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diff --git a/bridge_data_v1/669/im_5.jpg b/bridge_data_v1/669/im_5.jpg
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--- /dev/null
+++ b/bridge_data_v1/669/im_5.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/bridge_data_v2_test/10207/lang.txt b/bridge_data_v2_test/10207/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..00b21e55b6c0051596bc9c76ea170cfaa573afbc
--- /dev/null
+++ b/bridge_data_v2_test/10207/lang.txt
@@ -0,0 +1,2 @@
+moved the orange plastic pot on the right upper side of the table
+confidence: 0.8
diff --git a/bridge_data_v2_test/10385/lang.txt b/bridge_data_v2_test/10385/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..5ea9644708317c509c445c6f1fa0394a7122e272
--- /dev/null
+++ b/bridge_data_v2_test/10385/lang.txt
@@ -0,0 +1,2 @@
+Put the white object on the left side of the table
+confidence: 0.8
diff --git a/bridge_data_v2_test/10673/lang.txt b/bridge_data_v2_test/10673/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9b050bb0b2af499b54d0b3c019b2a1e68e198138
--- /dev/null
+++ b/bridge_data_v2_test/10673/lang.txt
@@ -0,0 +1,2 @@
+picking the yellow block puting it to the right
+confidence: 1
diff --git a/bridge_data_v2_test/10901/lang.txt b/bridge_data_v2_test/10901/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..66f2a0a0359df1832eef083a61cea0827b126728
--- /dev/null
+++ b/bridge_data_v2_test/10901/lang.txt
@@ -0,0 +1,2 @@
+put a red object on the lower side of the burner
+confidence: 0.8
diff --git a/bridge_data_v2_test/11749/lang.txt b/bridge_data_v2_test/11749/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..d792818e404249fa7333818f469885823438ce38
--- /dev/null
+++ b/bridge_data_v2_test/11749/lang.txt
@@ -0,0 +1,2 @@
+take the red fork and put it on the left burner
+confidence: 0.6
diff --git a/bridge_data_v2_test/12218/lang.txt b/bridge_data_v2_test/12218/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..d95014132ed4ada6058323a19849954687adac93
--- /dev/null
+++ b/bridge_data_v2_test/12218/lang.txt
@@ -0,0 +1,2 @@
+Open the drawer
+confidence: 1
diff --git a/bridge_data_v2_test/12627/lang.txt b/bridge_data_v2_test/12627/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..2d50ef1f2e9319537514bd97e479dfd9d2546ea1
--- /dev/null
+++ b/bridge_data_v2_test/12627/lang.txt
@@ -0,0 +1,2 @@
+ move the silver basket to the right burner
+confidence: 0.6
diff --git a/bridge_data_v2_test/12628/lang.txt b/bridge_data_v2_test/12628/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..830d0b962c5639f22134c661e2261d317b4bdaef
--- /dev/null
+++ b/bridge_data_v2_test/12628/lang.txt
@@ -0,0 +1,2 @@
+its open the top drawer.
+confidence: 0.2
diff --git a/bridge_data_v2_test/12736/lang.txt b/bridge_data_v2_test/12736/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..d95014132ed4ada6058323a19849954687adac93
--- /dev/null
+++ b/bridge_data_v2_test/12736/lang.txt
@@ -0,0 +1,2 @@
+Open the drawer
+confidence: 1
diff --git a/bridge_data_v2_test/13073/lang.txt b/bridge_data_v2_test/13073/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..dbdc8e9e9201db7822f07ad547109cb349215477
--- /dev/null
+++ b/bridge_data_v2_test/13073/lang.txt
@@ -0,0 +1,2 @@
+dropped the green object to the bottom
+confidence: 0.6
diff --git a/bridge_data_v2_test/1308/lang.txt b/bridge_data_v2_test/1308/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..6bdda6d8a812c657d928bce58da740436264366c
--- /dev/null
+++ b/bridge_data_v2_test/1308/lang.txt
@@ -0,0 +1,2 @@
+HJKLK;HGFG
+confidence: 0.8
diff --git a/bridge_data_v2_test/13355/lang.txt b/bridge_data_v2_test/13355/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c14d3658a52c57d7bc6efae7caf5d1697c2ff48f
--- /dev/null
+++ b/bridge_data_v2_test/13355/lang.txt
@@ -0,0 +1 @@
+sweep into pile
diff --git a/bridge_data_v2_test/13369/lang.txt b/bridge_data_v2_test/13369/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c14d3658a52c57d7bc6efae7caf5d1697c2ff48f
--- /dev/null
+++ b/bridge_data_v2_test/13369/lang.txt
@@ -0,0 +1 @@
+sweep into pile
diff --git a/bridge_data_v2_test/13466/lang.txt b/bridge_data_v2_test/13466/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..60fed3de458126d9f570cce46e586fb17c7da898
--- /dev/null
+++ b/bridge_data_v2_test/13466/lang.txt
@@ -0,0 +1,2 @@
+move the object to the upper middle of the table
+confidence: 0.8
diff --git a/bridge_data_v2_test/13730/lang.txt b/bridge_data_v2_test/13730/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..5ae7b0d63b5ff9fea4822e89eae7ce4f17509a57
--- /dev/null
+++ b/bridge_data_v2_test/13730/lang.txt
@@ -0,0 +1,2 @@
+slightly move the blue towel in the middle part of the table
+confidence: 1
diff --git a/bridge_data_v2_test/13800/lang.txt b/bridge_data_v2_test/13800/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..ad75d92c64becc377a799bdb364f311f5d32f347
--- /dev/null
+++ b/bridge_data_v2_test/13800/lang.txt
@@ -0,0 +1,2 @@
+put the black and white cylinder inside the silver pot
+confidence: 1
diff --git a/bridge_data_v2_test/13890/lang.txt b/bridge_data_v2_test/13890/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..cc6a949c577a2b882ccb0cc03dfb92a9aafbdfc6
--- /dev/null
+++ b/bridge_data_v2_test/13890/lang.txt
@@ -0,0 +1,2 @@
+move the can to the lower left of the table
+confidence: 1
diff --git a/bridge_data_v2_test/14261/lang.txt b/bridge_data_v2_test/14261/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..462ff2bc3b7b43ba479e217d53beab395a1e7544
--- /dev/null
+++ b/bridge_data_v2_test/14261/lang.txt
@@ -0,0 +1,2 @@
+put the blue cloth on the bottom right of the table
+confidence: 0.8
diff --git a/bridge_data_v2_test/14566/lang.txt b/bridge_data_v2_test/14566/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..d88920b4f97afd0487c2b8ef26303919f9b5f70f
--- /dev/null
+++ b/bridge_data_v2_test/14566/lang.txt
@@ -0,0 +1,2 @@
+put the wood rectangle with red writing on top of the wood rectangle
+confidence: 0.8
diff --git a/bridge_data_v2_test/14623/lang.txt b/bridge_data_v2_test/14623/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..2dd72fbf68131e1046a7604cbcfd983e2d2d5711
--- /dev/null
+++ b/bridge_data_v2_test/14623/lang.txt
@@ -0,0 +1,2 @@
+placed the block with red drawing on the left side of table
+confidence: 0.8
diff --git a/bridge_data_v2_test/14655/lang.txt b/bridge_data_v2_test/14655/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e121cb532193b8cab635de8a7890321b293aa38a
--- /dev/null
+++ b/bridge_data_v2_test/14655/lang.txt
@@ -0,0 +1,2 @@
+move the cube with a hole to the left
+confidence: 1
diff --git a/bridge_data_v2_test/14727/lang.txt b/bridge_data_v2_test/14727/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..85c4ca538fe8da0a866f227f54466a86d5fd6f58
--- /dev/null
+++ b/bridge_data_v2_test/14727/lang.txt
@@ -0,0 +1,2 @@
+put the red cube on top of rectangular block 
+confidence: 1
diff --git a/bridge_data_v2_test/15114/lang.txt b/bridge_data_v2_test/15114/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..dbf911068c04de59f0ae780b8ed8d8b68931e76c
--- /dev/null
+++ b/bridge_data_v2_test/15114/lang.txt
@@ -0,0 +1,2 @@
+move the rectangle block in the middle of the table
+confidence: 0.8
diff --git a/bridge_data_v2_test/15301/lang.txt b/bridge_data_v2_test/15301/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..37aa86ec5845b4eaf208d612d0981a19888ee6fa
--- /dev/null
+++ b/bridge_data_v2_test/15301/lang.txt
@@ -0,0 +1,2 @@
+Put the green cube on top of the blue cube
+confidence: 0.8
diff --git a/bridge_data_v2_test/15641/lang.txt b/bridge_data_v2_test/15641/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..2400efb7a1fd7cd9b1938a67fcaff7b1691471d2
--- /dev/null
+++ b/bridge_data_v2_test/15641/lang.txt
@@ -0,0 +1,2 @@
+close the drawer
+confidence: 0.8
diff --git a/bridge_data_v2_test/16248/lang.txt b/bridge_data_v2_test/16248/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..952be0faededd11a6a5da88ccbf9794f8209fff5
--- /dev/null
+++ b/bridge_data_v2_test/16248/lang.txt
@@ -0,0 +1,2 @@
+opens the drawer
+confidence: 1
diff --git a/bridge_data_v2_test/16273/lang.txt b/bridge_data_v2_test/16273/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..3c5e1e6a501d017ba54e52de236f97fe4b0daa4a
--- /dev/null
+++ b/bridge_data_v2_test/16273/lang.txt
@@ -0,0 +1,2 @@
+Close the drawer
+confidence: 1
diff --git a/bridge_data_v2_test/16435/lang.txt b/bridge_data_v2_test/16435/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..85ee18267dabb48134bc48c81dda6ebbced112e6
--- /dev/null
+++ b/bridge_data_v2_test/16435/lang.txt
@@ -0,0 +1,2 @@
+Grab the drawer handle and close it 
+confidence: 1
diff --git a/bridge_data_v2_test/16614/lang.txt b/bridge_data_v2_test/16614/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..5dcfe93e1ac990d17c884932055b949de2393987
--- /dev/null
+++ b/bridge_data_v2_test/16614/lang.txt
@@ -0,0 +1,2 @@
+move the red object to the middle of the stove
+confidence: 0.6
diff --git a/bridge_data_v2_test/16834/lang.txt b/bridge_data_v2_test/16834/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..ed4ec847045616bdf6b9237faa4cdb2514d0c590
--- /dev/null
+++ b/bridge_data_v2_test/16834/lang.txt
@@ -0,0 +1,2 @@
+Move the silver pot and place it on the lower right burner.
+confidence: 1
diff --git a/bridge_data_v2_test/16949/lang.txt b/bridge_data_v2_test/16949/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..d67b64c9a10ce508f5cbbf65bf1750a6b6a9fba8
--- /dev/null
+++ b/bridge_data_v2_test/16949/lang.txt
@@ -0,0 +1,2 @@
+move the green object and put in the below and left burner.
+confidence: 0.6
diff --git a/bridge_data_v2_test/1703/lang.txt b/bridge_data_v2_test/1703/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..45b27e405496693c8f7b0c0b51c68b64695e2fe9
--- /dev/null
+++ b/bridge_data_v2_test/1703/lang.txt
@@ -0,0 +1,2 @@
+fold the cloth from right to left
+confidence: 1.0
diff --git a/bridge_data_v2_test/1708/lang.txt b/bridge_data_v2_test/1708/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f0322d0803d525055ca5b43ed68b2c055760c493
--- /dev/null
+++ b/bridge_data_v2_test/1708/lang.txt
@@ -0,0 +1,2 @@
+ut the blue figure on the top edge of the cloth
+confidence: 0.8
diff --git a/bridge_data_v2_test/17863/lang.txt b/bridge_data_v2_test/17863/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f0a16b21876e5f507368cc75115dfe3920c42c3
--- /dev/null
+++ b/bridge_data_v2_test/17863/lang.txt
@@ -0,0 +1,2 @@
+pick the white cylinder block and put it on top of the blue cube
+confidence: 0.8
diff --git a/bridge_data_v2_test/1787/lang.txt b/bridge_data_v2_test/1787/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..038da6adb7fe3ac9041763f64002979ac5d49106
--- /dev/null
+++ b/bridge_data_v2_test/1787/lang.txt
@@ -0,0 +1,2 @@
+fold the cloth from bottom right to top
+confidence: 0.6
diff --git a/bridge_data_v2_test/17935/lang.txt b/bridge_data_v2_test/17935/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..7a46c0ddbca794a33a11468d50957401a9774653
--- /dev/null
+++ b/bridge_data_v2_test/17935/lang.txt
@@ -0,0 +1,2 @@
+put the yellow block on top of the green arch
+confidence: 0.8
diff --git a/bridge_data_v2_test/1895/lang.txt b/bridge_data_v2_test/1895/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9cf22142d798eb6939d6595ff0b97e4b0e4bcf40
--- /dev/null
+++ b/bridge_data_v2_test/1895/lang.txt
@@ -0,0 +1,2 @@
+fold the cloth from left to bottom right
+confidence: 0.6
diff --git a/bridge_data_v2_test/2336/lang.txt b/bridge_data_v2_test/2336/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..4612485cb3068a22bee2f8ced21c7d06d86c09db
--- /dev/null
+++ b/bridge_data_v2_test/2336/lang.txt
@@ -0,0 +1,2 @@
+move the strawberry from the table onto the cloth
+confidence: 0.8
diff --git a/bridge_data_v2_test/2431/lang.txt b/bridge_data_v2_test/2431/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a94cbfe9df66dfabe30c074a81161f4475307b0a
--- /dev/null
+++ b/bridge_data_v2_test/2431/lang.txt
@@ -0,0 +1,2 @@
+move the cloth to the center of the table
+confidence: 0.6
diff --git a/bridge_data_v2_test/2776/lang.txt b/bridge_data_v2_test/2776/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..aaa73ddd4c09df79bf4c4e1b6a5af3a141b87f40
--- /dev/null
+++ b/bridge_data_v2_test/2776/lang.txt
@@ -0,0 +1,2 @@
+folded the cloth from bottom left to top right
+confidence: 0.8
diff --git a/bridge_data_v2_test/2780/lang.txt b/bridge_data_v2_test/2780/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..d75323314ba488db0356593a135dcac7dc038251
--- /dev/null
+++ b/bridge_data_v2_test/2780/lang.txt
@@ -0,0 +1,2 @@
+move the white item from bottom right of the cloth to top edge of the table
+confidence: 0.8
diff --git a/bridge_data_v2_test/3137/lang.txt b/bridge_data_v2_test/3137/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..bdfc4d153f02066ac806b4dc17c58c667f91de4d
--- /dev/null
+++ b/bridge_data_v2_test/3137/lang.txt
@@ -0,0 +1,2 @@
+pick up the white rectangle block and put it on top of the  blue rectangle block
+confidence: 0.8
diff --git a/bridge_data_v2_test/3205/lang.txt b/bridge_data_v2_test/3205/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..43ca6249c1575f64113ea88fe829161416678e8e
--- /dev/null
+++ b/bridge_data_v2_test/3205/lang.txt
@@ -0,0 +1,2 @@
+open the drawer
+confidence: 0.8
diff --git a/bridge_data_v2_test/3390/lang.txt b/bridge_data_v2_test/3390/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c14d3658a52c57d7bc6efae7caf5d1697c2ff48f
--- /dev/null
+++ b/bridge_data_v2_test/3390/lang.txt
@@ -0,0 +1 @@
+sweep into pile
diff --git a/bridge_data_v2_test/3406/lang.txt b/bridge_data_v2_test/3406/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c14d3658a52c57d7bc6efae7caf5d1697c2ff48f
--- /dev/null
+++ b/bridge_data_v2_test/3406/lang.txt
@@ -0,0 +1 @@
+sweep into pile
diff --git a/bridge_data_v2_test/3554/lang.txt b/bridge_data_v2_test/3554/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c14d3658a52c57d7bc6efae7caf5d1697c2ff48f
--- /dev/null
+++ b/bridge_data_v2_test/3554/lang.txt
@@ -0,0 +1 @@
+sweep into pile
diff --git a/bridge_data_v2_test/4011/lang.txt b/bridge_data_v2_test/4011/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0fe841d07a904863fbcabd9626fd45ba7a4ed334
--- /dev/null
+++ b/bridge_data_v2_test/4011/lang.txt
@@ -0,0 +1,2 @@
+move the purple towel to the left end of the table
+confidence: 1
diff --git a/bridge_data_v2_test/466/lang.txt b/bridge_data_v2_test/466/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e661f7329dc351c9f0c2b986ea7f158ce10eb7fa
--- /dev/null
+++ b/bridge_data_v2_test/466/lang.txt
@@ -0,0 +1,2 @@
+move the yellow knife on the bottom part of the left burner
+confidence: 0.8
diff --git a/bridge_data_v2_test/5076/lang.txt b/bridge_data_v2_test/5076/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9e755922f7098c6c8a94b0944e4a732bdd57c97c
--- /dev/null
+++ b/bridge_data_v2_test/5076/lang.txt
@@ -0,0 +1,2 @@
+fold the cloth from top left to middle
+confidence: 1
diff --git a/bridge_data_v2_test/516/lang.txt b/bridge_data_v2_test/516/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..30ba3941f83ff23a42d676a61645813787f660c3
--- /dev/null
+++ b/bridge_data_v2_test/516/lang.txt
@@ -0,0 +1,2 @@
+put the violet cloth on the right side of the stove
+confidence: 0.8
diff --git a/bridge_data_v2_test/5289/lang.txt b/bridge_data_v2_test/5289/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9bc3972e33f8e1b63ffe614d79bf15c6e239ccd3
--- /dev/null
+++ b/bridge_data_v2_test/5289/lang.txt
@@ -0,0 +1,2 @@
+fold the cloth from top right to bottom left
+confidence: 1
diff --git a/bridge_data_v2_test/5317/lang.txt b/bridge_data_v2_test/5317/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..11c44cec6986ee0890ef3646d16e006485d28aec
--- /dev/null
+++ b/bridge_data_v2_test/5317/lang.txt
@@ -0,0 +1,2 @@
+unfold the cloth from left to top right
+confidence: 0.8
diff --git a/bridge_data_v2_test/5342/lang.txt b/bridge_data_v2_test/5342/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f0301eb6b692c5cf85bc9d1925ff2d65808398b2
--- /dev/null
+++ b/bridge_data_v2_test/5342/lang.txt
@@ -0,0 +1,2 @@
+fold the cloth from left to right
+confidence: 1
diff --git a/bridge_data_v2_test/587/lang.txt b/bridge_data_v2_test/587/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9da78ed58fed52078da9ee1d4c3e493968eb2359
--- /dev/null
+++ b/bridge_data_v2_test/587/lang.txt
@@ -0,0 +1,2 @@
+silver pot removed from yellow cloth
+confidence: 0.8
diff --git a/bridge_data_v2_test/6294/lang.txt b/bridge_data_v2_test/6294/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..3975a33384200397a5566411a20d7794bea7b455
--- /dev/null
+++ b/bridge_data_v2_test/6294/lang.txt
@@ -0,0 +1,2 @@
+unfold the cloth from top right to bottom left
+confidence: 1
diff --git a/bridge_data_v2_test/6301/lang.txt b/bridge_data_v2_test/6301/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..2382d3b5d04ca6c67c03768a14bbf9f09e0cc191
--- /dev/null
+++ b/bridge_data_v2_test/6301/lang.txt
@@ -0,0 +1,2 @@
+unfold the cloth from top right to bottom left.
+confidence: 1
diff --git a/bridge_data_v2_test/6328/lang.txt b/bridge_data_v2_test/6328/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a490a26b88587bd797de48216b0ed24ca4394b8d
--- /dev/null
+++ b/bridge_data_v2_test/6328/lang.txt
@@ -0,0 +1,2 @@
+phwefgzg,m.xf
+confidence: 1
diff --git a/bridge_data_v2_test/675/lang.txt b/bridge_data_v2_test/675/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..854f6016af17c087cc0f1b578b23bf85a41b9517
--- /dev/null
+++ b/bridge_data_v2_test/675/lang.txt
@@ -0,0 +1,2 @@
+put the object between the fork and  the pot
+confidence: 0.2
diff --git a/bridge_data_v2_test/7174/lang.txt b/bridge_data_v2_test/7174/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..2400efb7a1fd7cd9b1938a67fcaff7b1691471d2
--- /dev/null
+++ b/bridge_data_v2_test/7174/lang.txt
@@ -0,0 +1,2 @@
+close the drawer
+confidence: 0.8
diff --git a/bridge_data_v2_test/7618/lang.txt b/bridge_data_v2_test/7618/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..99c9f392b7f51455b98158dcc62c20fe73eaa9da
--- /dev/null
+++ b/bridge_data_v2_test/7618/lang.txt
@@ -0,0 +1,2 @@
+open drawer drawer
+confidence: 0.8
diff --git a/bridge_data_v2_test/7705/lang.txt b/bridge_data_v2_test/7705/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f6af1015a2ed678d3b38000ca14d5b6b46c5799b
--- /dev/null
+++ b/bridge_data_v2_test/7705/lang.txt
@@ -0,0 +1,2 @@
+put the red object left of the table
+confidence: 0.6
diff --git a/bridge_data_v2_test/7781/lang.txt b/bridge_data_v2_test/7781/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e339efc2992640431e18e1222a18e7c0cffba0c3
--- /dev/null
+++ b/bridge_data_v2_test/7781/lang.txt
@@ -0,0 +1,2 @@
+close the drawer
+confidence: 0.4
diff --git a/bridge_data_v2_test/7790/lang.txt b/bridge_data_v2_test/7790/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f486f21d162e58208f1439890d8d6cbedfdd4332
--- /dev/null
+++ b/bridge_data_v2_test/7790/lang.txt
@@ -0,0 +1,2 @@
+pull drawer out
+confidence: 0.4
diff --git a/bridge_data_v2_test/7888/lang.txt b/bridge_data_v2_test/7888/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f8a6a1ef4ca112cee2be393e935bb401a1f25155
--- /dev/null
+++ b/bridge_data_v2_test/7888/lang.txt
@@ -0,0 +1,2 @@
+fold the cloth from bottom to top
+confidence: 0.4
diff --git a/bridge_data_v2_test/7904/lang.txt b/bridge_data_v2_test/7904/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..63c0138cd65c52e10a72f34495937e1dda81af75
--- /dev/null
+++ b/bridge_data_v2_test/7904/lang.txt
@@ -0,0 +1,2 @@
+Unfold cloth from top to bottom
+confidence: 0.6
diff --git a/bridge_data_v2_test/792/lang.txt b/bridge_data_v2_test/792/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a9eb2e522cdc329a8f1a126fe9421144a396fa6d
--- /dev/null
+++ b/bridge_data_v2_test/792/lang.txt
@@ -0,0 +1,2 @@
+mover objeto de color azul ensima de la toalla verde
+confidence: 0.8
diff --git a/bridge_data_v2_test/818/lang.txt b/bridge_data_v2_test/818/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..8379bdd713b35a955d0d4aa0a999625bad8515ed
--- /dev/null
+++ b/bridge_data_v2_test/818/lang.txt
@@ -0,0 +1,2 @@
+move the red object in to the silver pot
+confidence: 0.8
diff --git a/bridge_data_v2_test/8279/lang.txt b/bridge_data_v2_test/8279/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f0301eb6b692c5cf85bc9d1925ff2d65808398b2
--- /dev/null
+++ b/bridge_data_v2_test/8279/lang.txt
@@ -0,0 +1,2 @@
+fold the cloth from left to right
+confidence: 1
diff --git a/bridge_data_v2_test/8327/lang.txt b/bridge_data_v2_test/8327/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..753e10e418ed620caab1eb4bd69d1a379555078b
--- /dev/null
+++ b/bridge_data_v2_test/8327/lang.txt
@@ -0,0 +1,2 @@
+unfold the cloth from the left to the right
+confidence: 0.6
diff --git a/bridge_data_v2_test/8756/lang.txt b/bridge_data_v2_test/8756/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f7446ad0babcb45a39dfdad6ab301affcd0aff47
--- /dev/null
+++ b/bridge_data_v2_test/8756/lang.txt
@@ -0,0 +1,2 @@
+put the object of table
+confidence: 0.8
diff --git a/bridge_data_v2_test/9068/lang.txt b/bridge_data_v2_test/9068/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..5db3da7e3f96cfe0af84a9f0b2d201ae1f1e655d
--- /dev/null
+++ b/bridge_data_v2_test/9068/lang.txt
@@ -0,0 +1,2 @@
+take the red fork and place it on the green cloth
+confidence: 1
diff --git a/bridge_data_v2_test/922/lang.txt b/bridge_data_v2_test/922/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..070d24b74e72a9c60821d03f36a76fcdd4f05496
--- /dev/null
+++ b/bridge_data_v2_test/922/lang.txt
@@ -0,0 +1,2 @@
+put the blue grapes on the upper right corner of the stove
+confidence: 0.6
diff --git a/bridge_data_v2_test/9275/lang.txt b/bridge_data_v2_test/9275/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..ea729dc3b3654d8c0dcbb0c9eb9c9fdfeae510cd
--- /dev/null
+++ b/bridge_data_v2_test/9275/lang.txt
@@ -0,0 +1,2 @@
+remove the lid fromthe silver pot and place it on the table
+confidence: 0.8
diff --git a/bridge_data_v2_test/939/lang.txt b/bridge_data_v2_test/939/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..6366425445e4b17047982e29d241884769d8b617
--- /dev/null
+++ b/bridge_data_v2_test/939/lang.txt
@@ -0,0 +1,2 @@
+put the blue brush on the purple cloth
+confidence: 0.8
diff --git a/bridge_data_v2_test/9403/lang.txt b/bridge_data_v2_test/9403/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..eb39b5f7d31565cfdbd8c2d38029ec6f114ec52a
--- /dev/null
+++ b/bridge_data_v2_test/9403/lang.txt
@@ -0,0 +1,2 @@
+move the silver pot to the left side of the table
+confidence: 0.6