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diff --git a/bridge_data_v2_test/10360/lang.txt b/bridge_data_v2_test/10360/lang.txt
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index 0000000000000000000000000000000000000000..207e0de40b5040d3d9c331129ba9a1ca1677db6e
--- /dev/null
+++ b/bridge_data_v2_test/10360/lang.txt
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+push the can to the top middle of the table
+confidence: 0.8
diff --git a/bridge_data_v2_test/10494/lang.txt b/bridge_data_v2_test/10494/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f3f22dc4cc1c50a0420b9255258674724622d17e
--- /dev/null
+++ b/bridge_data_v2_test/10494/lang.txt
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+move the orange cloth below of the blue spatula
+confidence: 0.8
diff --git a/bridge_data_v2_test/10610/lang.txt b/bridge_data_v2_test/10610/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..35670ec98c6cc000b5e913ae718b62e3cbe97436
--- /dev/null
+++ b/bridge_data_v2_test/10610/lang.txt
@@ -0,0 +1,2 @@
+move the yellow cloth to the bottom left of table
+confidence: 0.6
diff --git a/bridge_data_v2_test/10909/lang.txt b/bridge_data_v2_test/10909/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..1fa4dc1e34016ffa4dd8c131958e70c5df4a201e
--- /dev/null
+++ b/bridge_data_v2_test/10909/lang.txt
@@ -0,0 +1,2 @@
+covered the silver pot with the lid
+confidence: 1
diff --git a/bridge_data_v2_test/1093/lang.txt b/bridge_data_v2_test/1093/lang.txt
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index 0000000000000000000000000000000000000000..325f98d830557acd9e249671afabf848390219de
--- /dev/null
+++ b/bridge_data_v2_test/1093/lang.txt
@@ -0,0 +1,2 @@
+move purple towel from the top right to center of stove
+confidence: 0.2
diff --git a/bridge_data_v2_test/11014/lang.txt b/bridge_data_v2_test/11014/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e35473f65e6bb0270107bcbb74aea6ecc71cad8a
--- /dev/null
+++ b/bridge_data_v2_test/11014/lang.txt
@@ -0,0 +1,2 @@
+Moved the yellow brush to the bottom left side of the stove.
+confidence: 1
diff --git a/bridge_data_v2_test/11040/lang.txt b/bridge_data_v2_test/11040/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..edb9799b86799059ed8b6e6fcf709e48a42b8651
--- /dev/null
+++ b/bridge_data_v2_test/11040/lang.txt
@@ -0,0 +1,2 @@
+Take the bread and put on the left side of the stove
+confidence: 0.8
diff --git a/bridge_data_v2_test/11329/lang.txt b/bridge_data_v2_test/11329/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..ecf4069b2adbdd4ab4134a9ba89f9ced400775a1
--- /dev/null
+++ b/bridge_data_v2_test/11329/lang.txt
@@ -0,0 +1,2 @@
+take the sushi from the silver pot and place it on the left burner
+confidence: 0.4
diff --git a/bridge_data_v2_test/11397/lang.txt b/bridge_data_v2_test/11397/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..5f8fc2bae0bb0057767ea356c71ebe9b0a94e192
--- /dev/null
+++ b/bridge_data_v2_test/11397/lang.txt
@@ -0,0 +1,2 @@
+move the sashimi from the left side of the stove to the right down corner
+confidence: 0.8
diff --git a/bridge_data_v2_test/11679/lang.txt b/bridge_data_v2_test/11679/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..6763ba2f0900d9fef43062054cba39b6c91e6f24
--- /dev/null
+++ b/bridge_data_v2_test/11679/lang.txt
@@ -0,0 +1,2 @@
+Put the purple cloth to the left of the burner 
+confidence: 0.6
diff --git a/bridge_data_v2_test/11954/lang.txt b/bridge_data_v2_test/11954/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..2667b0dba546a5c01297ee83f5b35b8b6b69ed90
--- /dev/null
+++ b/bridge_data_v2_test/11954/lang.txt
@@ -0,0 +1,2 @@
+remove the blue cube from the tower and put it on the table
+confidence: 1
diff --git a/bridge_data_v2_test/11986/lang.txt b/bridge_data_v2_test/11986/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e13fc14b6bb03b9911fb81512aa8d003c25855e3
--- /dev/null
+++ b/bridge_data_v2_test/11986/lang.txt
@@ -0,0 +1,2 @@
+put the block on top of the cube with hole in the middle
+confidence: 0.8
diff --git a/bridge_data_v2_test/12308/lang.txt b/bridge_data_v2_test/12308/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..77380eb2bb2a57fd04d87871d5612454b0e41440
--- /dev/null
+++ b/bridge_data_v2_test/12308/lang.txt
@@ -0,0 +1,2 @@
+close the drawer
+confidence: 1
diff --git a/bridge_data_v2_test/12425/lang.txt b/bridge_data_v2_test/12425/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..fbc471f79bc27fe4fdeed091f7c6c29da044ea57
--- /dev/null
+++ b/bridge_data_v2_test/12425/lang.txt
@@ -0,0 +1,2 @@
+move the corn to the middle of the table
+confidence: 0.6
diff --git a/bridge_data_v2_test/12726/lang.txt b/bridge_data_v2_test/12726/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..8024192d16c0137b6f69f13499181860c9a512ff
--- /dev/null
+++ b/bridge_data_v2_test/12726/lang.txt
@@ -0,0 +1,2 @@
+put a white thing into the drawer
+confidence: 0.4
diff --git a/bridge_data_v2_test/12808/lang.txt b/bridge_data_v2_test/12808/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e8f9528e969efc625904f2ae79a1ed1e661876db
--- /dev/null
+++ b/bridge_data_v2_test/12808/lang.txt
@@ -0,0 +1,2 @@
+opens the drawer
+confidence: 0.8
diff --git a/bridge_data_v2_test/130/lang.txt b/bridge_data_v2_test/130/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9b5608f190a26e69f4ec60bae4f5f0b9971affdb
--- /dev/null
+++ b/bridge_data_v2_test/130/lang.txt
@@ -0,0 +1,2 @@
+take the carrot and put it it between the two left burners
+confidence: 0.4
diff --git a/bridge_data_v2_test/13285/lang.txt b/bridge_data_v2_test/13285/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c14d3658a52c57d7bc6efae7caf5d1697c2ff48f
--- /dev/null
+++ b/bridge_data_v2_test/13285/lang.txt
@@ -0,0 +1 @@
+sweep into pile
diff --git a/bridge_data_v2_test/13421/lang.txt b/bridge_data_v2_test/13421/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c9438a5d06bae6c0390858ef49478a655047bf19
--- /dev/null
+++ b/bridge_data_v2_test/13421/lang.txt
@@ -0,0 +1,2 @@
+put the bobbin back in the correct position
+confidence: 0.4
diff --git a/bridge_data_v2_test/13500/lang.txt b/bridge_data_v2_test/13500/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..64277fd1d37507c3dde9f397c5114f619fd20dc6
--- /dev/null
+++ b/bridge_data_v2_test/13500/lang.txt
@@ -0,0 +1,2 @@
+move the orange object inside the silver pot to the lower right of the table
+confidence: 1
diff --git a/bridge_data_v2_test/13526/lang.txt b/bridge_data_v2_test/13526/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..6b68b9ebc27fef4ae90c07dbd1d19138a64053b2
--- /dev/null
+++ b/bridge_data_v2_test/13526/lang.txt
@@ -0,0 +1,2 @@
+move the spoon in the middle of the table
+confidence: 0.8
diff --git a/bridge_data_v2_test/14465/lang.txt b/bridge_data_v2_test/14465/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..d526f65959e278978ec6c89a46205229690568ab
--- /dev/null
+++ b/bridge_data_v2_test/14465/lang.txt
@@ -0,0 +1,2 @@
+It did nothing
+confidence: 0.4
diff --git a/bridge_data_v2_test/14513/lang.txt b/bridge_data_v2_test/14513/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..3dacd35e5051e5d1ec0fcc36992e9f9a44b4bd7a
--- /dev/null
+++ b/bridge_data_v2_test/14513/lang.txt
@@ -0,0 +1,2 @@
+put the cube on the top of an arc  block tower
+confidence: 1
diff --git a/bridge_data_v2_test/14703/lang.txt b/bridge_data_v2_test/14703/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..eaf45ca429fa2a1985d56c62fa27347f0c8ef731
--- /dev/null
+++ b/bridge_data_v2_test/14703/lang.txt
@@ -0,0 +1,2 @@
+put the red cube on top of the arch
+confidence: 0.6
diff --git a/bridge_data_v2_test/14942/lang.txt b/bridge_data_v2_test/14942/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..85fbdd94520259bf20270c2b8730d8dbca89c3a3
--- /dev/null
+++ b/bridge_data_v2_test/14942/lang.txt
@@ -0,0 +1,2 @@
+put the blue block on top of the green arch
+confidence: 0.8
diff --git a/bridge_data_v2_test/1505/lang.txt b/bridge_data_v2_test/1505/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..01b8c5deafd44d3c62376d3dcfd3d6d8f1926d63
--- /dev/null
+++ b/bridge_data_v2_test/1505/lang.txt
@@ -0,0 +1,2 @@
+unfold the cloth to top right
+confidence: 0.8
diff --git a/bridge_data_v2_test/15163/lang.txt b/bridge_data_v2_test/15163/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..2f255af546d3682d7953f98a65a9bb98d94acc37
--- /dev/null
+++ b/bridge_data_v2_test/15163/lang.txt
@@ -0,0 +1,2 @@
+move the blue block next to the red block
+confidence: 0.8
diff --git a/bridge_data_v2_test/15183/lang.txt b/bridge_data_v2_test/15183/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..824692ef8b3b7bf159bde6dd9d349c5e6f3ff5e3
--- /dev/null
+++ b/bridge_data_v2_test/15183/lang.txt
@@ -0,0 +1,2 @@
+put the rectangular object with the red marking on top of the other rectangular object
+confidence: 0.6
diff --git a/bridge_data_v2_test/15383/lang.txt b/bridge_data_v2_test/15383/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..7a4ac17aec0cd6463853ea5ccdbf34d461f9cf67
--- /dev/null
+++ b/bridge_data_v2_test/15383/lang.txt
@@ -0,0 +1,2 @@
+put the rectangular block on the arch
+confidence: 0.6
diff --git a/bridge_data_v2_test/15553/lang.txt b/bridge_data_v2_test/15553/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..d82b8e16bfac0220c13f55d64dc27f0570f24bed
--- /dev/null
+++ b/bridge_data_v2_test/15553/lang.txt
@@ -0,0 +1,2 @@
+put the chess piece on top of the square with a hole
+confidence: 1
diff --git a/bridge_data_v2_test/16009/lang.txt b/bridge_data_v2_test/16009/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..ca8b31d06f4d4232cc26494bea8d417092640a69
--- /dev/null
+++ b/bridge_data_v2_test/16009/lang.txt
@@ -0,0 +1,2 @@
+move the white mushroom to the top of the broccoli
+confidence: 0.4
diff --git a/bridge_data_v2_test/16036/lang.txt b/bridge_data_v2_test/16036/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a6f821f701660ebda0d84e405b7a02fe0701268f
--- /dev/null
+++ b/bridge_data_v2_test/16036/lang.txt
@@ -0,0 +1,2 @@
+put the green object on the drawer 
+confidence: 1
diff --git a/bridge_data_v2_test/16109/lang.txt b/bridge_data_v2_test/16109/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..8efd29765112e71b29b579072ff17466925674f1
--- /dev/null
+++ b/bridge_data_v2_test/16109/lang.txt
@@ -0,0 +1,2 @@
+open the drawer
+confidence: 1
diff --git a/bridge_data_v2_test/16174/lang.txt b/bridge_data_v2_test/16174/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..6a8467c4e7f62d8f3134f5e78bf21daaa778cc6e
--- /dev/null
+++ b/bridge_data_v2_test/16174/lang.txt
@@ -0,0 +1,2 @@
+pick up the eggplant and place it to the left of the drawer
+confidence: 1
diff --git a/bridge_data_v2_test/16411/lang.txt b/bridge_data_v2_test/16411/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..2400efb7a1fd7cd9b1938a67fcaff7b1691471d2
--- /dev/null
+++ b/bridge_data_v2_test/16411/lang.txt
@@ -0,0 +1,2 @@
+close the drawer
+confidence: 0.8
diff --git a/bridge_data_v2_test/16508/lang.txt b/bridge_data_v2_test/16508/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..1d48d274d8b74254f0ceab5dbcfaa728fe7766cf
--- /dev/null
+++ b/bridge_data_v2_test/16508/lang.txt
@@ -0,0 +1,2 @@
+open the drawer
+confidence: 0.6
diff --git a/bridge_data_v2_test/16811/lang.txt b/bridge_data_v2_test/16811/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..65d8404f44b099852db9cf906eba2a30500fd3ea
--- /dev/null
+++ b/bridge_data_v2_test/16811/lang.txt
@@ -0,0 +1,2 @@
+Move the blue fork from the top right burner to the bottom left burner 
+confidence: 0.8
diff --git a/bridge_data_v2_test/16909/lang.txt b/bridge_data_v2_test/16909/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..8bba7e7c25f6f2376d9c92459fac5f88ec935b94
--- /dev/null
+++ b/bridge_data_v2_test/16909/lang.txt
@@ -0,0 +1,2 @@
+move the silver cover to bottom right burner 
+confidence: 0.8
diff --git a/bridge_data_v2_test/17016/lang.txt b/bridge_data_v2_test/17016/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..86648ed8f8808455d83f5e945e81abf4aa2b816c
--- /dev/null
+++ b/bridge_data_v2_test/17016/lang.txt
@@ -0,0 +1,2 @@
+take the red object out of the pot and put it on the left burner
+confidence: 0.6
diff --git a/bridge_data_v2_test/17217/lang.txt b/bridge_data_v2_test/17217/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..ad1eabde3aad5dd5b6f3f95a543ec71db812604c
--- /dev/null
+++ b/bridge_data_v2_test/17217/lang.txt
@@ -0,0 +1 @@
+close microwave
diff --git a/bridge_data_v2_test/17874/lang.txt b/bridge_data_v2_test/17874/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..d9a4996e1744e624cb98af35ef76ad0b61c67584
--- /dev/null
+++ b/bridge_data_v2_test/17874/lang.txt
@@ -0,0 +1,2 @@
+put the plus  on the blue block
+confidence: 1
diff --git a/bridge_data_v2_test/18219/lang.txt b/bridge_data_v2_test/18219/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e19276c54c46d560bb07f2a46ef13dd9fe3862a5
--- /dev/null
+++ b/bridge_data_v2_test/18219/lang.txt
@@ -0,0 +1,2 @@
+remove the yellow object from the top of the tower to the Centre of the table
+confidence: 0.8
diff --git a/bridge_data_v2_test/18282/lang.txt b/bridge_data_v2_test/18282/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c14d3658a52c57d7bc6efae7caf5d1697c2ff48f
--- /dev/null
+++ b/bridge_data_v2_test/18282/lang.txt
@@ -0,0 +1 @@
+sweep into pile
diff --git a/bridge_data_v2_test/1844/lang.txt b/bridge_data_v2_test/1844/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..801495c53ea998c787edb376cf3c906aec1f2841
--- /dev/null
+++ b/bridge_data_v2_test/1844/lang.txt
@@ -0,0 +1,2 @@
+mettre la figure bleue sur le bord supérieur du tissu
+confidence: 0.6
diff --git a/bridge_data_v2_test/1976/lang.txt b/bridge_data_v2_test/1976/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..5acda211ea373ce3c8852b39b0fd7b4c3940274e
--- /dev/null
+++ b/bridge_data_v2_test/1976/lang.txt
@@ -0,0 +1,2 @@
+fold the cloth from the right to the left
+confidence: 0.6
diff --git a/bridge_data_v2_test/2217/lang.txt b/bridge_data_v2_test/2217/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..b79fdfc3b5a1455806c16ae6a1182d2c2e6bc873
--- /dev/null
+++ b/bridge_data_v2_test/2217/lang.txt
@@ -0,0 +1,2 @@
+move the cloth to the middle of the table
+confidence: 0.8
diff --git a/bridge_data_v2_test/2700/lang.txt b/bridge_data_v2_test/2700/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..2ef9a9ba185ab741bc7d8fa181c13ad1b9c25407
--- /dev/null
+++ b/bridge_data_v2_test/2700/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/2716/lang.txt b/bridge_data_v2_test/2716/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..27d7cbf7132b5b933af2edae5b632d8d57a2c434
--- /dev/null
+++ b/bridge_data_v2_test/2716/lang.txt
@@ -0,0 +1,2 @@
+unfold the blue cloth with a red thing on it from top left to bottom right
+confidence: 0.8
diff --git a/bridge_data_v2_test/2737/lang.txt b/bridge_data_v2_test/2737/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f649723c1d14692b036fcea2a169aef157e2b3f2
--- /dev/null
+++ b/bridge_data_v2_test/2737/lang.txt
@@ -0,0 +1,2 @@
+fold the cloth from bottom to top
+confidence: 1
diff --git a/bridge_data_v2_test/2841/lang.txt b/bridge_data_v2_test/2841/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0bf651208c1750c19043f6b184f3d7d123ed5986
--- /dev/null
+++ b/bridge_data_v2_test/2841/lang.txt
@@ -0,0 +1,2 @@
+remove the green fork on top right of the cloth
+confidence: 0.6
diff --git a/bridge_data_v2_test/32/lang.txt b/bridge_data_v2_test/32/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..d457c3119294a138af3ee792d57d0bffa5b1e1e6
--- /dev/null
+++ b/bridge_data_v2_test/32/lang.txt
@@ -0,0 +1,2 @@
+Moved the silver pot the the bottom right burner
+confidence: 0.8
diff --git a/bridge_data_v2_test/3303/lang.txt b/bridge_data_v2_test/3303/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c14d3658a52c57d7bc6efae7caf5d1697c2ff48f
--- /dev/null
+++ b/bridge_data_v2_test/3303/lang.txt
@@ -0,0 +1 @@
+sweep into pile
diff --git a/bridge_data_v2_test/3640/lang.txt b/bridge_data_v2_test/3640/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c14d3658a52c57d7bc6efae7caf5d1697c2ff48f
--- /dev/null
+++ b/bridge_data_v2_test/3640/lang.txt
@@ -0,0 +1 @@
+sweep into pile
diff --git a/bridge_data_v2_test/3772/lang.txt b/bridge_data_v2_test/3772/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c14d3658a52c57d7bc6efae7caf5d1697c2ff48f
--- /dev/null
+++ b/bridge_data_v2_test/3772/lang.txt
@@ -0,0 +1 @@
+sweep into pile
diff --git a/bridge_data_v2_test/4365/lang.txt b/bridge_data_v2_test/4365/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e3c86a8b505c6c6711aac3b89cd73cd4b8e8f95c
--- /dev/null
+++ b/bridge_data_v2_test/4365/lang.txt
@@ -0,0 +1,2 @@
+moved the towel from the middle of washing machine to the right side>
+confidence: 1
diff --git a/bridge_data_v2_test/4984/lang.txt b/bridge_data_v2_test/4984/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e895114e716b7d9a76aab81c6bfbebb82deca15c
--- /dev/null
+++ b/bridge_data_v2_test/4984/lang.txt
@@ -0,0 +1,2 @@
+fold the cloth from rigth bottom to the left top
+confidence: 0.6
diff --git a/bridge_data_v2_test/5390/lang.txt b/bridge_data_v2_test/5390/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..3ff9d4cf7fede8217ed54c5fcdb85ea8a59fffaf
--- /dev/null
+++ b/bridge_data_v2_test/5390/lang.txt
@@ -0,0 +1,2 @@
+fold cloth from top left to center of the cloth
+confidence: 1
diff --git a/bridge_data_v2_test/5543/lang.txt b/bridge_data_v2_test/5543/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..936d2289a3160cb10e91e0d40a3af02234b20da9
--- /dev/null
+++ b/bridge_data_v2_test/5543/lang.txt
@@ -0,0 +1,2 @@
+Unfold the cloth from bottom right to top left
+confidence: 1
diff --git a/bridge_data_v2_test/5570/lang.txt b/bridge_data_v2_test/5570/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..2d75a1b1cb127708fa8fa7faada969e7177e5a3e
--- /dev/null
+++ b/bridge_data_v2_test/5570/lang.txt
@@ -0,0 +1,2 @@
+fold the cloth from the right 
+confidence: 0.8
diff --git a/bridge_data_v2_test/5973/lang.txt b/bridge_data_v2_test/5973/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c2699a86e489698b681ba99714f75a61533dd042
--- /dev/null
+++ b/bridge_data_v2_test/5973/lang.txt
@@ -0,0 +1,2 @@
+ fold the cloth from the bottom to the top
+confidence: 0.4
diff --git a/bridge_data_v2_test/705/lang.txt b/bridge_data_v2_test/705/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c915f8fff5ab78ae862fadf9046f297a36ed3774
--- /dev/null
+++ b/bridge_data_v2_test/705/lang.txt
@@ -0,0 +1,2 @@
+put the silver pot to the upper right of the burner beside the green cloth
+confidence: 0.6
diff --git a/bridge_data_v2_test/7194/lang.txt b/bridge_data_v2_test/7194/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..3e088ff824bbdd512d287db38f02fe2d9d443f84
--- /dev/null
+++ b/bridge_data_v2_test/7194/lang.txt
@@ -0,0 +1,2 @@
+moves a pink toy to the right side of the table
+confidence: 0.8
diff --git a/bridge_data_v2_test/7303/lang.txt b/bridge_data_v2_test/7303/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..020c295789c36ca4eec25e0882a2bcb7fe8dc9cc
--- /dev/null
+++ b/bridge_data_v2_test/7303/lang.txt
@@ -0,0 +1,2 @@
+take the object and put it in the drawer
+confidence: 0.8
diff --git a/bridge_data_v2_test/7488/lang.txt b/bridge_data_v2_test/7488/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9281037297cc4b2c4151ec6045dc404344e6c015
--- /dev/null
+++ b/bridge_data_v2_test/7488/lang.txt
@@ -0,0 +1,2 @@
+take the thing out of the drawer and put it on the table
+confidence: 1
diff --git a/bridge_data_v2_test/8421/lang.txt b/bridge_data_v2_test/8421/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..d3bc5fdd8b1533b9c61fdc085a6189f20424d367
--- /dev/null
+++ b/bridge_data_v2_test/8421/lang.txt
@@ -0,0 +1,2 @@
+fold the cloths from top left to bottom ringht
+confidence: 0.6
diff --git a/bridge_data_v2_test/8595/lang.txt b/bridge_data_v2_test/8595/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..708a9a5568175e8c12ce002173c4b4017a5c1bc0
--- /dev/null
+++ b/bridge_data_v2_test/8595/lang.txt
@@ -0,0 +1,2 @@
+move the cloth to the top left of the table
+confidence: 0.6
diff --git a/bridge_data_v2_test/8882/lang.txt b/bridge_data_v2_test/8882/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..ab7c7081bf116cf658d3ee7e8678473ee7aaa28f
--- /dev/null
+++ b/bridge_data_v2_test/8882/lang.txt
@@ -0,0 +1,2 @@
+moved the can from the top right side of the silver pot to the lower middle side of the table
+confidence: 0.4
diff --git a/bridge_data_v2_test/9078/lang.txt b/bridge_data_v2_test/9078/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0270fb3853ac90e8316fccaa185b1f9f120c7b81
--- /dev/null
+++ b/bridge_data_v2_test/9078/lang.txt
@@ -0,0 +1,2 @@
+put the lid on the silver pot
+confidence: 0.4
diff --git a/bridge_data_v2_test/9100/lang.txt b/bridge_data_v2_test/9100/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..d4f68ce431141a19901fd31ab20ab2858966420f
--- /dev/null
+++ b/bridge_data_v2_test/9100/lang.txt
@@ -0,0 +1,2 @@
+move the banana to the lower right of the table
+confidence: 1
diff --git a/bridge_data_v2_test/9101/lang.txt b/bridge_data_v2_test/9101/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..20212b2dedced6b15087dd145b4c93913373dee0
--- /dev/null
+++ b/bridge_data_v2_test/9101/lang.txt
@@ -0,0 +1,2 @@
+move the silver pot to the upper left side of the table
+confidence: 0.6
diff --git a/bridge_data_v2_test/9266/lang.txt b/bridge_data_v2_test/9266/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..85f776c1606fac0f26e0b286b46f35bbc0fed46d
--- /dev/null
+++ b/bridge_data_v2_test/9266/lang.txt
@@ -0,0 +1,2 @@
+move the yellow spoon to the middle left side of the table
+confidence: 0.6
diff --git a/bridge_data_v2_test/9318/lang.txt b/bridge_data_v2_test/9318/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..561590e058c98b37b8ce894adb3d8905d771148e
--- /dev/null
+++ b/bridge_data_v2_test/9318/lang.txt
@@ -0,0 +1,3 @@
+take the red object out of the silver pot and put it on the left side of the blue spoon
+
+confidence: 0.6
diff --git a/bridge_data_v2_test/9379/lang.txt b/bridge_data_v2_test/9379/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..bf3ae659f42d4df3853d5a6286a3714765be9258
--- /dev/null
+++ b/bridge_data_v2_test/9379/lang.txt
@@ -0,0 +1,2 @@
+move the red bar above the yellow spoon
+confidence: 0.6
diff --git a/bridge_data_v2_test/9828/lang.txt b/bridge_data_v2_test/9828/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c41bff7ad614121fe5c0fc1cecd2806ba23040f0
--- /dev/null
+++ b/bridge_data_v2_test/9828/lang.txt
@@ -0,0 +1,2 @@
+move the yellow cloth to the bottom left of the table
+confidence: 0.6
diff --git a/bridge_data_v2_test/9885/lang.txt b/bridge_data_v2_test/9885/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0270fb3853ac90e8316fccaa185b1f9f120c7b81
--- /dev/null
+++ b/bridge_data_v2_test/9885/lang.txt
@@ -0,0 +1,2 @@
+put the lid on the silver pot
+confidence: 0.4