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+++ b/bridge_data_v1/659/im_11.jpg
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+version https://git-lfs.github.com/spec/v1
+oid sha256:5033a282c3dc32c6341257c0adfe0dc9fefd99fab059b0aa500af5774a52ea52
+size 49675
diff --git a/bridge_data_v1/659/im_16.jpg b/bridge_data_v1/659/im_16.jpg
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+version https://git-lfs.github.com/spec/v1
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+size 50289
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+size 50044
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+++ b/bridge_data_v1/659/im_2.jpg
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+version https://git-lfs.github.com/spec/v1
+oid sha256:aecaa02af30fb2c1f6118e5caafdcc9e7fafa4a89338f3813dcaa6a7625818cc
+size 50750
diff --git a/bridge_data_v1/659/im_23.jpg b/bridge_data_v1/659/im_23.jpg
new file mode 100644
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+version https://git-lfs.github.com/spec/v1
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+size 50074
diff --git a/bridge_data_v1/659/im_24.jpg b/bridge_data_v1/659/im_24.jpg
new file mode 100644
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+++ b/bridge_data_v1/659/im_24.jpg
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+version https://git-lfs.github.com/spec/v1
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+size 48454
diff --git a/bridge_data_v1/659/im_32.jpg b/bridge_data_v1/659/im_32.jpg
new file mode 100644
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--- /dev/null
+++ b/bridge_data_v1/659/im_32.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f7157aedbf4210380404545f5cbc8fbc974b91e2adb919fde2f1ab9fa2d14643
+size 50097
diff --git a/bridge_data_v1/659/im_5.jpg b/bridge_data_v1/659/im_5.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..dcc447b237d38c8d41cda8b9da640467f8f76caf
--- /dev/null
+++ b/bridge_data_v1/659/im_5.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fb6d4c10d8a7725f73556b13448696fa300db94c302046882e4b2aaf237e5364
+size 49391
diff --git a/bridge_data_v2_test/10081/lang.txt b/bridge_data_v2_test/10081/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..67fd616f0f8893e145a659f9098e2e5e34849bb7
--- /dev/null
+++ b/bridge_data_v2_test/10081/lang.txt
@@ -0,0 +1,2 @@
+move the red fork to the middle left side of the table
+confidence: 1
diff --git a/bridge_data_v2_test/10695/lang.txt b/bridge_data_v2_test/10695/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..aef5fbd15665a2b7edad3f03ccfc51305c0034d8
--- /dev/null
+++ b/bridge_data_v2_test/10695/lang.txt
@@ -0,0 +1,2 @@
+wear the ring to the rook
+confidence: 1
diff --git a/bridge_data_v2_test/10944/lang.txt b/bridge_data_v2_test/10944/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..efbd41ce009c5693dea3d23089ff5bf443fb73dd
--- /dev/null
+++ b/bridge_data_v2_test/10944/lang.txt
@@ -0,0 +1,2 @@
+move the red object from the left of the stove and put it on top of the purple cloth
+confidence: 0.8
diff --git a/bridge_data_v2_test/11305/lang.txt b/bridge_data_v2_test/11305/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..aed91935605fbc2b1527e968a34030a97e8ac879
--- /dev/null
+++ b/bridge_data_v2_test/11305/lang.txt
@@ -0,0 +1,2 @@
+pick green stuff  put the right side on the stove
+confidence: 0.8
diff --git a/bridge_data_v2_test/11516/lang.txt b/bridge_data_v2_test/11516/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..587cee6380856c0052df3ca0fd1867cfe5a200db
--- /dev/null
+++ b/bridge_data_v2_test/11516/lang.txt
@@ -0,0 +1,2 @@
+Move the blue fork to the left side of the burnner
+confidence: 0.6
diff --git a/bridge_data_v2_test/12026/lang.txt b/bridge_data_v2_test/12026/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a651f2980896e107c91fc30d151c40a865ced645
--- /dev/null
+++ b/bridge_data_v2_test/12026/lang.txt
@@ -0,0 +1,2 @@
+put the block on top of the cube
+confidence: 0.4
diff --git a/bridge_data_v2_test/12190/lang.txt b/bridge_data_v2_test/12190/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..3c5e1e6a501d017ba54e52de236f97fe4b0daa4a
--- /dev/null
+++ b/bridge_data_v2_test/12190/lang.txt
@@ -0,0 +1,2 @@
+Close the drawer
+confidence: 1
diff --git a/bridge_data_v2_test/12362/lang.txt b/bridge_data_v2_test/12362/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..8be38ee1c56b14bd77915397a1ac00468094edbe
--- /dev/null
+++ b/bridge_data_v2_test/12362/lang.txt
@@ -0,0 +1,2 @@
+move the object on to the middle top of the table
+confidence: 0.8
diff --git a/bridge_data_v2_test/12380/lang.txt b/bridge_data_v2_test/12380/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..06e03fbf8228d7424c7760a93985787cc8c0c2c8
--- /dev/null
+++ b/bridge_data_v2_test/12380/lang.txt
@@ -0,0 +1,2 @@
+moved the blue object to the lower right side of the table
+confidence: 0.8
diff --git a/bridge_data_v2_test/12821/lang.txt b/bridge_data_v2_test/12821/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..b02b0d9426f39fac1e8b7508d6d3b1f821ddcbd4
--- /dev/null
+++ b/bridge_data_v2_test/12821/lang.txt
@@ -0,0 +1,2 @@
+take the cupcake and put it to the lower left side of the table
+confidence: 1
diff --git a/bridge_data_v2_test/13016/lang.txt b/bridge_data_v2_test/13016/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0a79bc6d02a10e85a1bdc89d7a583abf50379586
--- /dev/null
+++ b/bridge_data_v2_test/13016/lang.txt
@@ -0,0 +1,2 @@
+put the blue toy in the drawer
+confidence: 0.8
diff --git a/bridge_data_v2_test/1352/lang.txt b/bridge_data_v2_test/1352/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..629408b9a03e20ff13c9788ad4a59472d551d242
--- /dev/null
+++ b/bridge_data_v2_test/1352/lang.txt
@@ -0,0 +1,2 @@
+fold the cloth from the right to the center
+confidence: 1
diff --git a/bridge_data_v2_test/13534/lang.txt b/bridge_data_v2_test/13534/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..78ef5e2cbf7c2d6da6e551d90eb636fa96490a5e
--- /dev/null
+++ b/bridge_data_v2_test/13534/lang.txt
@@ -0,0 +1,2 @@
+take the silver pot and place it over the towel on the bottom right corner of the desk
+confidence: 0.6
diff --git a/bridge_data_v2_test/13881/lang.txt b/bridge_data_v2_test/13881/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..b0b2a318ddd49ccac11f75839ca1cf51f765bf4d
--- /dev/null
+++ b/bridge_data_v2_test/13881/lang.txt
@@ -0,0 +1,2 @@
+moved the brown bear to the lower right side
+confidence: 0.8
diff --git a/bridge_data_v2_test/1417/lang.txt b/bridge_data_v2_test/1417/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..bf6998ae6fbb77db83c0dbdc13b3eb4473d3291c
--- /dev/null
+++ b/bridge_data_v2_test/1417/lang.txt
@@ -0,0 +1,2 @@
+plier le tissu du haut à gauche vers le bas à droite.
+confidence: 0.8
diff --git a/bridge_data_v2_test/14243/lang.txt b/bridge_data_v2_test/14243/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..87fcc612b4ef35b626f787cf7fecc683c778b733
--- /dev/null
+++ b/bridge_data_v2_test/14243/lang.txt
@@ -0,0 +1,2 @@
+moved the can and the silver pot to the lower part
+confidence: 0.8
diff --git a/bridge_data_v2_test/14466/lang.txt b/bridge_data_v2_test/14466/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..02983aa8c56857200a4595c5070b19cc05ad9453
--- /dev/null
+++ b/bridge_data_v2_test/14466/lang.txt
@@ -0,0 +1,2 @@
+move the red block to the right
+confidence: 1
diff --git a/bridge_data_v2_test/1469/lang.txt b/bridge_data_v2_test/1469/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..1ae7a34204af0b108473a3f1c05d519df97a729c
--- /dev/null
+++ b/bridge_data_v2_test/1469/lang.txt
@@ -0,0 +1,2 @@
+move the cloth towards the top left
+confidence: 1
diff --git a/bridge_data_v2_test/14752/lang.txt b/bridge_data_v2_test/14752/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f8886159ab3271746179b2d628206be8f3f325bc
--- /dev/null
+++ b/bridge_data_v2_test/14752/lang.txt
@@ -0,0 +1,2 @@
+move the block to the middle of the table 
+confidence: 0.8
diff --git a/bridge_data_v2_test/14889/lang.txt b/bridge_data_v2_test/14889/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..ea12800c4472f1dd439db623780b333d7aeae6dd
--- /dev/null
+++ b/bridge_data_v2_test/14889/lang.txt
@@ -0,0 +1,2 @@
+take the blue cube on the red block and placed it on the white arc
+confidence: 1
diff --git a/bridge_data_v2_test/15088/lang.txt b/bridge_data_v2_test/15088/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..3995f367db1a843fdbbb844e41f1173ee8b2bfca
--- /dev/null
+++ b/bridge_data_v2_test/15088/lang.txt
@@ -0,0 +1,2 @@
+take the rectanble to put it on top of the red block
+confidence: 1
diff --git a/bridge_data_v2_test/153/lang.txt b/bridge_data_v2_test/153/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c0e6c2867b594bb68847184f80831f066d8631ae
--- /dev/null
+++ b/bridge_data_v2_test/153/lang.txt
@@ -0,0 +1,2 @@
+remove the silver lid from the silver pan and put it between the top left and bottom left burner
+confidence: 0.8
diff --git a/bridge_data_v2_test/15385/lang.txt b/bridge_data_v2_test/15385/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..32160e37556a1030f298de8d6e875960d52a37b2
--- /dev/null
+++ b/bridge_data_v2_test/15385/lang.txt
@@ -0,0 +1,2 @@
+move the yellow cube on top of the cylinder 
+confidence: 1
diff --git a/bridge_data_v2_test/15510/lang.txt b/bridge_data_v2_test/15510/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f9ef7bc4608cf9580eb652c07cd755723de8f21
--- /dev/null
+++ b/bridge_data_v2_test/15510/lang.txt
@@ -0,0 +1,2 @@
+put the white arch on the other arch
+confidence: 0.8
diff --git a/bridge_data_v2_test/15640/lang.txt b/bridge_data_v2_test/15640/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..43ca6249c1575f64113ea88fe829161416678e8e
--- /dev/null
+++ b/bridge_data_v2_test/15640/lang.txt
@@ -0,0 +1,2 @@
+open the drawer
+confidence: 0.8
diff --git a/bridge_data_v2_test/15651/lang.txt b/bridge_data_v2_test/15651/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c51e9e43b4b1944425ddb7fc0bcc9c4ea03082dd
--- /dev/null
+++ b/bridge_data_v2_test/15651/lang.txt
@@ -0,0 +1,2 @@
+opened the drawer
+confidence: 1
diff --git a/bridge_data_v2_test/16141/lang.txt b/bridge_data_v2_test/16141/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..700695bc9d43f92e40fd150c99930e0133003bd3
--- /dev/null
+++ b/bridge_data_v2_test/16141/lang.txt
@@ -0,0 +1,2 @@
+put the yellow toy to the table
+confidence: 0.4
diff --git a/bridge_data_v2_test/16281/lang.txt b/bridge_data_v2_test/16281/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..14e002e93fe85b4e8ac275980c2ec3e8afd6dd85
--- /dev/null
+++ b/bridge_data_v2_test/16281/lang.txt
@@ -0,0 +1,3 @@
+move the green object to the left side of the table
+
+confidence: 0.6
diff --git a/bridge_data_v2_test/16498/lang.txt b/bridge_data_v2_test/16498/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..aad63f20fc988f28ab1136163bcc70859a6f2f19
--- /dev/null
+++ b/bridge_data_v2_test/16498/lang.txt
@@ -0,0 +1,2 @@
+take the yellow object out from the drawer and put it in the right side of the drawer
+confidence: 1
diff --git a/bridge_data_v2_test/16548/lang.txt b/bridge_data_v2_test/16548/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..93ced57b99f64410863470ded51098fc2b7274a1
--- /dev/null
+++ b/bridge_data_v2_test/16548/lang.txt
@@ -0,0 +1,2 @@
+take object out of drawer
+confidence: 0.6
diff --git a/bridge_data_v2_test/16607/lang.txt b/bridge_data_v2_test/16607/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..82efa3ab566bfefa431010171390dd6b0fe79dcc
--- /dev/null
+++ b/bridge_data_v2_test/16607/lang.txt
@@ -0,0 +1,2 @@
+move the blue spatula to the lower right burner
+confidence: 0.4
diff --git a/bridge_data_v2_test/17353/lang.txt b/bridge_data_v2_test/17353/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..5ada52b85b4802722a157a62bf8286968b27d186
--- /dev/null
+++ b/bridge_data_v2_test/17353/lang.txt
@@ -0,0 +1,2 @@
+put the ball in the cup
+confidence: 0.4
diff --git a/bridge_data_v2_test/17446/lang.txt b/bridge_data_v2_test/17446/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..ed984e676e9c9c73afddba1d130d16f364abd15f
--- /dev/null
+++ b/bridge_data_v2_test/17446/lang.txt
@@ -0,0 +1,2 @@
+moves the blue arch to the middle of the table
+confidence: 0.8
diff --git a/bridge_data_v2_test/17737/lang.txt b/bridge_data_v2_test/17737/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..02109f71048c4c72d16e1cf1a646f48fc6497250
--- /dev/null
+++ b/bridge_data_v2_test/17737/lang.txt
@@ -0,0 +1,2 @@
+move the rectangular box from top of tower and put on top of blue rectangular box 
+confidence: 1
diff --git a/bridge_data_v2_test/17943/lang.txt b/bridge_data_v2_test/17943/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..53858725de034690336192356b1ea64339c0ad57
--- /dev/null
+++ b/bridge_data_v2_test/17943/lang.txt
@@ -0,0 +1,2 @@
+move red cube from the top of another cube and place it on the arch
+confidence: 0.6
diff --git a/bridge_data_v2_test/17981/lang.txt b/bridge_data_v2_test/17981/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..d0cb62d06403c875d343a841be35e0e9d6b08f92
--- /dev/null
+++ b/bridge_data_v2_test/17981/lang.txt
@@ -0,0 +1,2 @@
+move the triangle from top of the tower towards right on the ground
+confidence: 1
diff --git a/bridge_data_v2_test/2035/lang.txt b/bridge_data_v2_test/2035/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..05368170089b6dd379123b44cab2f57daf90d006
--- /dev/null
+++ b/bridge_data_v2_test/2035/lang.txt
@@ -0,0 +1,2 @@
+fold the blue  on the top right of the cloth
+confidence: 0.8
diff --git a/bridge_data_v2_test/2353/lang.txt b/bridge_data_v2_test/2353/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..53d11172ff8a27b77137825e41b63cae6fed1e4b
--- /dev/null
+++ b/bridge_data_v2_test/2353/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/2496/lang.txt b/bridge_data_v2_test/2496/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e3bae0dbd04cc5ead017f51c51ac27aea3854b73
--- /dev/null
+++ b/bridge_data_v2_test/2496/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/2524/lang.txt b/bridge_data_v2_test/2524/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..d611cc9a5ba1f639c7cf07c842ab7ef84540b64f
--- /dev/null
+++ b/bridge_data_v2_test/2524/lang.txt
@@ -0,0 +1,2 @@
+put the blue figure to the edge of the cloth
+confidence: 0.8
diff --git a/bridge_data_v2_test/2629/lang.txt b/bridge_data_v2_test/2629/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..b3e1df5c09d601611712f9782167cb188b9b0cd8
--- /dev/null
+++ b/bridge_data_v2_test/2629/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/3027/lang.txt b/bridge_data_v2_test/3027/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9bc3972e33f8e1b63ffe614d79bf15c6e239ccd3
--- /dev/null
+++ b/bridge_data_v2_test/3027/lang.txt
@@ -0,0 +1,2 @@
+fold the cloth from top right to bottom left
+confidence: 1
diff --git a/bridge_data_v2_test/3355/lang.txt b/bridge_data_v2_test/3355/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c14d3658a52c57d7bc6efae7caf5d1697c2ff48f
--- /dev/null
+++ b/bridge_data_v2_test/3355/lang.txt
@@ -0,0 +1 @@
+sweep into pile
diff --git a/bridge_data_v2_test/3623/lang.txt b/bridge_data_v2_test/3623/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c14d3658a52c57d7bc6efae7caf5d1697c2ff48f
--- /dev/null
+++ b/bridge_data_v2_test/3623/lang.txt
@@ -0,0 +1 @@
+sweep into pile
diff --git a/bridge_data_v2_test/3873/lang.txt b/bridge_data_v2_test/3873/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c14d3658a52c57d7bc6efae7caf5d1697c2ff48f
--- /dev/null
+++ b/bridge_data_v2_test/3873/lang.txt
@@ -0,0 +1 @@
+sweep into pile
diff --git a/bridge_data_v2_test/4023/lang.txt b/bridge_data_v2_test/4023/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..220dbcb4f1bf5476e99483d377fd923013d0032c
--- /dev/null
+++ b/bridge_data_v2_test/4023/lang.txt
@@ -0,0 +1,2 @@
+Moved. Yellow cloth next to the white basket 
+confidence: 0.6
diff --git a/bridge_data_v2_test/4568/lang.txt b/bridge_data_v2_test/4568/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..bdabb095613bdb9cbab452011749353d00c1fe2f
--- /dev/null
+++ b/bridge_data_v2_test/4568/lang.txt
@@ -0,0 +1,2 @@
+Take the orange cloth and put it inside the washing machine.
+confidence: 0.6
diff --git a/bridge_data_v2_test/4814/lang.txt b/bridge_data_v2_test/4814/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a42dc5b8371bd7483de59dec4c2f3de30f9da405
--- /dev/null
+++ b/bridge_data_v2_test/4814/lang.txt
@@ -0,0 +1,2 @@
+fold the cloth from top right to the middle
+confidence: 0.8
diff --git a/bridge_data_v2_test/5118/lang.txt b/bridge_data_v2_test/5118/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..ba9adb5b399e20e08fdadf07969664a8c78706ee
--- /dev/null
+++ b/bridge_data_v2_test/5118/lang.txt
@@ -0,0 +1,2 @@
+straighten the cloth
+confidence: 0.8
diff --git a/bridge_data_v2_test/5252/lang.txt b/bridge_data_v2_test/5252/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f7b7ec789a86032efa0ef3983409b554f8f9f6e6
--- /dev/null
+++ b/bridge_data_v2_test/5252/lang.txt
@@ -0,0 +1,2 @@
+The robot folds the cloth from the top right to the bottom left 
+confidence: 0.6
diff --git a/bridge_data_v2_test/5542/lang.txt b/bridge_data_v2_test/5542/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..143fcac30f817fbd603caf4c0b86778bc2a3dff6
--- /dev/null
+++ b/bridge_data_v2_test/5542/lang.txt
@@ -0,0 +1,2 @@
+move the cloth to top left of the table
+confidence: 0.6
diff --git a/bridge_data_v2_test/5643/lang.txt b/bridge_data_v2_test/5643/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..cfcfb6a68b57d01873d4b8dca1fb60ee35d8617e
--- /dev/null
+++ b/bridge_data_v2_test/5643/lang.txt
@@ -0,0 +1,2 @@
+fold the cloth from left to right
+confidence: 0.8
diff --git a/bridge_data_v2_test/5663/lang.txt b/bridge_data_v2_test/5663/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..2ef9a9ba185ab741bc7d8fa181c13ad1b9c25407
--- /dev/null
+++ b/bridge_data_v2_test/5663/lang.txt
@@ -0,0 +1,2 @@
+fold the cloth from bottom right to top left
+confidence: 0.8
diff --git a/bridge_data_v2_test/6008/lang.txt b/bridge_data_v2_test/6008/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..b2ca7b4a2fd6033b0446bf9c722255423f32cf99
--- /dev/null
+++ b/bridge_data_v2_test/6008/lang.txt
@@ -0,0 +1,2 @@
+mettre la figure rouge sur le bord du tissu
+confidence: 0.6
diff --git a/bridge_data_v2_test/6013/lang.txt b/bridge_data_v2_test/6013/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e90bd5b72733b619fd34bfd4b15919d968eef454
--- /dev/null
+++ b/bridge_data_v2_test/6013/lang.txt
@@ -0,0 +1,2 @@
+Moved red Chilie off cloth to top left of table
+confidence: 0.8
diff --git a/bridge_data_v2_test/6022/lang.txt b/bridge_data_v2_test/6022/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..998865229009a5bf8c6c49eb55d3ba51d37ea115
--- /dev/null
+++ b/bridge_data_v2_test/6022/lang.txt
@@ -0,0 +1,2 @@
+unfold the cloth from bottom right to top left
+confidence: 1
diff --git a/bridge_data_v2_test/6071/lang.txt b/bridge_data_v2_test/6071/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..5eece4bcac2a16ca02e59726307269ba83998831
--- /dev/null
+++ b/bridge_data_v2_test/6071/lang.txt
@@ -0,0 +1,2 @@
+move the green bell pepper on the top left edge of the cloth
+confidence: 1
diff --git a/bridge_data_v2_test/6085/lang.txt b/bridge_data_v2_test/6085/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..17c5389e8b7cc893b94c6dec6cc8f4339ae4eb79
--- /dev/null
+++ b/bridge_data_v2_test/6085/lang.txt
@@ -0,0 +1,2 @@
+took the yellow figure from cloth to table
+confidence: 1
diff --git a/bridge_data_v2_test/6389/lang.txt b/bridge_data_v2_test/6389/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c42cb4c7ac43114daabbb90a2ed062915437d5aa
--- /dev/null
+++ b/bridge_data_v2_test/6389/lang.txt
@@ -0,0 +1,2 @@
+fold the cloth from top left to lower right
+confidence: 1
diff --git a/bridge_data_v2_test/6521/lang.txt b/bridge_data_v2_test/6521/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..45ecc5130a8d8f460b4910171179d5e2007de399
--- /dev/null
+++ b/bridge_data_v2_test/6521/lang.txt
@@ -0,0 +1,2 @@
+fold the cloth from bottom left to top right 
+confidence: 1
diff --git a/bridge_data_v2_test/6529/lang.txt b/bridge_data_v2_test/6529/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9f4950b322993aecef1acc19fea4cfe42cc44421
--- /dev/null
+++ b/bridge_data_v2_test/6529/lang.txt
@@ -0,0 +1,2 @@
+Put the blue object on the table from the cloth.
+confidence: 1
diff --git a/bridge_data_v2_test/6571/lang.txt b/bridge_data_v2_test/6571/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..5748c6b66b3f1fd3ec0a970b5d9e8a8c4378b0f4
--- /dev/null
+++ b/bridge_data_v2_test/6571/lang.txt
@@ -0,0 +1,2 @@
+fold the cloth from bottom right to the top left
+confidence: 0.8
diff --git a/bridge_data_v2_test/6626/lang.txt b/bridge_data_v2_test/6626/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..d2207879c57948db7137e959d3617777c2061f3b
--- /dev/null
+++ b/bridge_data_v2_test/6626/lang.txt
@@ -0,0 +1,2 @@
+move the blue figure from the left side of the table to the bottom right side of the cloth
+confidence: 1
diff --git a/bridge_data_v2_test/6653/lang.txt b/bridge_data_v2_test/6653/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..93ab099dce9858fb2cbe95fc11fd85c443bd2f64
--- /dev/null
+++ b/bridge_data_v2_test/6653/lang.txt
@@ -0,0 +1,2 @@
+fold the cloth from the bottom right to the top left
+confidence: 1
diff --git a/bridge_data_v2_test/6803/lang.txt b/bridge_data_v2_test/6803/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f404de38839b56d3b635becdf0e6921f6efe9a41
--- /dev/null
+++ b/bridge_data_v2_test/6803/lang.txt
@@ -0,0 +1,2 @@
+fold the cloth from left to right
+confidence: 0.6
diff --git a/bridge_data_v2_test/6834/lang.txt b/bridge_data_v2_test/6834/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c03e686110e5bf06b15b3a3dfa19b8d707823909
--- /dev/null
+++ b/bridge_data_v2_test/6834/lang.txt
@@ -0,0 +1,2 @@
+unfold the cloth off the banana from left to right
+confidence: 1
diff --git a/bridge_data_v2_test/6838/lang.txt b/bridge_data_v2_test/6838/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0e62a4398265dabb6393bde2cb1cc6a2a658f5b3
--- /dev/null
+++ b/bridge_data_v2_test/6838/lang.txt
@@ -0,0 +1,2 @@
+move the cloth from left to right
+confidence: 0.6
diff --git a/bridge_data_v2_test/7016/lang.txt b/bridge_data_v2_test/7016/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..fa5f04dcc175770d1fcfb62f4045d216e39aa80f
--- /dev/null
+++ b/bridge_data_v2_test/7016/lang.txt
@@ -0,0 +1,2 @@
+put the yellow turtle inside the drawer
+confidence: 0.8
diff --git a/bridge_data_v2_test/7485/lang.txt b/bridge_data_v2_test/7485/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0a5600e9adba89ff59ad9d47990307c9d0b85cc7
--- /dev/null
+++ b/bridge_data_v2_test/7485/lang.txt
@@ -0,0 +1,2 @@
+put the sushi on the bottom middle of the table
+confidence: 0.6
diff --git a/bridge_data_v2_test/775/lang.txt b/bridge_data_v2_test/775/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..69f7cb55d4ef78c59f6333c4a6486189f0f693d1
--- /dev/null
+++ b/bridge_data_v2_test/775/lang.txt
@@ -0,0 +1,2 @@
+move the fork above cloth
+confidence: 0.8
diff --git a/bridge_data_v2_test/7889/lang.txt b/bridge_data_v2_test/7889/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..683e673fdc18f06b4770b2b3bc9bd67629570216
--- /dev/null
+++ b/bridge_data_v2_test/7889/lang.txt
@@ -0,0 +1,2 @@
+fold the cloth from right to left
+confidence: 1
diff --git a/bridge_data_v2_test/8289/lang.txt b/bridge_data_v2_test/8289/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..78e3ac2b4eb96122c9e2c4e13ceb2a8f963628b3
--- /dev/null
+++ b/bridge_data_v2_test/8289/lang.txt
@@ -0,0 +1,2 @@
+fold the clothe from bottom right to top left
+confidence: 1
diff --git a/bridge_data_v2_test/8500/lang.txt b/bridge_data_v2_test/8500/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..28f13ed5b55bdbc460dd146ea4269f4de898f9e1
--- /dev/null
+++ b/bridge_data_v2_test/8500/lang.txt
@@ -0,0 +1,2 @@
+move the blue to top side of cloth
+confidence: 0.4
diff --git a/bridge_data_v2_test/8646/lang.txt b/bridge_data_v2_test/8646/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..635278182416738dc1d3bb32508ab2444c91a840
--- /dev/null
+++ b/bridge_data_v2_test/8646/lang.txt
@@ -0,0 +1,2 @@
+unfold the cloth from top left to bottom right
+confidence: 0.8
diff --git a/bridge_data_v2_test/867/lang.txt b/bridge_data_v2_test/867/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..89d41c9bbecaa5a477d1cf4d1884bb30d933d2b9
--- /dev/null
+++ b/bridge_data_v2_test/867/lang.txt
@@ -0,0 +1,2 @@
+take the red object out of the pot and put it on the left burner
+confidence: 1