0,0 +1,2 @@
+ unfold the cloth from top left to bottom right
+confidence: 0.6
diff --git a/bridge_data_v2_test/2785/lang.txt b/bridge_data_v2_test/2785/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..8b7189bbefa71a600d56a33d09d449a16666b64e
--- /dev/null
+++ b/bridge_data_v2_test/2785/lang.txt
@@ -0,0 +1,2 @@
+unfold the cloth from the top left to bottom right 
+confidence: 0.8
diff --git a/bridge_data_v2_test/2832/lang.txt b/bridge_data_v2_test/2832/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..d081b9889bd6b897ecebfa1a7a26b8eadd5d57ae
--- /dev/null
+++ b/bridge_data_v2_test/2832/lang.txt
@@ -0,0 +1,2 @@
+Move the blue fork from cloth to left side of the table 
+confidence: 1
diff --git a/bridge_data_v2_test/2849/lang.txt b/bridge_data_v2_test/2849/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..6fc079b1234ba1987b63b202a760eb2d15f70a4c
--- /dev/null
+++ b/bridge_data_v2_test/2849/lang.txt
@@ -0,0 +1,2 @@
+unfold the clothe from the bottom to the right
+confidence: 0.6
diff --git a/bridge_data_v2_test/3118/lang.txt b/bridge_data_v2_test/3118/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..18152033f2b76325c92fa5a21fd1380326607151
--- /dev/null
+++ b/bridge_data_v2_test/3118/lang.txt
@@ -0,0 +1,2 @@
+Put the Yellow block above the blue block and put it to the left of the table
+confidence: 0.8
diff --git a/bridge_data_v2_test/3287/lang.txt b/bridge_data_v2_test/3287/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c14d3658a52c57d7bc6efae7caf5d1697c2ff48f
--- /dev/null
+++ b/bridge_data_v2_test/3287/lang.txt
@@ -0,0 +1 @@
+sweep into pile
diff --git a/bridge_data_v2_test/3403/lang.txt b/bridge_data_v2_test/3403/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c14d3658a52c57d7bc6efae7caf5d1697c2ff48f
--- /dev/null
+++ b/bridge_data_v2_test/3403/lang.txt
@@ -0,0 +1 @@
+sweep into pile
diff --git a/bridge_data_v2_test/3786/lang.txt b/bridge_data_v2_test/3786/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c14d3658a52c57d7bc6efae7caf5d1697c2ff48f
--- /dev/null
+++ b/bridge_data_v2_test/3786/lang.txt
@@ -0,0 +1 @@
+sweep into pile
diff --git a/bridge_data_v2_test/3801/lang.txt b/bridge_data_v2_test/3801/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c14d3658a52c57d7bc6efae7caf5d1697c2ff48f
--- /dev/null
+++ b/bridge_data_v2_test/3801/lang.txt
@@ -0,0 +1 @@
+sweep into pile
diff --git a/bridge_data_v2_test/3864/lang.txt b/bridge_data_v2_test/3864/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c14d3658a52c57d7bc6efae7caf5d1697c2ff48f
--- /dev/null
+++ b/bridge_data_v2_test/3864/lang.txt
@@ -0,0 +1 @@
+sweep into pile
diff --git a/bridge_data_v2_test/4169/lang.txt b/bridge_data_v2_test/4169/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..98fa866c71b73b87d1217a22ec4511d407537ed8
--- /dev/null
+++ b/bridge_data_v2_test/4169/lang.txt
@@ -0,0 +1,2 @@
+Take the green hand towel out of the basket and put it on the right side of the table.
+confidence: 1
diff --git a/bridge_data_v2_test/4347/lang.txt b/bridge_data_v2_test/4347/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..5f28400078f8109d6309e1bb7e4aac3f8d5abec0
--- /dev/null
+++ b/bridge_data_v2_test/4347/lang.txt
@@ -0,0 +1,2 @@
+take the red object out of the pot and put it on the left burner
+confidence: 0.8
diff --git a/bridge_data_v2_test/456/lang.txt b/bridge_data_v2_test/456/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..26c288ce590fce713aabc11be2b0b629a6de1682
--- /dev/null
+++ b/bridge_data_v2_test/456/lang.txt
@@ -0,0 +1,2 @@
+take the silver pot and put it above the blue cloth
+confidence: 0.6
diff --git a/bridge_data_v2_test/4748/lang.txt b/bridge_data_v2_test/4748/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..239ef339b82c9ab8586a656e7ec9f072a0d99ada
--- /dev/null
+++ b/bridge_data_v2_test/4748/lang.txt
@@ -0,0 +1,2 @@
+fold the cloth from the top left to bottom right
+confidence: 0.8
diff --git a/bridge_data_v2_test/5321/lang.txt b/bridge_data_v2_test/5321/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f404de38839b56d3b635becdf0e6921f6efe9a41
--- /dev/null
+++ b/bridge_data_v2_test/5321/lang.txt
@@ -0,0 +1,2 @@
+fold the cloth from left to right
+confidence: 0.6
diff --git a/bridge_data_v2_test/5499/lang.txt b/bridge_data_v2_test/5499/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..64f489530f2f6ab63076c2706c1b8b2d07b79209
--- /dev/null
+++ b/bridge_data_v2_test/5499/lang.txt
@@ -0,0 +1,2 @@
+unfold the cloth towards the bottom left
+confidence: 1
diff --git a/bridge_data_v2_test/5520/lang.txt b/bridge_data_v2_test/5520/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..60d95fab20771eb83b85410b3631ca6c721af2b2
--- /dev/null
+++ b/bridge_data_v2_test/5520/lang.txt
@@ -0,0 +1,2 @@
+move the cloth from bottom to middle
+confidence: 0.8
diff --git a/bridge_data_v2_test/5610/lang.txt b/bridge_data_v2_test/5610/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..75a5f8af1a33104b908e16de286efcc28e2c3aac
--- /dev/null
+++ b/bridge_data_v2_test/5610/lang.txt
@@ -0,0 +1,2 @@
+Fold the cloth from top to bottom 
+confidence: 1
diff --git a/bridge_data_v2_test/5612/lang.txt b/bridge_data_v2_test/5612/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e6f430c361a33155378b08541ed9c9a7d9b2b323
--- /dev/null
+++ b/bridge_data_v2_test/5612/lang.txt
@@ -0,0 +1,2 @@
+the cloth is spread to the right
+confidence: 0.8
diff --git a/bridge_data_v2_test/5750/lang.txt b/bridge_data_v2_test/5750/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..3d8d9a8ee3b0bdd57cce08d1d455818b8a97d838
--- /dev/null
+++ b/bridge_data_v2_test/5750/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/6026/lang.txt b/bridge_data_v2_test/6026/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..8627f06ca7694191ffc2198aff1cab125f50c29f
--- /dev/null
+++ b/bridge_data_v2_test/6026/lang.txt
@@ -0,0 +1,2 @@
+fold the cloth bottom left to the top right
+confidence: 0.8
diff --git a/bridge_data_v2_test/6100/lang.txt b/bridge_data_v2_test/6100/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..b4ee36355cec3eff6f147835f84baf6f9d0d42d0
--- /dev/null
+++ b/bridge_data_v2_test/6100/lang.txt
@@ -0,0 +1,2 @@
+remove the yellow figure from the cloth to the table
+confidence: 1
diff --git a/bridge_data_v2_test/6279/lang.txt b/bridge_data_v2_test/6279/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0813b31b56e9b954195ce80313d1645eab3508f2
--- /dev/null
+++ b/bridge_data_v2_test/6279/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/6336/lang.txt b/bridge_data_v2_test/6336/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..fbd937be9b77fe5b229d073f76a7bb9bca8f2836
--- /dev/null
+++ b/bridge_data_v2_test/6336/lang.txt
@@ -0,0 +1,2 @@
+Unfold the cloth from the bottom right to the top left. Yellow figure on the cloth.
+confidence: 0.6
diff --git a/bridge_data_v2_test/6446/lang.txt b/bridge_data_v2_test/6446/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..188a3ba4475e4be004febbe794018d3e7a92729c
--- /dev/null
+++ b/bridge_data_v2_test/6446/lang.txt
@@ -0,0 +1,2 @@
+unfold the cloth from the bottom right to the top left
+confidence: 0.4
diff --git a/bridge_data_v2_test/6503/lang.txt b/bridge_data_v2_test/6503/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..77610bb59d77a9be3d3b2741bf199f8bccd01130
--- /dev/null
+++ b/bridge_data_v2_test/6503/lang.txt
@@ -0,0 +1,2 @@
+picked up the carrot and placed it on the bottom right of the cloth
+confidence: 0.8
diff --git a/bridge_data_v2_test/6736/lang.txt b/bridge_data_v2_test/6736/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..89c3fa2900cb3c45e46a4b5beeffd2c4b9dbfa35
--- /dev/null
+++ b/bridge_data_v2_test/6736/lang.txt
@@ -0,0 +1,2 @@
+Put the strawberry into cloth
+confidence: 1
diff --git a/bridge_data_v2_test/7311/lang.txt b/bridge_data_v2_test/7311/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..3c5e1e6a501d017ba54e52de236f97fe4b0daa4a
--- /dev/null
+++ b/bridge_data_v2_test/7311/lang.txt
@@ -0,0 +1,2 @@
+Close the drawer
+confidence: 1
diff --git a/bridge_data_v2_test/7384/lang.txt b/bridge_data_v2_test/7384/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..b04d9f470b7ee41fc15e5d9be66054eaba9b90ae
--- /dev/null
+++ b/bridge_data_v2_test/7384/lang.txt
@@ -0,0 +1,2 @@
+closing drawer
+confidence: 1
diff --git a/bridge_data_v2_test/7435/lang.txt b/bridge_data_v2_test/7435/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c970603e1feddfbbdfa2821264065f802eb0ea88
--- /dev/null
+++ b/bridge_data_v2_test/7435/lang.txt
@@ -0,0 +1,2 @@
+moved the knob-like object to the left side of the table
+confidence: 1
diff --git a/bridge_data_v2_test/789/lang.txt b/bridge_data_v2_test/789/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0d28ee6556613962a13db0265b28b0438e29fde4
--- /dev/null
+++ b/bridge_data_v2_test/789/lang.txt
@@ -0,0 +1,2 @@
+put the green cloth below the right burner
+confidence: 0.8
diff --git a/bridge_data_v2_test/8659/lang.txt b/bridge_data_v2_test/8659/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..55b2485f78bc2e86658f310e5e68d046b160fcb4
--- /dev/null
+++ b/bridge_data_v2_test/8659/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/8714/lang.txt b/bridge_data_v2_test/8714/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0908dcd7b0b874d83a21486ee7c2586504bb79b5
--- /dev/null
+++ b/bridge_data_v2_test/8714/lang.txt
@@ -0,0 +1,2 @@
+move the silver cover in the left side of the table
+confidence: 0.8
diff --git a/bridge_data_v2_test/9005/lang.txt b/bridge_data_v2_test/9005/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..2eea3f23b337c9e1b453453a700249d8da801669
--- /dev/null
+++ b/bridge_data_v2_test/9005/lang.txt
@@ -0,0 +1,2 @@
+move the green spatula and put it on the blue cloth
+confidence: 0.2
diff --git a/bridge_data_v2_test/9339/lang.txt b/bridge_data_v2_test/9339/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..8d80d1e120fb7f21f11c5f536d420c32270ca331
--- /dev/null
+++ b/bridge_data_v2_test/9339/lang.txt
@@ -0,0 +1,2 @@
+put the strainer to the upper right corner of the table
+confidence: 1
diff --git a/bridge_data_v2_test/9524/lang.txt b/bridge_data_v2_test/9524/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..d7101f52f3944a8647486ef59562449ae1a33576
--- /dev/null
+++ b/bridge_data_v2_test/9524/lang.txt
@@ -0,0 +1,2 @@
+move the blue cloth to the top left side of the table
+confidence: 0.6
diff --git a/bridge_data_v2_test/9576/lang.txt b/bridge_data_v2_test/9576/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e742b91a27d16164102203af28ef184bb9992ba9
--- /dev/null
+++ b/bridge_data_v2_test/9576/lang.txt
@@ -0,0 +1,2 @@
+put the bread inside the silver pot
+confidence: 0.6