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+size 50558
diff --git a/bridge_data_v1/660/im_8.jpg b/bridge_data_v1/660/im_8.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..be5f3fcc94416e2e00ee84aa02584ee440d36b9c
--- /dev/null
+++ b/bridge_data_v1/660/im_8.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/bridge_data_v2_test/10329/lang.txt b/bridge_data_v2_test/10329/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..373b7d6a486ed55349abaa5b8d8afb65899b15e6
--- /dev/null
+++ b/bridge_data_v2_test/10329/lang.txt
@@ -0,0 +1,2 @@
+take the pot lid and close the silver pot
+confidence: 0.8
diff --git a/bridge_data_v2_test/11108/lang.txt b/bridge_data_v2_test/11108/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..bac355724ab42d32deebad958d130399b1f5b3c4
--- /dev/null
+++ b/bridge_data_v2_test/11108/lang.txt
@@ -0,0 +1,2 @@
+move the green cloth  to the bottom left burner
+confidence: 0.8
diff --git a/bridge_data_v2_test/11112/lang.txt b/bridge_data_v2_test/11112/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..ba2bd5dcd649b8c8defa086f95d8dd9c221348fb
--- /dev/null
+++ b/bridge_data_v2_test/11112/lang.txt
@@ -0,0 +1,2 @@
+put the blue object to the bottom right edge of the stove.
+confidence: 0.8
diff --git a/bridge_data_v2_test/11338/lang.txt b/bridge_data_v2_test/11338/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..8698260305f812c11f4cb376b4f0dd9605c3b2ea
--- /dev/null
+++ b/bridge_data_v2_test/11338/lang.txt
@@ -0,0 +1,2 @@
+move the egg in front of the tin can
+confidence: 0.8
diff --git a/bridge_data_v2_test/11340/lang.txt b/bridge_data_v2_test/11340/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..b9434b27c633c19819f908d8a6ca1acdea6770b6
--- /dev/null
+++ b/bridge_data_v2_test/11340/lang.txt
@@ -0,0 +1,2 @@
+move the can to the upper right side of the stove
+confidence: 0.6
diff --git a/bridge_data_v2_test/11817/lang.txt b/bridge_data_v2_test/11817/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..6b5a9dbfcdbdc27980e35b0251d9ef1bdd9e874e
--- /dev/null
+++ b/bridge_data_v2_test/11817/lang.txt
@@ -0,0 +1,2 @@
+move the cover to the right stove
+confidence: 0.6
diff --git a/bridge_data_v2_test/12705/lang.txt b/bridge_data_v2_test/12705/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..025670c2c055958f8bf0d7d507870d7e2d2f6b1d
--- /dev/null
+++ b/bridge_data_v2_test/12705/lang.txt
@@ -0,0 +1,2 @@
+take the corn out of the drawer and put it on the left side of the table
+confidence: 0.8
diff --git a/bridge_data_v2_test/13247/lang.txt b/bridge_data_v2_test/13247/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c14d3658a52c57d7bc6efae7caf5d1697c2ff48f
--- /dev/null
+++ b/bridge_data_v2_test/13247/lang.txt
@@ -0,0 +1 @@
+sweep into pile
diff --git a/bridge_data_v2_test/13374/lang.txt b/bridge_data_v2_test/13374/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c14d3658a52c57d7bc6efae7caf5d1697c2ff48f
--- /dev/null
+++ b/bridge_data_v2_test/13374/lang.txt
@@ -0,0 +1 @@
+sweep into pile
diff --git a/bridge_data_v2_test/13599/lang.txt b/bridge_data_v2_test/13599/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..4796275eb71d5e76b49590ef1f0bc1333e3934ad
--- /dev/null
+++ b/bridge_data_v2_test/13599/lang.txt
@@ -0,0 +1,2 @@
+moved the lid from the silver pot to the right side of the table
+confidence: 1
diff --git a/bridge_data_v2_test/13843/lang.txt b/bridge_data_v2_test/13843/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..673eb0d3894ee7c5f11d63bec118592da65013af
--- /dev/null
+++ b/bridge_data_v2_test/13843/lang.txt
@@ -0,0 +1,2 @@
+put the green broccoli from the center of the table to the left side of the table
+confidence: 0.6
diff --git a/bridge_data_v2_test/1398/lang.txt b/bridge_data_v2_test/1398/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..14112256d2f677dcc82d19d221484c3d01013d0a
--- /dev/null
+++ b/bridge_data_v2_test/1398/lang.txt
@@ -0,0 +1,2 @@
+unfold the cloth from right to left
+confidence: 1
diff --git a/bridge_data_v2_test/14022/lang.txt b/bridge_data_v2_test/14022/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..1c8e8bd2f41bf330a329334c5032199a506b74af
--- /dev/null
+++ b/bridge_data_v2_test/14022/lang.txt
@@ -0,0 +1,2 @@
+Move the can up to the top of the table
+confidence: 0.8
diff --git a/bridge_data_v2_test/14047/lang.txt b/bridge_data_v2_test/14047/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9367a82e8c7a544e8aa0137b8c25b7443c5cd6fd
--- /dev/null
+++ b/bridge_data_v2_test/14047/lang.txt
@@ -0,0 +1,2 @@
+put the silver pot above the blue cloth
+confidence: 1
diff --git a/bridge_data_v2_test/14407/lang.txt b/bridge_data_v2_test/14407/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c14d3658a52c57d7bc6efae7caf5d1697c2ff48f
--- /dev/null
+++ b/bridge_data_v2_test/14407/lang.txt
@@ -0,0 +1 @@
+sweep into pile
diff --git a/bridge_data_v2_test/14516/lang.txt b/bridge_data_v2_test/14516/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..2f267b3dc4e9b75afd780649cbd4b55c762deecc
--- /dev/null
+++ b/bridge_data_v2_test/14516/lang.txt
@@ -0,0 +1,2 @@
+remove the white block from the arch and place it on the centre of the table
+confidence: 0.8
diff --git a/bridge_data_v2_test/14692/lang.txt b/bridge_data_v2_test/14692/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..30048c22022ef39bb0e92b4218f82d332267769f
--- /dev/null
+++ b/bridge_data_v2_test/14692/lang.txt
@@ -0,0 +1,2 @@
+moved the stick and cube from the right side of the table to the left
+confidence: 0.6
diff --git a/bridge_data_v2_test/14965/lang.txt b/bridge_data_v2_test/14965/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9743ad20199ee1c64c477540670c8458d34712a6
--- /dev/null
+++ b/bridge_data_v2_test/14965/lang.txt
@@ -0,0 +1,2 @@
+took the pyramid shaped bar and returned it on the white cuboid bar
+confidence: 0.8
diff --git a/bridge_data_v2_test/14991/lang.txt b/bridge_data_v2_test/14991/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..7d93e56a55b38e2ceb05c6c03437f616e2840cda
--- /dev/null
+++ b/bridge_data_v2_test/14991/lang.txt
@@ -0,0 +1,2 @@
+Remove the cylinder from the blocks and put  on the right side
+confidence: 1
diff --git a/bridge_data_v2_test/15111/lang.txt b/bridge_data_v2_test/15111/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..47f91c527492dd682ce4395316625d7e965512d5
--- /dev/null
+++ b/bridge_data_v2_test/15111/lang.txt
@@ -0,0 +1,2 @@
+put wood cube on top of wood rectangle
+confidence: 0.4
diff --git a/bridge_data_v2_test/15252/lang.txt b/bridge_data_v2_test/15252/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..266bb94f2b543652bb78e5309d38d41011a1b312
--- /dev/null
+++ b/bridge_data_v2_test/15252/lang.txt
@@ -0,0 +1,2 @@
+put the stick in the cube with a hole
+confidence: 1
diff --git a/bridge_data_v2_test/15629/lang.txt b/bridge_data_v2_test/15629/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..2a62f8b560954e0de978ec4b436fe96c46249715
--- /dev/null
+++ b/bridge_data_v2_test/15629/lang.txt
@@ -0,0 +1,2 @@
+open the drawer
+confidence: 0.4
diff --git a/bridge_data_v2_test/15983/lang.txt b/bridge_data_v2_test/15983/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..8efd29765112e71b29b579072ff17466925674f1
--- /dev/null
+++ b/bridge_data_v2_test/15983/lang.txt
@@ -0,0 +1,2 @@
+open the drawer
+confidence: 1
diff --git a/bridge_data_v2_test/16124/lang.txt b/bridge_data_v2_test/16124/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..82e5ea9b10f7ae4d64b47c0174b29218b625276f
--- /dev/null
+++ b/bridge_data_v2_test/16124/lang.txt
@@ -0,0 +1,2 @@
+take out the chicken wing in the drawer
+confidence: 0.4
diff --git a/bridge_data_v2_test/16570/lang.txt b/bridge_data_v2_test/16570/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..305417fd6e842a5781a366ec1c2f65d86af476e0
--- /dev/null
+++ b/bridge_data_v2_test/16570/lang.txt
@@ -0,0 +1,2 @@
+place the silver pan on the bottom right burner
+confidence: 1
diff --git a/bridge_data_v2_test/17199/lang.txt b/bridge_data_v2_test/17199/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..cd91401d632e288fdfb9aed6d3cbb8a9a208ebc6
--- /dev/null
+++ b/bridge_data_v2_test/17199/lang.txt
@@ -0,0 +1,2 @@
+move the blue fork to the bottom right burner
+confidence: 0.2
diff --git a/bridge_data_v2_test/17233/lang.txt b/bridge_data_v2_test/17233/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..ad1eabde3aad5dd5b6f3f95a543ec71db812604c
--- /dev/null
+++ b/bridge_data_v2_test/17233/lang.txt
@@ -0,0 +1 @@
+close microwave
diff --git a/bridge_data_v2_test/17239/lang.txt b/bridge_data_v2_test/17239/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..845b52a3fab9961eb57e84e7929621a05b8b508f
--- /dev/null
+++ b/bridge_data_v2_test/17239/lang.txt
@@ -0,0 +1 @@
+open microwave
diff --git a/bridge_data_v2_test/17709/lang.txt b/bridge_data_v2_test/17709/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..cc517bdbae27d00b649bdafd2573153c7ac4ff8b
--- /dev/null
+++ b/bridge_data_v2_test/17709/lang.txt
@@ -0,0 +1,2 @@
+put the green cube in the middle
+confidence: 0.6
diff --git a/bridge_data_v2_test/17891/lang.txt b/bridge_data_v2_test/17891/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0dc4b16052398e6a734fa308eef537f1743f3040
--- /dev/null
+++ b/bridge_data_v2_test/17891/lang.txt
@@ -0,0 +1,2 @@
+put the blue cube on top of the white cylinder
+confidence: 0.6
diff --git a/bridge_data_v2_test/1845/lang.txt b/bridge_data_v2_test/1845/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e6bc52ebbf1622fba1e0b31e26c66d17d1a2e49e
--- /dev/null
+++ b/bridge_data_v2_test/1845/lang.txt
@@ -0,0 +1,2 @@
+fold the cloth from top left to bottom right
+confidence: 1
diff --git a/bridge_data_v2_test/2152/lang.txt b/bridge_data_v2_test/2152/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..4187c7d204a2cc8027ead3b10f2d9785f0f00c26
--- /dev/null
+++ b/bridge_data_v2_test/2152/lang.txt
@@ -0,0 +1,2 @@
+unfold the cloth from the top left to the right
+confidence: 0.6
diff --git a/bridge_data_v2_test/2180/lang.txt b/bridge_data_v2_test/2180/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..62c320026b74c18fff5672f33c45f1a0c6f5f3eb
--- /dev/null
+++ b/bridge_data_v2_test/2180/lang.txt
@@ -0,0 +1,2 @@
+fold the edge from bottom to bottom left
+confidence: 0.8
diff --git a/bridge_data_v2_test/2498/lang.txt b/bridge_data_v2_test/2498/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..8531d440c5fe94c00c721ef01e6c9185fb566df3
--- /dev/null
+++ b/bridge_data_v2_test/2498/lang.txt
@@ -0,0 +1,2 @@
+move the figure to the upper right side
+confidence: 0.8
diff --git a/bridge_data_v2_test/2697/lang.txt b/bridge_data_v2_test/2697/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..35ac4ec49a1948545017e4509f5d4a5fcda3e17a
--- /dev/null
+++ b/bridge_data_v2_test/2697/lang.txt
@@ -0,0 +1,2 @@
+unfolds the cloth from top to bottom
+confidence: 1
diff --git a/bridge_data_v2_test/2752/lang.txt b/bridge_data_v2_test/2752/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..39a0b72b239852da37a3efb31219fe4d25e2e715
--- /dev/null
+++ b/bridge_data_v2_test/2752/lang.txt
@@ -0,0 +1,2 @@
+move the blue object from  the bottom left of the cloth to the left of the table
+confidence: 0.8
diff --git a/bridge_data_v2_test/2949/lang.txt b/bridge_data_v2_test/2949/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..b6bf082ff852033959316889ca2a943278fbbb42
--- /dev/null
+++ b/bridge_data_v2_test/2949/lang.txt
@@ -0,0 +1,2 @@
+move carrot to the right side of the table
+confidence: 0.8
diff --git a/bridge_data_v2_test/3567/lang.txt b/bridge_data_v2_test/3567/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c14d3658a52c57d7bc6efae7caf5d1697c2ff48f
--- /dev/null
+++ b/bridge_data_v2_test/3567/lang.txt
@@ -0,0 +1 @@
+sweep into pile
diff --git a/bridge_data_v2_test/3796/lang.txt b/bridge_data_v2_test/3796/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c14d3658a52c57d7bc6efae7caf5d1697c2ff48f
--- /dev/null
+++ b/bridge_data_v2_test/3796/lang.txt
@@ -0,0 +1 @@
+sweep into pile
diff --git a/bridge_data_v2_test/3968/lang.txt b/bridge_data_v2_test/3968/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9f38d34a6d12648fc5a256fb414f42804c10eca3
--- /dev/null
+++ b/bridge_data_v2_test/3968/lang.txt
@@ -0,0 +1,2 @@
+put the green towel in the basket
+confidence: 1
diff --git a/bridge_data_v2_test/415/lang.txt b/bridge_data_v2_test/415/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..2f8776a078e96df44eae78a9f0bbf1b44ca1332e
--- /dev/null
+++ b/bridge_data_v2_test/415/lang.txt
@@ -0,0 +1,2 @@
+move the blue spoon beside the silver pot
+confidence: 0.8
diff --git a/bridge_data_v2_test/4335/lang.txt b/bridge_data_v2_test/4335/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a08265268091d1824c804a38b1d9c6d5319dd502
--- /dev/null
+++ b/bridge_data_v2_test/4335/lang.txt
@@ -0,0 +1,2 @@
+put the blue clothe into washing machine
+confidence: 0.4
diff --git a/bridge_data_v2_test/436/lang.txt b/bridge_data_v2_test/436/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..eb36fdca3da8a1c62f6cebbbb3f897dd6dff01ea
--- /dev/null
+++ b/bridge_data_v2_test/436/lang.txt
@@ -0,0 +1,2 @@
+move the red fork to the right side of the stove 
+confidence: 0.4
diff --git a/bridge_data_v2_test/4366/lang.txt b/bridge_data_v2_test/4366/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..bf3f469bd00bf922ac102e89adefb25f620019e9
--- /dev/null
+++ b/bridge_data_v2_test/4366/lang.txt
@@ -0,0 +1,3 @@
+
+move the basket to the left side
+confidence: 0.8
diff --git a/bridge_data_v2_test/4484/lang.txt b/bridge_data_v2_test/4484/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e37c0dab95f5baa8f11f55a74d8a4ee5c2045cbc
--- /dev/null
+++ b/bridge_data_v2_test/4484/lang.txt
@@ -0,0 +1,2 @@
+take the orange cloth out of the basket and put it in the washing machine
+confidence: 0.8
diff --git a/bridge_data_v2_test/4547/lang.txt b/bridge_data_v2_test/4547/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..2564f34f1198713a25cf8ed0e8cc3c99edf2502f
--- /dev/null
+++ b/bridge_data_v2_test/4547/lang.txt
@@ -0,0 +1,3 @@
+taking out the yellow rag from the laundry machine
+
+confidence: 0.8
diff --git a/bridge_data_v2_test/4668/lang.txt b/bridge_data_v2_test/4668/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..8492a59e377f8cbc1c4997ff66052f554341aaa9
--- /dev/null
+++ b/bridge_data_v2_test/4668/lang.txt
@@ -0,0 +1,2 @@
+unfold the cloth from the bottom right to the top left
+confidence: 1
diff --git a/bridge_data_v2_test/490/lang.txt b/bridge_data_v2_test/490/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..3406072ea1d49aab9094d1c0c91d962e58a9bd11
--- /dev/null
+++ b/bridge_data_v2_test/490/lang.txt
@@ -0,0 +1,2 @@
+moved the orange cloth on the lower right side of the stove
+confidence: 0.6
diff --git a/bridge_data_v2_test/5126/lang.txt b/bridge_data_v2_test/5126/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..39e8a41cf6d4db329305370617451b27c079a371
--- /dev/null
+++ b/bridge_data_v2_test/5126/lang.txt
@@ -0,0 +1,2 @@
+unfold the cloth
+confidence: 1
diff --git a/bridge_data_v2_test/5172/lang.txt b/bridge_data_v2_test/5172/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..96a9a2ca75e279acff42bceea2ab0f793a9d8aa7
--- /dev/null
+++ b/bridge_data_v2_test/5172/lang.txt
@@ -0,0 +1,2 @@
+unfold the cloth in the top right
+confidence: 1
diff --git a/bridge_data_v2_test/5176/lang.txt b/bridge_data_v2_test/5176/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..97112cd66450cb9b72487e70192fc85ac7e7b308
--- /dev/null
+++ b/bridge_data_v2_test/5176/lang.txt
@@ -0,0 +1,2 @@
+robot moved cloth to the side of table
+confidence: 1
diff --git a/bridge_data_v2_test/5242/lang.txt b/bridge_data_v2_test/5242/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..b260c70f1ccca88e559877fa396f322fac50938c
--- /dev/null
+++ b/bridge_data_v2_test/5242/lang.txt
@@ -0,0 +1,2 @@
+unfold the cloth from left to right
+confidence: 0.8
diff --git a/bridge_data_v2_test/5628/lang.txt b/bridge_data_v2_test/5628/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..b194ef5c51eb5b136327b0d8c06b57af3b9db490
--- /dev/null
+++ b/bridge_data_v2_test/5628/lang.txt
@@ -0,0 +1,3 @@
+folded the blue clothfrom bottom to top
+
+confidence: 0.4
diff --git a/bridge_data_v2_test/5890/lang.txt b/bridge_data_v2_test/5890/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..102cfd1f3060ddad071f91d68bee1dbf403610b3
--- /dev/null
+++ b/bridge_data_v2_test/5890/lang.txt
@@ -0,0 +1,2 @@
+move the cloth to right side on the table
+confidence: 0.8
diff --git a/bridge_data_v2_test/5938/lang.txt b/bridge_data_v2_test/5938/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..b7992badb53a6e58de0b343110ff7047dbf80bff
--- /dev/null
+++ b/bridge_data_v2_test/5938/lang.txt
@@ -0,0 +1,2 @@
+fold the cloth from the top right to the bottom left
+confidence: 0.6
diff --git a/bridge_data_v2_test/6167/lang.txt b/bridge_data_v2_test/6167/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..d63e07557f83a3b67b4ea96129b7ba7d9c4c130f
--- /dev/null
+++ b/bridge_data_v2_test/6167/lang.txt
@@ -0,0 +1,2 @@
+unfold the cloth from top right to bottom left
+confidence: 0.8
diff --git a/bridge_data_v2_test/6394/lang.txt b/bridge_data_v2_test/6394/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..2c259189c1a6c606e9d0f5b880b4dfcdcbfae4d9
--- /dev/null
+++ b/bridge_data_v2_test/6394/lang.txt
@@ -0,0 +1,2 @@
+remove the cloth from the top
+confidence: 0.8
diff --git a/bridge_data_v2_test/6423/lang.txt b/bridge_data_v2_test/6423/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..19ddf68205606c19db4d2198189ac0412c8177ae
--- /dev/null
+++ b/bridge_data_v2_test/6423/lang.txt
@@ -0,0 +1,3 @@
+fold the cloth from left to right
+
+confidence: 0.6
diff --git a/bridge_data_v2_test/6830/lang.txt b/bridge_data_v2_test/6830/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..635278182416738dc1d3bb32508ab2444c91a840
--- /dev/null
+++ b/bridge_data_v2_test/6830/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/7086/lang.txt b/bridge_data_v2_test/7086/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..7538e5ec8e3dde23d17e774d08a4ed4376bac804
--- /dev/null
+++ b/bridge_data_v2_test/7086/lang.txt
@@ -0,0 +1,2 @@
+Close the drawer.
+confidence: 0.8
diff --git a/bridge_data_v2_test/7173/lang.txt b/bridge_data_v2_test/7173/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..77380eb2bb2a57fd04d87871d5612454b0e41440
--- /dev/null
+++ b/bridge_data_v2_test/7173/lang.txt
@@ -0,0 +1,2 @@
+close the drawer
+confidence: 1
diff --git a/bridge_data_v2_test/7429/lang.txt b/bridge_data_v2_test/7429/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..77380eb2bb2a57fd04d87871d5612454b0e41440
--- /dev/null
+++ b/bridge_data_v2_test/7429/lang.txt
@@ -0,0 +1,2 @@
+close the drawer
+confidence: 1
diff --git a/bridge_data_v2_test/7720/lang.txt b/bridge_data_v2_test/7720/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9f25098b9ed9bedc66a9abf9ab543a416fa25144
--- /dev/null
+++ b/bridge_data_v2_test/7720/lang.txt
@@ -0,0 +1,2 @@
+move the red strawberry to the middle of the table
+confidence: 0.8
diff --git a/bridge_data_v2_test/8011/lang.txt b/bridge_data_v2_test/8011/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..b2100f805e1650094ae13bcd7409480a8dfc64a7
--- /dev/null
+++ b/bridge_data_v2_test/8011/lang.txt
@@ -0,0 +1,2 @@
+the robot arm did nothing
+confidence: 1
diff --git a/bridge_data_v2_test/8038/lang.txt b/bridge_data_v2_test/8038/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..300ef409ad31e5d47de6336b61d4ca30a55776ca
--- /dev/null
+++ b/bridge_data_v2_test/8038/lang.txt
@@ -0,0 +1,2 @@
+unfold the cloth from top to bottom
+confidence: 0.6
diff --git a/bridge_data_v2_test/8069/lang.txt b/bridge_data_v2_test/8069/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..19f9921c9c0d527fabc027fabaa2eb6cd03ddf27
--- /dev/null
+++ b/bridge_data_v2_test/8069/lang.txt
@@ -0,0 +1,2 @@
+fold the cloth from top to bottom
+confidence: 0.6
diff --git a/bridge_data_v2_test/8169/lang.txt b/bridge_data_v2_test/8169/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..219c9bcd4b56b7646725ae5bfa148cfe4c285c6c
--- /dev/null
+++ b/bridge_data_v2_test/8169/lang.txt
@@ -0,0 +1,2 @@
+try to moving the bag
+confidence: 0.8
diff --git a/bridge_data_v2_test/8771/lang.txt b/bridge_data_v2_test/8771/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..7ea39300e5802a70b315db2029aab591bf34d529
--- /dev/null
+++ b/bridge_data_v2_test/8771/lang.txt
@@ -0,0 +1,2 @@
+move the blue spoon to the upper left of table
+confidence: 0.6
diff --git a/bridge_data_v2_test/8930/lang.txt b/bridge_data_v2_test/8930/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..d7d8b6e145a81f9c540a25af9d39de7f63b102b1
--- /dev/null
+++ b/bridge_data_v2_test/8930/lang.txt
@@ -0,0 +1,2 @@
+moved the green spoon to the right side of the other objects on the table
+confidence: 1
diff --git a/bridge_data_v2_test/8977/lang.txt b/bridge_data_v2_test/8977/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..8c83b7b157df6578d0d0068c3eb4bf16fe40c7d6
--- /dev/null
+++ b/bridge_data_v2_test/8977/lang.txt
@@ -0,0 +1,2 @@
+move the silver pot below the orange cloth and banana
+confidence: 0.8
diff --git a/bridge_data_v2_test/9006/lang.txt b/bridge_data_v2_test/9006/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..7efcc39772a55f694365f3f49080f621fa97f802
--- /dev/null
+++ b/bridge_data_v2_test/9006/lang.txt
@@ -0,0 +1,2 @@
+move the red fork in the middle of the table vertically
+confidence: 0.8
diff --git a/bridge_data_v2_test/9141/lang.txt b/bridge_data_v2_test/9141/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..b293494d45ff3b9f15dfdabbedba3dea4bb09b93
--- /dev/null
+++ b/bridge_data_v2_test/9141/lang.txt
@@ -0,0 +1,2 @@
+transferring the white object to the left side of the spatula 
+confidence: 0.4
diff --git a/bridge_data_v2_test/932/lang.txt b/bridge_data_v2_test/932/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..1e537d45c0e8b1c98fa47d6afa1feea292f8426b
--- /dev/null
+++ b/bridge_data_v2_test/932/lang.txt
@@ -0,0 +1,2 @@
+put the yellow banana below the purple cloth
+confidence: 0.6
diff --git a/bridge_data_v2_test/9341/lang.txt b/bridge_data_v2_test/9341/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..16d3ee4d5d196ae6161e33f3bfaa618b21c48f5f
--- /dev/null
+++ b/bridge_data_v2_test/9341/lang.txt
@@ -0,0 +1,2 @@
+put the banana inside the silver food strainer
+confidence: 0.8
diff --git a/bridge_data_v2_test/9579/lang.txt b/bridge_data_v2_test/9579/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..dc680e30cc7c85dfa417ebb62e078dc881b78741
--- /dev/null
+++ b/bridge_data_v2_test/9579/lang.txt
@@ -0,0 +1,2 @@
+out the pot on the purple cloth
+confidence: 0.8