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+size 60849
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+version https://git-lfs.github.com/spec/v1
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+version https://git-lfs.github.com/spec/v1
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+size 61583
diff --git a/bridge_data_v1/648/im_3.jpg b/bridge_data_v1/648/im_3.jpg
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+version https://git-lfs.github.com/spec/v1
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+size 61633
diff --git a/bridge_data_v1/648/im_4.jpg b/bridge_data_v1/648/im_4.jpg
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+++ b/bridge_data_v1/648/im_4.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 60979
diff --git a/bridge_data_v1/648/im_8.jpg b/bridge_data_v1/648/im_8.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..063adc9ad5f7eb85c062ff268a6d95b8a04b8384
--- /dev/null
+++ b/bridge_data_v1/648/im_8.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d8132303b2109adf6de9b83eb869178dcb54216139baa4f69759dc47232664df
+size 61668
diff --git a/bridge_data_v2_test/10211/lang.txt b/bridge_data_v2_test/10211/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..007b8e921b1fa07800b9108090ea030c702c505c
--- /dev/null
+++ b/bridge_data_v2_test/10211/lang.txt
@@ -0,0 +1,2 @@
+move the silver pot to the upper center side of the table
+confidence: 1
diff --git a/bridge_data_v2_test/10311/lang.txt b/bridge_data_v2_test/10311/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c5cb4e90d9917de3cef183882bf521c7b5a8dafd
--- /dev/null
+++ b/bridge_data_v2_test/10311/lang.txt
@@ -0,0 +1,2 @@
+move the pot cover to the bottom of the table
+confidence: 0.6
diff --git a/bridge_data_v2_test/10505/lang.txt b/bridge_data_v2_test/10505/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..16a67c24c8a92498d8777054916fab6bbb603bd0
--- /dev/null
+++ b/bridge_data_v2_test/10505/lang.txt
@@ -0,0 +1,2 @@
+move the orange towel to the left side of the table
+confidence: 0.8
diff --git a/bridge_data_v2_test/10589/lang.txt b/bridge_data_v2_test/10589/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..8506d0db0f72463881b7e1d0606ce6e8977c57e8
--- /dev/null
+++ b/bridge_data_v2_test/10589/lang.txt
@@ -0,0 +1,2 @@
+move the silver pot to the top right of the table
+confidence: 0.8
diff --git a/bridge_data_v2_test/10656/lang.txt b/bridge_data_v2_test/10656/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..6179a4371b0bd8e0c5cc5e5aaf81043302c4e1e8
--- /dev/null
+++ b/bridge_data_v2_test/10656/lang.txt
@@ -0,0 +1,2 @@
+move the pot on the lower left of table
+confidence: 0.8
diff --git a/bridge_data_v2_test/10681/lang.txt b/bridge_data_v2_test/10681/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..914f37fff94bcb0dec7674d77ecbaee2fef3e1e7
--- /dev/null
+++ b/bridge_data_v2_test/10681/lang.txt
@@ -0,0 +1,2 @@
+put the arch to the side of red cheese
+confidence: 0.6
diff --git a/bridge_data_v2_test/11120/lang.txt b/bridge_data_v2_test/11120/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f91ddd662754568b09c5c456f6c459d8bb70dbbd
--- /dev/null
+++ b/bridge_data_v2_test/11120/lang.txt
@@ -0,0 +1,2 @@
+move the towel to the right burner.
+confidence: 0.6
diff --git a/bridge_data_v2_test/11632/lang.txt b/bridge_data_v2_test/11632/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a23041eab77a3ff73ca8f6824f88f4ad932ca04c
--- /dev/null
+++ b/bridge_data_v2_test/11632/lang.txt
@@ -0,0 +1,2 @@
+move the object to the right side of the stove
+confidence: 0.4
diff --git a/bridge_data_v2_test/12006/lang.txt b/bridge_data_v2_test/12006/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..4c11b0185a7677beb78937dcb491986c10b59bc2
--- /dev/null
+++ b/bridge_data_v2_test/12006/lang.txt
@@ -0,0 +1,2 @@
+rejjj  yhthytre  hfdhjy hty   ytuy jyj      tytyt hyyyttyyè-iui tyt uiuerzert"'"j yjy
+confidence: 0.2
diff --git a/bridge_data_v2_test/12176/lang.txt b/bridge_data_v2_test/12176/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..02e445c44af68d86146d53316f672408d3536909
--- /dev/null
+++ b/bridge_data_v2_test/12176/lang.txt
@@ -0,0 +1,2 @@
+close the drawer
+confidence: 0.6
diff --git a/bridge_data_v2_test/12331/lang.txt b/bridge_data_v2_test/12331/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..7375408902ef0a246807153ed4d28bc59ccdc2b5
--- /dev/null
+++ b/bridge_data_v2_test/12331/lang.txt
@@ -0,0 +1,2 @@
+move the gray doll from the table to the top of the drawer
+confidence: 0.8
diff --git a/bridge_data_v2_test/12342/lang.txt b/bridge_data_v2_test/12342/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..fa072c2b537bc3666d73aceebb071b511691f1d3
--- /dev/null
+++ b/bridge_data_v2_test/12342/lang.txt
@@ -0,0 +1,2 @@
+put the sushi on the top of the drawer
+confidence: 0.8
diff --git a/bridge_data_v2_test/12387/lang.txt b/bridge_data_v2_test/12387/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c7a46106847ab18bcfe2d6aa7abe93ee05248bf1
--- /dev/null
+++ b/bridge_data_v2_test/12387/lang.txt
@@ -0,0 +1,2 @@
+getting the thing in the drawer and putting it in the table
+confidence: 0.8
diff --git a/bridge_data_v2_test/1244/lang.txt b/bridge_data_v2_test/1244/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..8761ab5ad5383374b99774229b1b8f84df2fbc85
--- /dev/null
+++ b/bridge_data_v2_test/1244/lang.txt
@@ -0,0 +1,2 @@
+unfold the cloth from bottom to top
+confidence: 0.8
diff --git a/bridge_data_v2_test/12811/lang.txt b/bridge_data_v2_test/12811/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..8efd29765112e71b29b579072ff17466925674f1
--- /dev/null
+++ b/bridge_data_v2_test/12811/lang.txt
@@ -0,0 +1,2 @@
+open the drawer
+confidence: 1
diff --git a/bridge_data_v2_test/12933/lang.txt b/bridge_data_v2_test/12933/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..2400efb7a1fd7cd9b1938a67fcaff7b1691471d2
--- /dev/null
+++ b/bridge_data_v2_test/12933/lang.txt
@@ -0,0 +1,2 @@
+close the drawer
+confidence: 0.8
diff --git a/bridge_data_v2_test/13087/lang.txt b/bridge_data_v2_test/13087/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..b2890c1dec9d016b6188d73c3b5ddc01a15d6d48
--- /dev/null
+++ b/bridge_data_v2_test/13087/lang.txt
@@ -0,0 +1,2 @@
+put the yellow banana on top of the drawer
+confidence: 0.8
diff --git a/bridge_data_v2_test/13102/lang.txt b/bridge_data_v2_test/13102/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c14d3658a52c57d7bc6efae7caf5d1697c2ff48f
--- /dev/null
+++ b/bridge_data_v2_test/13102/lang.txt
@@ -0,0 +1 @@
+sweep into pile
diff --git a/bridge_data_v2_test/13256/lang.txt b/bridge_data_v2_test/13256/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c14d3658a52c57d7bc6efae7caf5d1697c2ff48f
--- /dev/null
+++ b/bridge_data_v2_test/13256/lang.txt
@@ -0,0 +1 @@
+sweep into pile
diff --git a/bridge_data_v2_test/13312/lang.txt b/bridge_data_v2_test/13312/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c14d3658a52c57d7bc6efae7caf5d1697c2ff48f
--- /dev/null
+++ b/bridge_data_v2_test/13312/lang.txt
@@ -0,0 +1 @@
+sweep into pile
diff --git a/bridge_data_v2_test/13477/lang.txt b/bridge_data_v2_test/13477/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9f931b0c9b10acd3cd692c25aa36ce35ef3ea089
--- /dev/null
+++ b/bridge_data_v2_test/13477/lang.txt
@@ -0,0 +1,2 @@
+Moved the blue fork to the left side of the table 
+confidence: 0.6
diff --git a/bridge_data_v2_test/13545/lang.txt b/bridge_data_v2_test/13545/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..95db31231579382ddeec5de711e4f1f820cb3c3a
--- /dev/null
+++ b/bridge_data_v2_test/13545/lang.txt
@@ -0,0 +1,2 @@
+move the silver pan to the center of table
+confidence: 1
diff --git a/bridge_data_v2_test/13704/lang.txt b/bridge_data_v2_test/13704/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0b162aac096b8fbce64ad64838c934bfc7589963
--- /dev/null
+++ b/bridge_data_v2_test/13704/lang.txt
@@ -0,0 +1,2 @@
+put the lid on the pot
+confidence: 0.8
diff --git a/bridge_data_v2_test/14505/lang.txt b/bridge_data_v2_test/14505/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..55411bb207ae91af7ceedde2c1fb45c5f3993800
--- /dev/null
+++ b/bridge_data_v2_test/14505/lang.txt
@@ -0,0 +1,2 @@
+put one rectangular block on top of the two cubes
+confidence: 0.8
diff --git a/bridge_data_v2_test/14519/lang.txt b/bridge_data_v2_test/14519/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..58b9ef637ae81df1c2b6f8456f0468d56f045db1
--- /dev/null
+++ b/bridge_data_v2_test/14519/lang.txt
@@ -0,0 +1,2 @@
+pick up the block and place it on top of a white block
+confidence: 1
diff --git a/bridge_data_v2_test/14690/lang.txt b/bridge_data_v2_test/14690/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..7f6deacb1f5dfbee2ab3bc44455fe5513d38ffd1
--- /dev/null
+++ b/bridge_data_v2_test/14690/lang.txt
@@ -0,0 +1,2 @@
+put the cube on top of the arch
+confidence: 1
diff --git a/bridge_data_v2_test/14804/lang.txt b/bridge_data_v2_test/14804/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..fdf398b706881c2eb576f04277aa43c28a7148f3
--- /dev/null
+++ b/bridge_data_v2_test/14804/lang.txt
@@ -0,0 +1,2 @@
+transferred the wooden arc on the top of the blue arc
+confidence: 0.8
diff --git a/bridge_data_v2_test/15576/lang.txt b/bridge_data_v2_test/15576/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..ab3b9bb48f600ca31f561021707378b87e0f30dd
--- /dev/null
+++ b/bridge_data_v2_test/15576/lang.txt
@@ -0,0 +1,2 @@
+place the red object inside the drawer
+confidence: 0.2
diff --git a/bridge_data_v2_test/16001/lang.txt b/bridge_data_v2_test/16001/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..43ca6249c1575f64113ea88fe829161416678e8e
--- /dev/null
+++ b/bridge_data_v2_test/16001/lang.txt
@@ -0,0 +1,2 @@
+open the drawer
+confidence: 0.8
diff --git a/bridge_data_v2_test/16034/lang.txt b/bridge_data_v2_test/16034/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..dfee3c4aada06771cb76b7a372f223737c7881cc
--- /dev/null
+++ b/bridge_data_v2_test/16034/lang.txt
@@ -0,0 +1,2 @@
+put the object on top of the drawer
+confidence: 1
diff --git a/bridge_data_v2_test/16590/lang.txt b/bridge_data_v2_test/16590/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..226a5b941b60cacbdf0c58a84502224876528849
--- /dev/null
+++ b/bridge_data_v2_test/16590/lang.txt
@@ -0,0 +1,2 @@
+moved the silver pot to the lower left burner
+confidence: 0.2
diff --git a/bridge_data_v2_test/16705/lang.txt b/bridge_data_v2_test/16705/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..4fb62f70b380e1c3620dd6d78d068773fa7ad194
--- /dev/null
+++ b/bridge_data_v2_test/16705/lang.txt
@@ -0,0 +1,2 @@
+orange carrot is put on right bottom burner
+confidence: 0.4
diff --git a/bridge_data_v2_test/16835/lang.txt b/bridge_data_v2_test/16835/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..d43c8fdc340022cd6ba81e533bc5fb9d65c8f2b3
--- /dev/null
+++ b/bridge_data_v2_test/16835/lang.txt
@@ -0,0 +1,2 @@
+move the black and white object to the left top burner
+confidence: 0.8
diff --git a/bridge_data_v2_test/17031/lang.txt b/bridge_data_v2_test/17031/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..83898580995c10ba7011f11d98b9cdd56a1b8901
--- /dev/null
+++ b/bridge_data_v2_test/17031/lang.txt
@@ -0,0 +1,2 @@
+move the red fork to the lower right burner
+confidence: 0.8
diff --git a/bridge_data_v2_test/17035/lang.txt b/bridge_data_v2_test/17035/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..46199cd5760bcdbc5a972d122e5b954741961ff3
--- /dev/null
+++ b/bridge_data_v2_test/17035/lang.txt
@@ -0,0 +1,2 @@
+move a white object
+confidence: 1
diff --git a/bridge_data_v2_test/17287/lang.txt b/bridge_data_v2_test/17287/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..2e7764b7095886cad6774acd153a1c3051ced6fc
--- /dev/null
+++ b/bridge_data_v2_test/17287/lang.txt
@@ -0,0 +1,2 @@
+move the blue rectangle to the top of the red arch
+confidence: 0.4
diff --git a/bridge_data_v2_test/17639/lang.txt b/bridge_data_v2_test/17639/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..78c70c30c27f17c4972e3888640e00cdb6e5e1aa
--- /dev/null
+++ b/bridge_data_v2_test/17639/lang.txt
@@ -0,0 +1,2 @@
+remove the cube from the tower and put it in the middle of the table
+confidence: 1
diff --git a/bridge_data_v2_test/17905/lang.txt b/bridge_data_v2_test/17905/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..2cf8e40c9e8a86e79d50675e6f28325e2eb7d21f
--- /dev/null
+++ b/bridge_data_v2_test/17905/lang.txt
@@ -0,0 +1,2 @@
+move the triangular to right side of the table from the block.
+confidence: 0.8
diff --git a/bridge_data_v2_test/2683/lang.txt b/bridge_data_v2_test/2683/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..5782023b4fd472be587ddd83f2e56889fc238e88
--- /dev/null
+++ b/bridge_data_v2_test/2683/lang.txt
@@ -0,0 +1,2 @@
+put the purple eggplant on the right of the table
+confidence: 1
diff --git a/bridge_data_v2_test/2765/lang.txt b/bridge_data_v2_test/2765/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a9742aca21675160c96fa56a2f49d11c45ecf02e
--- /dev/null
+++ b/bridge_data_v2_test/2765/lang.txt
@@ -0,0 +1,2 @@
+unfold the cloth from left to the right
+confidence: 1
diff --git a/bridge_data_v2_test/282/lang.txt b/bridge_data_v2_test/282/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e054dbfeefa008799e7f224c587bd3d12c66a922
--- /dev/null
+++ b/bridge_data_v2_test/282/lang.txt
@@ -0,0 +1,2 @@
+take the spoon and put it on the right lower burner
+confidence: 0.6
diff --git a/bridge_data_v2_test/2978/lang.txt b/bridge_data_v2_test/2978/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..583adc1d1abfa703465375dafe0eff2a0a56e4d0
--- /dev/null
+++ b/bridge_data_v2_test/2978/lang.txt
@@ -0,0 +1,2 @@
+unfold the cloth from bottom left to top right
+confidence: 0.6
diff --git a/bridge_data_v2_test/3216/lang.txt b/bridge_data_v2_test/3216/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..43ca6249c1575f64113ea88fe829161416678e8e
--- /dev/null
+++ b/bridge_data_v2_test/3216/lang.txt
@@ -0,0 +1,2 @@
+open the drawer
+confidence: 0.8
diff --git a/bridge_data_v2_test/3454/lang.txt b/bridge_data_v2_test/3454/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c14d3658a52c57d7bc6efae7caf5d1697c2ff48f
--- /dev/null
+++ b/bridge_data_v2_test/3454/lang.txt
@@ -0,0 +1 @@
+sweep into pile
diff --git a/bridge_data_v2_test/3736/lang.txt b/bridge_data_v2_test/3736/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c14d3658a52c57d7bc6efae7caf5d1697c2ff48f
--- /dev/null
+++ b/bridge_data_v2_test/3736/lang.txt
@@ -0,0 +1 @@
+sweep into pile
diff --git a/bridge_data_v2_test/4137/lang.txt b/bridge_data_v2_test/4137/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..cead85952c9cbc579e123629dd9adeea83158ca0
--- /dev/null
+++ b/bridge_data_v2_test/4137/lang.txt
@@ -0,0 +1,2 @@
+Move the yellow fabric to the right side
+confidence: 0.6
diff --git a/bridge_data_v2_test/4242/lang.txt b/bridge_data_v2_test/4242/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..26e911e48b0e72252d4bab891cbe8474c7908d69
--- /dev/null
+++ b/bridge_data_v2_test/4242/lang.txt
@@ -0,0 +1,2 @@
+put the blue towel to the left side of the table
+confidence: 0.8
diff --git a/bridge_data_v2_test/4270/lang.txt b/bridge_data_v2_test/4270/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..1cff2fcb7fc902fcfb5bd5341d90fff8a389229c
--- /dev/null
+++ b/bridge_data_v2_test/4270/lang.txt
@@ -0,0 +1,2 @@
+place the green towel in the white basket
+confidence: 0.6
diff --git a/bridge_data_v2_test/5108/lang.txt b/bridge_data_v2_test/5108/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c1e0f9714cf1fe436dad5d8ee4e5c57405f15063
--- /dev/null
+++ b/bridge_data_v2_test/5108/lang.txt
@@ -0,0 +1,2 @@
+unfold cloth from the bottom left to the top right
+confidence: 1
diff --git a/bridge_data_v2_test/5226/lang.txt b/bridge_data_v2_test/5226/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..007f3d0a0afc98d7df2935aad0b6056d0ad1f5b8
--- /dev/null
+++ b/bridge_data_v2_test/5226/lang.txt
@@ -0,0 +1,2 @@
+unfold the cloth from the bottom to the top
+confidence: 0.8
diff --git a/bridge_data_v2_test/5592/lang.txt b/bridge_data_v2_test/5592/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a73eb94900c21c040fef8dc6bd2cd09663654fb2
--- /dev/null
+++ b/bridge_data_v2_test/5592/lang.txt
@@ -0,0 +1,2 @@
+fold the cloth from bottom right to top left
+confidence: 1
diff --git a/bridge_data_v2_test/5626/lang.txt b/bridge_data_v2_test/5626/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..39e8a41cf6d4db329305370617451b27c079a371
--- /dev/null
+++ b/bridge_data_v2_test/5626/lang.txt
@@ -0,0 +1,2 @@
+unfold the cloth
+confidence: 1
diff --git a/bridge_data_v2_test/5726/lang.txt b/bridge_data_v2_test/5726/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e3d563671196b114f8fae9e2e0e704cf552d90ee
--- /dev/null
+++ b/bridge_data_v2_test/5726/lang.txt
@@ -0,0 +1,2 @@
+unfold the cloth from left to right
+confidence: 0.2
diff --git a/bridge_data_v2_test/6186/lang.txt b/bridge_data_v2_test/6186/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..b3e1df5c09d601611712f9782167cb188b9b0cd8
--- /dev/null
+++ b/bridge_data_v2_test/6186/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/6364/lang.txt b/bridge_data_v2_test/6364/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..ce987c8e698aac471e5da46f126d0f5abdf7e8c9
--- /dev/null
+++ b/bridge_data_v2_test/6364/lang.txt
@@ -0,0 +1,2 @@
+move the yellow object from the edge of the cloth to the table
+confidence: 0.8
diff --git a/bridge_data_v2_test/6619/lang.txt b/bridge_data_v2_test/6619/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..6bbd643a195211fc7fee342fedee132993244af8
--- /dev/null
+++ b/bridge_data_v2_test/6619/lang.txt
@@ -0,0 +1,2 @@
+put the red block on the top left of the cloth
+confidence: 0.6
diff --git a/bridge_data_v2_test/6839/lang.txt b/bridge_data_v2_test/6839/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..d503d24d43c32bab4a9272f822056157712dfeff
--- /dev/null
+++ b/bridge_data_v2_test/6839/lang.txt
@@ -0,0 +1,2 @@
+unfold the cloth from edge of the table to near the yellow object
+confidence: 0.8
diff --git a/bridge_data_v2_test/7252/lang.txt b/bridge_data_v2_test/7252/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..d9449866db3630653a7a4222c45c301180d9eed5
--- /dev/null
+++ b/bridge_data_v2_test/7252/lang.txt
@@ -0,0 +1,2 @@
+places a red thing on the drawer
+confidence: 0.2
diff --git a/bridge_data_v2_test/7450/lang.txt b/bridge_data_v2_test/7450/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..d29d5a3faced1f6191242ef7ae75613533031317
--- /dev/null
+++ b/bridge_data_v2_test/7450/lang.txt
@@ -0,0 +1,2 @@
+place the yellow toy on top of the drawer
+confidence: 0.6
diff --git a/bridge_data_v2_test/7542/lang.txt b/bridge_data_v2_test/7542/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f81404f6dd86c8792e91a1308959e7bfc359e04e
--- /dev/null
+++ b/bridge_data_v2_test/7542/lang.txt
@@ -0,0 +1,2 @@
+take out the chocolate out of the drawer and put it on the bottom center of the table
+confidence: 0.8
diff --git a/bridge_data_v2_test/7623/lang.txt b/bridge_data_v2_test/7623/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..2400efb7a1fd7cd9b1938a67fcaff7b1691471d2
--- /dev/null
+++ b/bridge_data_v2_test/7623/lang.txt
@@ -0,0 +1,2 @@
+close the drawer
+confidence: 0.8
diff --git a/bridge_data_v2_test/7751/lang.txt b/bridge_data_v2_test/7751/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..252c36a154ee1f7fbd1244ac4ef54f2e19cdf52a
--- /dev/null
+++ b/bridge_data_v2_test/7751/lang.txt
@@ -0,0 +1,3 @@
+put the blue object to the bottom right side of the table
+
+confidence: 1
diff --git a/bridge_data_v2_test/7802/lang.txt b/bridge_data_v2_test/7802/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..77aa6299623dfa041bdca47dc8fd5eea2e528f1b
--- /dev/null
+++ b/bridge_data_v2_test/7802/lang.txt
@@ -0,0 +1,2 @@
+take the mushroom and place it on the top of the drawer
+confidence: 0.6
diff --git a/bridge_data_v2_test/8102/lang.txt b/bridge_data_v2_test/8102/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..7c6e6a6aa2e9da9a34cb1dc262d0f0dad4031728
--- /dev/null
+++ b/bridge_data_v2_test/8102/lang.txt
@@ -0,0 +1,2 @@
+the robot bend cloth
+confidence: 0.8
diff --git a/bridge_data_v2_test/815/lang.txt b/bridge_data_v2_test/815/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..10ab058441b8e9032061e4422218e6c68fa3aa1f
--- /dev/null
+++ b/bridge_data_v2_test/815/lang.txt
@@ -0,0 +1,2 @@
+move the orange carrot to the left side of the yellow corn
+confidence: 0.6
diff --git a/bridge_data_v2_test/8391/lang.txt b/bridge_data_v2_test/8391/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..3c1f08a2eb1c476ce4838f899c79ecc48ddccd8a
--- /dev/null
+++ b/bridge_data_v2_test/8391/lang.txt
@@ -0,0 +1,2 @@
+move the cloth to the left of the table
+confidence: 1
diff --git a/bridge_data_v2_test/8477/lang.txt b/bridge_data_v2_test/8477/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..54ef1898a9ad1de78789cbf469b8b815bd3d3c8b
--- /dev/null
+++ b/bridge_data_v2_test/8477/lang.txt
@@ -0,0 +1,2 @@
+unfold the cloth from bottom left to right
+confidence: 0.6
diff --git a/bridge_data_v2_test/8651/lang.txt b/bridge_data_v2_test/8651/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..1cdb41a40218677d3aac0912e25b302c374d9daf
--- /dev/null
+++ b/bridge_data_v2_test/8651/lang.txt
@@ -0,0 +1,2 @@
+fold the cloth from right to center
+confidence: 0.8
diff --git a/bridge_data_v2_test/9128/lang.txt b/bridge_data_v2_test/9128/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..64fe9b821ab2a116e19acbaef7c293afbc38b7fe
--- /dev/null
+++ b/bridge_data_v2_test/9128/lang.txt
@@ -0,0 +1,2 @@
+put the red thing on the silver pot
+confidence: 1
diff --git a/bridge_data_v2_test/9300/lang.txt b/bridge_data_v2_test/9300/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..07335de80ec5dc8ff52845200c96fd8ccfea594d
--- /dev/null
+++ b/bridge_data_v2_test/9300/lang.txt
@@ -0,0 +1,2 @@
+Open the lid of the pot and put it in the table
+confidence: 0.4
diff --git a/bridge_data_v2_test/9316/lang.txt b/bridge_data_v2_test/9316/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..df660a019cd6ebb63dc4c27d447ceae2e6cf024d
--- /dev/null
+++ b/bridge_data_v2_test/9316/lang.txt
@@ -0,0 +1,2 @@
+move the purple cloth to the left side of the table
+confidence: 1
diff --git a/bridge_data_v2_test/9343/lang.txt b/bridge_data_v2_test/9343/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..d8f3ffb55d7d4c27f49efe1666188545ed8bc487
--- /dev/null
+++ b/bridge_data_v2_test/9343/lang.txt
@@ -0,0 +1,2 @@
+moving the yellow banana in to upper side of the table
+confidence: 0.8
diff --git a/bridge_data_v2_test/94/lang.txt b/bridge_data_v2_test/94/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..5ab11e310e73c1725d1d41bf2afae2c1fcaf1119
--- /dev/null
+++ b/bridge_data_v2_test/94/lang.txt
@@ -0,0 +1,2 @@
+moved the ladle from the lower right burner to the upper right
+confidence: 0.8
diff --git a/bridge_data_v2_test/9735/lang.txt b/bridge_data_v2_test/9735/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..fcbf6e61cb0bdbfbdffac40d53d349c92eac2473
--- /dev/null
+++ b/bridge_data_v2_test/9735/lang.txt
@@ -0,0 +1,3 @@
+move the blue cube to the lower right side
+
+confidence: 1
diff --git a/bridge_data_v2_test/9842/lang.txt b/bridge_data_v2_test/9842/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..65d5f51e30c0ec6b0514dd898f63eab4e6ed02aa
--- /dev/null
+++ b/bridge_data_v2_test/9842/lang.txt
@@ -0,0 +1,2 @@
+put the silver cover on the silver pot 
+confidence: 0.8