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+version https://git-lfs.github.com/spec/v1
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+size 46630
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+size 46554
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+version https://git-lfs.github.com/spec/v1
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+size 45868
diff --git a/bridge_data_v1/655/im_9.jpg b/bridge_data_v1/655/im_9.jpg
new file mode 100644
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--- /dev/null
+++ b/bridge_data_v1/655/im_9.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 45482
diff --git a/bridge_data_v2_test/10014/lang.txt b/bridge_data_v2_test/10014/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..d85b1f95e2eb93b0653fbb2aa12aa82d71a23852
--- /dev/null
+++ b/bridge_data_v2_test/10014/lang.txt
@@ -0,0 +1,2 @@
+move something in the table
+confidence: 0.8
diff --git a/bridge_data_v2_test/10026/lang.txt b/bridge_data_v2_test/10026/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e2d78c084870ce8a2ae74773dc3a63edd708d3bb
--- /dev/null
+++ b/bridge_data_v2_test/10026/lang.txt
@@ -0,0 +1,2 @@
+move the bottle into the upper side of the table
+confidence: 0.6
diff --git a/bridge_data_v2_test/10050/lang.txt b/bridge_data_v2_test/10050/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..ced028917683bb7f171f212b53da3aec2039167d
--- /dev/null
+++ b/bridge_data_v2_test/10050/lang.txt
@@ -0,0 +1,2 @@
+move the silver bowl from middle to left side, above the lid
+confidence: 0.4
diff --git a/bridge_data_v2_test/10308/lang.txt b/bridge_data_v2_test/10308/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..680083c1b10665a948c7a6dbd2ef69cf60382ea4
--- /dev/null
+++ b/bridge_data_v2_test/10308/lang.txt
@@ -0,0 +1,2 @@
+Move the can to the upper right side of the table
+confidence: 0.6
diff --git a/bridge_data_v2_test/10480/lang.txt b/bridge_data_v2_test/10480/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..8f65d4e4130d9799428abd49876673495077af26
--- /dev/null
+++ b/bridge_data_v2_test/10480/lang.txt
@@ -0,0 +1,2 @@
+move the can to the middle bottom of the table
+confidence: 1
diff --git a/bridge_data_v2_test/10670/lang.txt b/bridge_data_v2_test/10670/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..fcb9c1473aab1c89afe236732bb28947a19f5c45
--- /dev/null
+++ b/bridge_data_v2_test/10670/lang.txt
@@ -0,0 +1,2 @@
+put yellow cube on top of table
+confidence: 0.2
diff --git a/bridge_data_v2_test/10999/lang.txt b/bridge_data_v2_test/10999/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..8dfedd6a592e67f4cc3c726126fdb9ecb7ab2368
--- /dev/null
+++ b/bridge_data_v2_test/10999/lang.txt
@@ -0,0 +1,2 @@
+place the silver object to the left of the stove
+confidence: 0.8
diff --git a/bridge_data_v2_test/11127/lang.txt b/bridge_data_v2_test/11127/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..41bc144165c36417606fc2ab945c572d2c2bff3e
--- /dev/null
+++ b/bridge_data_v2_test/11127/lang.txt
@@ -0,0 +1,2 @@
+Put the green spatula on the left side of the stove
+confidence: 0.8
diff --git a/bridge_data_v2_test/11738/lang.txt b/bridge_data_v2_test/11738/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..36337529e4d0bf12e190c8c700754bec7bbade72
--- /dev/null
+++ b/bridge_data_v2_test/11738/lang.txt
@@ -0,0 +1,2 @@
+Put the blue object on the top left side of the stove
+confidence: 1
diff --git a/bridge_data_v2_test/11794/lang.txt b/bridge_data_v2_test/11794/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..772ac380ee601c97b7e4e1919c7fdf20e2f298b4
--- /dev/null
+++ b/bridge_data_v2_test/11794/lang.txt
@@ -0,0 +1,2 @@
+move the toy from the right side of the stove to the upper center of the stove
+confidence: 0.8
diff --git a/bridge_data_v2_test/11984/lang.txt b/bridge_data_v2_test/11984/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..d5451147cfd55ceffa73b85c1bf18f3c61955048
--- /dev/null
+++ b/bridge_data_v2_test/11984/lang.txt
@@ -0,0 +1,2 @@
+put the yellow cube on top of the blue cube
+confidence: 0.8
diff --git a/bridge_data_v2_test/12399/lang.txt b/bridge_data_v2_test/12399/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..54b18ce6b232aa7b6df07a4a224eacbe8ae62ca2
--- /dev/null
+++ b/bridge_data_v2_test/12399/lang.txt
@@ -0,0 +1,2 @@
+take the white object out of the drawer and put it on the table
+confidence: 1
diff --git a/bridge_data_v2_test/1267/lang.txt b/bridge_data_v2_test/1267/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..57e80c5107c4d70f89d4ed386d82d631e08b4bd9
--- /dev/null
+++ b/bridge_data_v2_test/1267/lang.txt
@@ -0,0 +1,2 @@
+put the fabric on the machine
+confidence: 0.8
diff --git a/bridge_data_v2_test/12751/lang.txt b/bridge_data_v2_test/12751/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..1d48d274d8b74254f0ceab5dbcfaa728fe7766cf
--- /dev/null
+++ b/bridge_data_v2_test/12751/lang.txt
@@ -0,0 +1,2 @@
+open the drawer
+confidence: 0.6
diff --git a/bridge_data_v2_test/12795/lang.txt b/bridge_data_v2_test/12795/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..6b058590cec686e0997cf76765d8ee4a758db8e4
--- /dev/null
+++ b/bridge_data_v2_test/12795/lang.txt
@@ -0,0 +1,2 @@
+move the strawberry out of the drawer to the bottom left side of the table
+confidence: 0.6
diff --git a/bridge_data_v2_test/12973/lang.txt b/bridge_data_v2_test/12973/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..1d7ecc57f3898f9c35f83029159a3558b3f90ede
--- /dev/null
+++ b/bridge_data_v2_test/12973/lang.txt
@@ -0,0 +1,3 @@
+close the drawer
+
+confidence: 0.8
diff --git a/bridge_data_v2_test/1342/lang.txt b/bridge_data_v2_test/1342/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..6df3e78945e260228d3d823628dfb0dda0cb8b18
--- /dev/null
+++ b/bridge_data_v2_test/1342/lang.txt
@@ -0,0 +1,2 @@
+moved the cloth to the right side of the stove
+confidence: 0.6
diff --git a/bridge_data_v2_test/13681/lang.txt b/bridge_data_v2_test/13681/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..225328d40909fbcf25d816645859fb0864050c9a
--- /dev/null
+++ b/bridge_data_v2_test/13681/lang.txt
@@ -0,0 +1,2 @@
+took the lid off the orange pot and put it one the white napkin
+confidence: 0.6
diff --git a/bridge_data_v2_test/13914/lang.txt b/bridge_data_v2_test/13914/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..fc6f52f064b95bd53c0d97189871a0cbe837eb20
--- /dev/null
+++ b/bridge_data_v2_test/13914/lang.txt
@@ -0,0 +1,2 @@
+take the silver lid at the center of the table and put it on top of the pot
+confidence: 1
diff --git a/bridge_data_v2_test/1401/lang.txt b/bridge_data_v2_test/1401/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..af721cbc1b814946121c43fbf49c6256fdfdaaee
--- /dev/null
+++ b/bridge_data_v2_test/1401/lang.txt
@@ -0,0 +1,2 @@
+unfold the cloth from the right to the left
+confidence: 0.4
diff --git a/bridge_data_v2_test/14548/lang.txt b/bridge_data_v2_test/14548/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..ce00b8dede21dc6d6e2cc803656a0d8b1abd3074
--- /dev/null
+++ b/bridge_data_v2_test/14548/lang.txt
@@ -0,0 +1,2 @@
+put the rectangular block on top of the arch
+confidence: 0.8
diff --git a/bridge_data_v2_test/14550/lang.txt b/bridge_data_v2_test/14550/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..aa104862c8a53b2d142e9fb5e3d1d8372a1f85bc
--- /dev/null
+++ b/bridge_data_v2_test/14550/lang.txt
@@ -0,0 +1,2 @@
+Take the block off of the tower and put it to the left edge of the table
+confidence: 1
diff --git a/bridge_data_v2_test/14686/lang.txt b/bridge_data_v2_test/14686/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..063f118bfebba509325db17940aa61a844d211e0
--- /dev/null
+++ b/bridge_data_v2_test/14686/lang.txt
@@ -0,0 +1,2 @@
+put the red object from top of table to the top of rectangel beside the the cube with the hole
+confidence: 0.8
diff --git a/bridge_data_v2_test/14807/lang.txt b/bridge_data_v2_test/14807/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..b507290c9e5006b3ac04dad13689a0a3840e046e
--- /dev/null
+++ b/bridge_data_v2_test/14807/lang.txt
@@ -0,0 +1,2 @@
+Lifting the green object 
+confidence: 1
diff --git a/bridge_data_v2_test/14838/lang.txt b/bridge_data_v2_test/14838/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..136ce808b149b7b9efce9566425915b00779c65d
--- /dev/null
+++ b/bridge_data_v2_test/14838/lang.txt
@@ -0,0 +1,2 @@
+move the ball on top of the cup
+confidence: 0.6
diff --git a/bridge_data_v2_test/14926/lang.txt b/bridge_data_v2_test/14926/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..45e3b29b9370fe0b766beff70d6940ae9f575c9b
--- /dev/null
+++ b/bridge_data_v2_test/14926/lang.txt
@@ -0,0 +1,2 @@
+put the blue cube on top of the red hexagon
+confidence: 1
diff --git a/bridge_data_v2_test/15048/lang.txt b/bridge_data_v2_test/15048/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..8b5e104f3a0ca29400f6bafcd1536754a9599d26
--- /dev/null
+++ b/bridge_data_v2_test/15048/lang.txt
@@ -0,0 +1,2 @@
+Move the arch in the middle of the table
+confidence: 0.6
diff --git a/bridge_data_v2_test/15185/lang.txt b/bridge_data_v2_test/15185/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..88d10f22c3b4cc666537d6d1b843a091f52f1477
--- /dev/null
+++ b/bridge_data_v2_test/15185/lang.txt
@@ -0,0 +1,2 @@
+pickup the cube from on top of the tower and place it on the table
+confidence: 0.8
diff --git a/bridge_data_v2_test/15187/lang.txt b/bridge_data_v2_test/15187/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..6ab2afb9583bba0b0662820fb2ab46c26e7d78ca
--- /dev/null
+++ b/bridge_data_v2_test/15187/lang.txt
@@ -0,0 +1,2 @@
+move the cube to the top left of the table
+confidence: 0.8
diff --git a/bridge_data_v2_test/15203/lang.txt b/bridge_data_v2_test/15203/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..398e7152020b01d74942fac1d57f8a2d223c2cb1
--- /dev/null
+++ b/bridge_data_v2_test/15203/lang.txt
@@ -0,0 +1,2 @@
+Put the red arch on top of another red arch
+confidence: 0.8
diff --git a/bridge_data_v2_test/15493/lang.txt b/bridge_data_v2_test/15493/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0cc1ce500d52d4e074cd19214f80b2bcfe74c918
--- /dev/null
+++ b/bridge_data_v2_test/15493/lang.txt
@@ -0,0 +1,2 @@
+move the white arch near the green and yellow cubes
+confidence: 0.6
diff --git a/bridge_data_v2_test/15506/lang.txt b/bridge_data_v2_test/15506/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..fdea1b718ed796ab897e6d7a1732ff850e7e04c2
--- /dev/null
+++ b/bridge_data_v2_test/15506/lang.txt
@@ -0,0 +1,2 @@
+put the white arch on top of the  green arch
+confidence: 0.2
diff --git a/bridge_data_v2_test/1563/lang.txt b/bridge_data_v2_test/1563/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..55b2485f78bc2e86658f310e5e68d046b160fcb4
--- /dev/null
+++ b/bridge_data_v2_test/1563/lang.txt
@@ -0,0 +1,2 @@
+fold the cloth from bottom right to top left
+confidence: 0.6
diff --git a/bridge_data_v2_test/15916/lang.txt b/bridge_data_v2_test/15916/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..2fce98b19d1316aed7cd07b1fe6ba8f4a44c84c4
--- /dev/null
+++ b/bridge_data_v2_test/15916/lang.txt
@@ -0,0 +1,2 @@
+opened the drawer
+confidence: 0.8
diff --git a/bridge_data_v2_test/1608/lang.txt b/bridge_data_v2_test/1608/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..fef010ae4972c7d0a6f7db03d52874796352ee5c
--- /dev/null
+++ b/bridge_data_v2_test/1608/lang.txt
@@ -0,0 +1,2 @@
+Fold the cloth from right to left
+confidence: 0.8
diff --git a/bridge_data_v2_test/16490/lang.txt b/bridge_data_v2_test/16490/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e4eac7923854d13c08f088237d052ade4e965347
--- /dev/null
+++ b/bridge_data_v2_test/16490/lang.txt
@@ -0,0 +1,2 @@
+take the red object and put inside the drawer
+confidence: 1
diff --git a/bridge_data_v2_test/16801/lang.txt b/bridge_data_v2_test/16801/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a297be4bfb160c69f84832d42ab9289437eb325a
--- /dev/null
+++ b/bridge_data_v2_test/16801/lang.txt
@@ -0,0 +1,2 @@
+move the silver pot in the upper right of the burner
+confidence: 0.8
diff --git a/bridge_data_v2_test/16926/lang.txt b/bridge_data_v2_test/16926/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a12318c115e0a3deb210ea04765b7de8f066a53d
--- /dev/null
+++ b/bridge_data_v2_test/16926/lang.txt
@@ -0,0 +1,2 @@
+move the red fork to the top right burner
+confidence: 0.8
diff --git a/bridge_data_v2_test/1732/lang.txt b/bridge_data_v2_test/1732/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..511d3951135b0ea907f61648b984aadd7f259e09
--- /dev/null
+++ b/bridge_data_v2_test/1732/lang.txt
@@ -0,0 +1,2 @@
+fold the cloth from top left to bottom
+confidence: 1
diff --git a/bridge_data_v2_test/1741/lang.txt b/bridge_data_v2_test/1741/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..71313ce251de620f8f317e3c28c5dbab5e8515fd
--- /dev/null
+++ b/bridge_data_v2_test/1741/lang.txt
@@ -0,0 +1,2 @@
+unfold the cloth from the top to the bottom
+confidence: 1
diff --git a/bridge_data_v2_test/17725/lang.txt b/bridge_data_v2_test/17725/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..eb56f51acb20c0ff590359efd35f375591b67275
--- /dev/null
+++ b/bridge_data_v2_test/17725/lang.txt
@@ -0,0 +1,2 @@
+pick up cube off of the yellow block and move it to the front of the table
+confidence: 0.8
diff --git a/bridge_data_v2_test/17804/lang.txt b/bridge_data_v2_test/17804/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..ba5b94c5fecb87623f4b4d4e439e630fc1fba079
--- /dev/null
+++ b/bridge_data_v2_test/17804/lang.txt
@@ -0,0 +1,2 @@
+put the green triangle on top of the tower
+confidence: 0.6
diff --git a/bridge_data_v2_test/17906/lang.txt b/bridge_data_v2_test/17906/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f54b195d71575c34d767c44b2625e41d3f6193ad
--- /dev/null
+++ b/bridge_data_v2_test/17906/lang.txt
@@ -0,0 +1,3 @@
+
+ move the red triangle to the left
+confidence: 0.6
diff --git a/bridge_data_v2_test/18203/lang.txt b/bridge_data_v2_test/18203/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..19b3358bbfb75c26e6f3a5c9a27a19f160210e0b
--- /dev/null
+++ b/bridge_data_v2_test/18203/lang.txt
@@ -0,0 +1,2 @@
+Put the chess piece on block with hole
+confidence: 0.8
diff --git a/bridge_data_v2_test/1993/lang.txt b/bridge_data_v2_test/1993/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..b260c70f1ccca88e559877fa396f322fac50938c
--- /dev/null
+++ b/bridge_data_v2_test/1993/lang.txt
@@ -0,0 +1,2 @@
+unfold the cloth from left to right
+confidence: 0.8
diff --git a/bridge_data_v2_test/2040/lang.txt b/bridge_data_v2_test/2040/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..786954155682b0fb4c011962e336a7f61dc736cc
--- /dev/null
+++ b/bridge_data_v2_test/2040/lang.txt
@@ -0,0 +1,2 @@
+unfold the cloth from the top to the bottom
+confidence: 0.8
diff --git a/bridge_data_v2_test/2179/lang.txt b/bridge_data_v2_test/2179/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..3bb14c8fc9ed2f423e5dfcc1fbfb87940f653dff
--- /dev/null
+++ b/bridge_data_v2_test/2179/lang.txt
@@ -0,0 +1,2 @@
+fold cloth from bottom right to top left
+confidence: 0.8
diff --git a/bridge_data_v2_test/2491/lang.txt b/bridge_data_v2_test/2491/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a4f4ab543721b1d398c5ec1492e132c57dc56e75
--- /dev/null
+++ b/bridge_data_v2_test/2491/lang.txt
@@ -0,0 +1,2 @@
+unfold the cloth from the top left to bottom right
+confidence: 0.6
diff --git a/bridge_data_v2_test/2720/lang.txt b/bridge_data_v2_test/2720/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..72bdc62f12bbadc51c916b5b922e477a496afffb
--- /dev/null
+++ b/bridge_data_v2_test/2720/lang.txt
@@ -0,0 +1,2 @@
+touches the cloth
+confidence: 1
diff --git a/bridge_data_v2_test/2741/lang.txt b/bridge_data_v2_test/2741/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..fc5a69340ff01057e482126776477175e7c88230
--- /dev/null
+++ b/bridge_data_v2_test/2741/lang.txt
@@ -0,0 +1,2 @@
+touched the middle of the cloth
+confidence: 0.8
diff --git a/bridge_data_v2_test/3517/lang.txt b/bridge_data_v2_test/3517/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c14d3658a52c57d7bc6efae7caf5d1697c2ff48f
--- /dev/null
+++ b/bridge_data_v2_test/3517/lang.txt
@@ -0,0 +1 @@
+sweep into pile
diff --git a/bridge_data_v2_test/3646/lang.txt b/bridge_data_v2_test/3646/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c14d3658a52c57d7bc6efae7caf5d1697c2ff48f
--- /dev/null
+++ b/bridge_data_v2_test/3646/lang.txt
@@ -0,0 +1 @@
+sweep into pile
diff --git a/bridge_data_v2_test/3853/lang.txt b/bridge_data_v2_test/3853/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c14d3658a52c57d7bc6efae7caf5d1697c2ff48f
--- /dev/null
+++ b/bridge_data_v2_test/3853/lang.txt
@@ -0,0 +1 @@
+sweep into pile
diff --git a/bridge_data_v2_test/4115/lang.txt b/bridge_data_v2_test/4115/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0ae488eef4863df2c3c29546b38960a6b2432efc
--- /dev/null
+++ b/bridge_data_v2_test/4115/lang.txt
@@ -0,0 +1,2 @@
+move the yellow cloth in the white basket
+confidence: 1
diff --git a/bridge_data_v2_test/4380/lang.txt b/bridge_data_v2_test/4380/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..195d2e0fba2a0539647a955ba8bbd1b932afa4d9
--- /dev/null
+++ b/bridge_data_v2_test/4380/lang.txt
@@ -0,0 +1,2 @@
+put the purple cloth into the washer 
+confidence: 1
diff --git a/bridge_data_v2_test/5011/lang.txt b/bridge_data_v2_test/5011/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..6e8faaff37e9a3d7058251129a7c44e4b09e96de
--- /dev/null
+++ b/bridge_data_v2_test/5011/lang.txt
@@ -0,0 +1,2 @@
+folded the cloth from bottom left to top right
+confidence: 0.4
diff --git a/bridge_data_v2_test/5481/lang.txt b/bridge_data_v2_test/5481/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0776cf97d6790314d3b27f8541307e16316fef0d
--- /dev/null
+++ b/bridge_data_v2_test/5481/lang.txt
@@ -0,0 +1,2 @@
+fold the cloth from the top to bottom
+confidence: 0.6
diff --git a/bridge_data_v2_test/5825/lang.txt b/bridge_data_v2_test/5825/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a73eb94900c21c040fef8dc6bd2cd09663654fb2
--- /dev/null
+++ b/bridge_data_v2_test/5825/lang.txt
@@ -0,0 +1,2 @@
+fold the cloth from bottom right to top left
+confidence: 1
diff --git a/bridge_data_v2_test/5855/lang.txt b/bridge_data_v2_test/5855/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..3d8d9a8ee3b0bdd57cce08d1d455818b8a97d838
--- /dev/null
+++ b/bridge_data_v2_test/5855/lang.txt
@@ -0,0 +1,2 @@
+fold the cloth from top left to bottom right
+confidence: 0.6
diff --git a/bridge_data_v2_test/5988/lang.txt b/bridge_data_v2_test/5988/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..80572957f167d6cc4f0ede4079c6870bbda7aa1a
--- /dev/null
+++ b/bridge_data_v2_test/5988/lang.txt
@@ -0,0 +1,2 @@
+move box from cloth to the right side of the table
+confidence: 0.6
diff --git a/bridge_data_v2_test/6474/lang.txt b/bridge_data_v2_test/6474/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9c43398a15dcf3654beae72dd66ed4c185584421
--- /dev/null
+++ b/bridge_data_v2_test/6474/lang.txt
@@ -0,0 +1,2 @@
+fold the cloth from the bottom right to the top left
+confidence: 0.8
diff --git a/bridge_data_v2_test/6589/lang.txt b/bridge_data_v2_test/6589/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..987ec7e7b1c187d272c64c5a3d8f14fe320f8680
--- /dev/null
+++ b/bridge_data_v2_test/6589/lang.txt
@@ -0,0 +1,2 @@
+move the object to top right
+confidence: 0.8
diff --git a/bridge_data_v2_test/6958/lang.txt b/bridge_data_v2_test/6958/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..2d147e5845fab9b3108e0116517c2747cb87d919
--- /dev/null
+++ b/bridge_data_v2_test/6958/lang.txt
@@ -0,0 +1,2 @@
+move the strawberry to bottom left of the table
+confidence: 0.8
diff --git a/bridge_data_v2_test/7102/lang.txt b/bridge_data_v2_test/7102/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..49f836d3310b70ae5a19cbac241d326b8b9331d4
--- /dev/null
+++ b/bridge_data_v2_test/7102/lang.txt
@@ -0,0 +1,2 @@
+take the thing out of the drawer and put it on the left side of the table
+confidence: 1.0
diff --git a/bridge_data_v2_test/7616/lang.txt b/bridge_data_v2_test/7616/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..673410220ba783cb4f8ab9f8c3010946605ce677
--- /dev/null
+++ b/bridge_data_v2_test/7616/lang.txt
@@ -0,0 +1,2 @@
+take the yellow object out from the drawer and put it on the right side of the brown object
+confidence: 0.2
diff --git a/bridge_data_v2_test/8089/lang.txt b/bridge_data_v2_test/8089/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..21e3f87b15b23a90e8ad25c0ad9719ac28f3c97b
--- /dev/null
+++ b/bridge_data_v2_test/8089/lang.txt
@@ -0,0 +1,2 @@
+robot did nothing
+confidence: 1
diff --git a/bridge_data_v2_test/8443/lang.txt b/bridge_data_v2_test/8443/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..683e673fdc18f06b4770b2b3bc9bd67629570216
--- /dev/null
+++ b/bridge_data_v2_test/8443/lang.txt
@@ -0,0 +1,2 @@
+fold the cloth from right to left
+confidence: 1
diff --git a/bridge_data_v2_test/8505/lang.txt b/bridge_data_v2_test/8505/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..6f571f2c4a95a6f254da323d4d0b225d8d9987d6
--- /dev/null
+++ b/bridge_data_v2_test/8505/lang.txt
@@ -0,0 +1,2 @@
+unfold the cloth from the bottom to top
+confidence: 1
diff --git a/bridge_data_v2_test/8873/lang.txt b/bridge_data_v2_test/8873/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..8d600060bae59347c7475617ed7455426b46385a
--- /dev/null
+++ b/bridge_data_v2_test/8873/lang.txt
@@ -0,0 +1,2 @@
+moved the tin to the upper left side of the table.
+confidence: 0.8
diff --git a/bridge_data_v2_test/9248/lang.txt b/bridge_data_v2_test/9248/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..680852287fac1e08a91bb0d02964d347f7131f5b
--- /dev/null
+++ b/bridge_data_v2_test/9248/lang.txt
@@ -0,0 +1,2 @@
+move the objet to the right side of the table
+confidence: 0.8
diff --git a/bridge_data_v2_test/9294/lang.txt b/bridge_data_v2_test/9294/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..d2fb12c1184a36934338bfff231e322e4974b593
--- /dev/null
+++ b/bridge_data_v2_test/9294/lang.txt
@@ -0,0 +1,2 @@
+Placed the lid on top of the silver pot
+confidence: 0.6
diff --git a/bridge_data_v2_test/9359/lang.txt b/bridge_data_v2_test/9359/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..db279943edfdd785185af584aa90cd4952cb274d
--- /dev/null
+++ b/bridge_data_v2_test/9359/lang.txt
@@ -0,0 +1,2 @@
+took the yellow spoon to the right side of the table
+confidence: 0.4
diff --git a/bridge_data_v2_test/9677/lang.txt b/bridge_data_v2_test/9677/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..61f0b73d86213b8abc98d8f33d058c20d410d955
--- /dev/null
+++ b/bridge_data_v2_test/9677/lang.txt
@@ -0,0 +1,2 @@
+move the silver pot to the centre of the table
+confidence: 0.6
diff --git a/bridge_data_v2_test/9752/lang.txt b/bridge_data_v2_test/9752/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..d793c8cfe703b1d01786b663e4fc741bb2ba4d0d
--- /dev/null
+++ b/bridge_data_v2_test/9752/lang.txt
@@ -0,0 +1,2 @@
+moved the silver pot to the top left corner of the yellow cloth
+confidence: 0.8
diff --git a/bridge_data_v2_test/9920/lang.txt b/bridge_data_v2_test/9920/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..31c0a0b5765e380289350018a0950f39ed3198b5
--- /dev/null
+++ b/bridge_data_v2_test/9920/lang.txt
@@ -0,0 +1,3 @@
+put the silver lid on the silver pot
+
+confidence: 0.8