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diff --git a/bridge_data_v1/657/im_5.jpg b/bridge_data_v1/657/im_5.jpg
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diff --git a/bridge_data_v2_test/10048/lang.txt b/bridge_data_v2_test/10048/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..b9abccfc87935ac345e1d1cd2f722027916b700a
--- /dev/null
+++ b/bridge_data_v2_test/10048/lang.txt
@@ -0,0 +1,2 @@
+move the sushi to the upper right side of the table
+confidence: 0.6
diff --git a/bridge_data_v2_test/10061/lang.txt b/bridge_data_v2_test/10061/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..12bc154a21081de2e5f7a27fc2fd56ec9598519a
--- /dev/null
+++ b/bridge_data_v2_test/10061/lang.txt
@@ -0,0 +1,2 @@
+move the can to the left side of the green cloth
+confidence: 0.8
diff --git a/bridge_data_v2_test/10433/lang.txt b/bridge_data_v2_test/10433/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..87d7362ce3bc6288aa8b680dd9d55f70fe00b481
--- /dev/null
+++ b/bridge_data_v2_test/10433/lang.txt
@@ -0,0 +1,2 @@
+place the silver pot on the purple cloth
+confidence: 0.8
diff --git a/bridge_data_v2_test/10746/lang.txt b/bridge_data_v2_test/10746/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..cc68eac056d120ab86b27cb02ab6082cfe3faaad
--- /dev/null
+++ b/bridge_data_v2_test/10746/lang.txt
@@ -0,0 +1,2 @@
+Put the Cylindricalblock above the tower
+confidence: 0.8
diff --git a/bridge_data_v2_test/10842/lang.txt b/bridge_data_v2_test/10842/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..8da17c885fff4026953bcb6c02bee5c165706c79
--- /dev/null
+++ b/bridge_data_v2_test/10842/lang.txt
@@ -0,0 +1,2 @@
+remove the cylinder in the table
+confidence: 0.8
diff --git a/bridge_data_v2_test/11152/lang.txt b/bridge_data_v2_test/11152/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..433f83a847f364e5871d47b357e1c2c7f1785179
--- /dev/null
+++ b/bridge_data_v2_test/11152/lang.txt
@@ -0,0 +1,2 @@
+moved the brown thing from the back left to the front left of the stove
+confidence: 0.2
diff --git a/bridge_data_v2_test/11180/lang.txt b/bridge_data_v2_test/11180/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e594613b8a6e0111315c9e6e76c9c640a1418a37
--- /dev/null
+++ b/bridge_data_v2_test/11180/lang.txt
@@ -0,0 +1,2 @@
+move yellow object beside blue object and move red cloth to left burner
+confidence: 0.4
diff --git a/bridge_data_v2_test/11202/lang.txt b/bridge_data_v2_test/11202/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..ed96f462e9177d986bada6675afbcdde8f05af98
--- /dev/null
+++ b/bridge_data_v2_test/11202/lang.txt
@@ -0,0 +1,2 @@
+put the corn in between the burners
+confidence: 0.4
diff --git a/bridge_data_v2_test/11212/lang.txt b/bridge_data_v2_test/11212/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e2b816186728cc3923e35bdff13f84a7079d0e5b
--- /dev/null
+++ b/bridge_data_v2_test/11212/lang.txt
@@ -0,0 +1,2 @@
+put the green cloth on the left burner
+confidence: 0.6
diff --git a/bridge_data_v2_test/1129/lang.txt b/bridge_data_v2_test/1129/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a3503f7e00e1dfefe70995eaa1f57a1e5ed75a8e
--- /dev/null
+++ b/bridge_data_v2_test/1129/lang.txt
@@ -0,0 +1,2 @@
+move the silver pot to the bottom of the right stove
+confidence: 0.8
diff --git a/bridge_data_v2_test/11564/lang.txt b/bridge_data_v2_test/11564/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..cc54bb14dcf01c96f2adf3143c9f54bf373e0875
--- /dev/null
+++ b/bridge_data_v2_test/11564/lang.txt
@@ -0,0 +1,2 @@
+move the orange clear pot to the left burner
+confidence: 0.8
diff --git a/bridge_data_v2_test/11708/lang.txt b/bridge_data_v2_test/11708/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..74886c501b8c5cd665ce9c14f1a61d0aef4fb329
--- /dev/null
+++ b/bridge_data_v2_test/11708/lang.txt
@@ -0,0 +1,2 @@
+cover the orange pot with the orange lid
+confidence: 0.8
diff --git a/bridge_data_v2_test/11719/lang.txt b/bridge_data_v2_test/11719/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..92bec13ab9273be7d43abe228a83df129db674d6
--- /dev/null
+++ b/bridge_data_v2_test/11719/lang.txt
@@ -0,0 +1,2 @@
+take out the lid from the orange pot on and put it on the top right side of the stove
+confidence: 0.8
diff --git a/bridge_data_v2_test/11726/lang.txt b/bridge_data_v2_test/11726/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..eb2804fe2afef1f3f272a19d7eccb8870ad8ce09
--- /dev/null
+++ b/bridge_data_v2_test/11726/lang.txt
@@ -0,0 +1,2 @@
+take off the lid of the pan and put it on the stove beside the pan
+confidence: 0.6
diff --git a/bridge_data_v2_test/11821/lang.txt b/bridge_data_v2_test/11821/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..1bf3384f74321930cc6e8c001ac48a2b3d7bb1a4
--- /dev/null
+++ b/bridge_data_v2_test/11821/lang.txt
@@ -0,0 +1,2 @@
+ALook at the sequence of images, which progresses from rigt
+confidence: 0.6
diff --git a/bridge_data_v2_test/11904/lang.txt b/bridge_data_v2_test/11904/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..faad2f8e34fc84f1016dcf90fb90413f4bc0ca72
--- /dev/null
+++ b/bridge_data_v2_test/11904/lang.txt
@@ -0,0 +1,2 @@
+take the yellow cube on top of the red arch and put it on top of the other cube
+confidence: 0.8
diff --git a/bridge_data_v2_test/12489/lang.txt b/bridge_data_v2_test/12489/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..00fbfaf2ae634402c2503ae923605df8a01b7744
--- /dev/null
+++ b/bridge_data_v2_test/12489/lang.txt
@@ -0,0 +1,2 @@
+take out the pineapple toy in the open drawer and put it in the corner of the table
+confidence: 0.8
diff --git a/bridge_data_v2_test/12564/lang.txt b/bridge_data_v2_test/12564/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..43ca6249c1575f64113ea88fe829161416678e8e
--- /dev/null
+++ b/bridge_data_v2_test/12564/lang.txt
@@ -0,0 +1,2 @@
+open the drawer
+confidence: 0.8
diff --git a/bridge_data_v2_test/12852/lang.txt b/bridge_data_v2_test/12852/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..fa76417ecf4167497d7e3da90a5146c0e65f9e69
--- /dev/null
+++ b/bridge_data_v2_test/12852/lang.txt
@@ -0,0 +1,2 @@
+open wooden drawer
+confidence: 0.8
diff --git a/bridge_data_v2_test/13150/lang.txt b/bridge_data_v2_test/13150/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c14d3658a52c57d7bc6efae7caf5d1697c2ff48f
--- /dev/null
+++ b/bridge_data_v2_test/13150/lang.txt
@@ -0,0 +1 @@
+sweep into pile
diff --git a/bridge_data_v2_test/13340/lang.txt b/bridge_data_v2_test/13340/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c14d3658a52c57d7bc6efae7caf5d1697c2ff48f
--- /dev/null
+++ b/bridge_data_v2_test/13340/lang.txt
@@ -0,0 +1 @@
+sweep into pile
diff --git a/bridge_data_v2_test/13409/lang.txt b/bridge_data_v2_test/13409/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..10ff1212fb0ea2f1cb9719dc95aaa2d74314bb4d
--- /dev/null
+++ b/bridge_data_v2_test/13409/lang.txt
@@ -0,0 +1,2 @@
+put the blue towel on the bottom left of the table
+confidence: 0.8
diff --git a/bridge_data_v2_test/13502/lang.txt b/bridge_data_v2_test/13502/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..dbc0bce1e9c3a70adf16d19fc103b551a95db762
--- /dev/null
+++ b/bridge_data_v2_test/13502/lang.txt
@@ -0,0 +1,2 @@
+move the yellow spoon to the top left of the table
+confidence: 1
diff --git a/bridge_data_v2_test/13839/lang.txt b/bridge_data_v2_test/13839/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..2625881b54fa013224917798436afa084f1c7b61
--- /dev/null
+++ b/bridge_data_v2_test/13839/lang.txt
@@ -0,0 +1,2 @@
+put the green object to the middle top of the table
+confidence: 0.8
diff --git a/bridge_data_v2_test/13892/lang.txt b/bridge_data_v2_test/13892/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..cd2eb5baaa1601518de3c2c8e1dc54264c240a9b
--- /dev/null
+++ b/bridge_data_v2_test/13892/lang.txt
@@ -0,0 +1,2 @@
+move the white object to the middle top of the table
+confidence: 1
diff --git a/bridge_data_v2_test/14326/lang.txt b/bridge_data_v2_test/14326/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..335a3764460daad6f49e735994dd3620c8f90860
--- /dev/null
+++ b/bridge_data_v2_test/14326/lang.txt
@@ -0,0 +1,2 @@
+Take the blue spoon to the left side of the peaches can and moves them to the center of table
+confidence: 1
diff --git a/bridge_data_v2_test/14657/lang.txt b/bridge_data_v2_test/14657/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..3862e7807956f78e223b2531f3af1b8b97d6116f
--- /dev/null
+++ b/bridge_data_v2_test/14657/lang.txt
@@ -0,0 +1,2 @@
+put the two rectangular sticks on the two cubes
+confidence: 0.2
diff --git a/bridge_data_v2_test/15397/lang.txt b/bridge_data_v2_test/15397/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e39b69baee68fd8a66ba8610f179b9a7a24ef3f6
--- /dev/null
+++ b/bridge_data_v2_test/15397/lang.txt
@@ -0,0 +1,2 @@
+pick up the arch and put it back down in the same spot
+confidence: 0.4
diff --git a/bridge_data_v2_test/15472/lang.txt b/bridge_data_v2_test/15472/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..5e9ddae6933177784f7a76cc599329e4972962e8
--- /dev/null
+++ b/bridge_data_v2_test/15472/lang.txt
@@ -0,0 +1,2 @@
+Moves the green cube from white arc and placed it in the middle of the table 
+confidence: 0.8
diff --git a/bridge_data_v2_test/15585/lang.txt b/bridge_data_v2_test/15585/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..90aea8c236d34ada2a830aa4562d6fef80de73a3
--- /dev/null
+++ b/bridge_data_v2_test/15585/lang.txt
@@ -0,0 +1,2 @@
+open the drawer.
+confidence: 1
diff --git a/bridge_data_v2_test/15603/lang.txt b/bridge_data_v2_test/15603/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..7f0f89581284f8556642fbc8807430ccb66cce76
--- /dev/null
+++ b/bridge_data_v2_test/15603/lang.txt
@@ -0,0 +1,2 @@
+Closed the drawer.
+confidence: 0.8
diff --git a/bridge_data_v2_test/15932/lang.txt b/bridge_data_v2_test/15932/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..feef5e56bdb878c2df7386a2b9619da9fbc135bd
--- /dev/null
+++ b/bridge_data_v2_test/15932/lang.txt
@@ -0,0 +1,2 @@
+Put the red bell pepper on the top of the drawer
+confidence: 0.4
diff --git a/bridge_data_v2_test/16092/lang.txt b/bridge_data_v2_test/16092/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..1d48d274d8b74254f0ceab5dbcfaa728fe7766cf
--- /dev/null
+++ b/bridge_data_v2_test/16092/lang.txt
@@ -0,0 +1,2 @@
+open the drawer
+confidence: 0.6
diff --git a/bridge_data_v2_test/16415/lang.txt b/bridge_data_v2_test/16415/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c3a755cf0c097586457cf4fc732441fc446144ea
--- /dev/null
+++ b/bridge_data_v2_test/16415/lang.txt
@@ -0,0 +1,2 @@
+put the blue object inside the drawer
+confidence: 0.8
diff --git a/bridge_data_v2_test/16473/lang.txt b/bridge_data_v2_test/16473/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..b85f938b655bb9d6c794eb66ccb2b0b682a9d0aa
--- /dev/null
+++ b/bridge_data_v2_test/16473/lang.txt
@@ -0,0 +1,2 @@
+took the banana out of the drawer and put it on the right side of the table
+confidence: 1
diff --git a/bridge_data_v2_test/16626/lang.txt b/bridge_data_v2_test/16626/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..7a5814d421c57831aef38c9255516a31ec6d7e95
--- /dev/null
+++ b/bridge_data_v2_test/16626/lang.txt
@@ -0,0 +1,2 @@
+put the lead on the sufuria on the left burner.
+confidence: 0.6
diff --git a/bridge_data_v2_test/16905/lang.txt b/bridge_data_v2_test/16905/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a0ff03a7bf8644f1c30aded3aea9d388ceb86f0e
--- /dev/null
+++ b/bridge_data_v2_test/16905/lang.txt
@@ -0,0 +1,2 @@
+Put the red pepper on the bottom right side burner 
+confidence: 1
diff --git a/bridge_data_v2_test/18066/lang.txt b/bridge_data_v2_test/18066/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..29a57e1452080d45cfe460f10f2f582c905d49b5
--- /dev/null
+++ b/bridge_data_v2_test/18066/lang.txt
@@ -0,0 +1,2 @@
+put the red arch on top of two cylinders
+confidence: 0.8
diff --git a/bridge_data_v2_test/18183/lang.txt b/bridge_data_v2_test/18183/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..2d32c75fc70643b5da1d196bbed25bbdff500b44
--- /dev/null
+++ b/bridge_data_v2_test/18183/lang.txt
@@ -0,0 +1,2 @@
+move the square block to the top of the blue arch.
+confidence: 0.2
diff --git a/bridge_data_v2_test/2127/lang.txt b/bridge_data_v2_test/2127/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f52cc21ec8cd43c2614ed37304bf159e54cce462
--- /dev/null
+++ b/bridge_data_v2_test/2127/lang.txt
@@ -0,0 +1,2 @@
+ unfold the cloth from top left to bottom right
+confidence: 0.6
diff --git a/bridge_data_v2_test/2240/lang.txt b/bridge_data_v2_test/2240/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..583adc1d1abfa703465375dafe0eff2a0a56e4d0
--- /dev/null
+++ b/bridge_data_v2_test/2240/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/2465/lang.txt b/bridge_data_v2_test/2465/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9091b664f10c9090a622b71d21cd514081d3e802
--- /dev/null
+++ b/bridge_data_v2_test/2465/lang.txt
@@ -0,0 +1,2 @@
+unfolds the cloth from  bottom right to top left
+confidence: 0.8
diff --git a/bridge_data_v2_test/254/lang.txt b/bridge_data_v2_test/254/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f4992b910c9cb26dc62ae7056ea714141503b78d
--- /dev/null
+++ b/bridge_data_v2_test/254/lang.txt
@@ -0,0 +1,2 @@
+moved the silver pot from left burner to the right burner
+confidence: 0.6
diff --git a/bridge_data_v2_test/2638/lang.txt b/bridge_data_v2_test/2638/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..ed73448b5b69f7d75f0afb3ddc304bd191ac8934
--- /dev/null
+++ b/bridge_data_v2_test/2638/lang.txt
@@ -0,0 +1,2 @@
+move the object to the top left of the cloth
+confidence: 0.6
diff --git a/bridge_data_v2_test/2652/lang.txt b/bridge_data_v2_test/2652/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..04a4872fc983baeefc29dee1b0ababfcd17d49b7
--- /dev/null
+++ b/bridge_data_v2_test/2652/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/3705/lang.txt b/bridge_data_v2_test/3705/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c14d3658a52c57d7bc6efae7caf5d1697c2ff48f
--- /dev/null
+++ b/bridge_data_v2_test/3705/lang.txt
@@ -0,0 +1 @@
+sweep into pile
diff --git a/bridge_data_v2_test/3851/lang.txt b/bridge_data_v2_test/3851/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c14d3658a52c57d7bc6efae7caf5d1697c2ff48f
--- /dev/null
+++ b/bridge_data_v2_test/3851/lang.txt
@@ -0,0 +1 @@
+sweep into pile
diff --git a/bridge_data_v2_test/3914/lang.txt b/bridge_data_v2_test/3914/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..927e09fd51666981821637d5ec840c1dad8b1dae
--- /dev/null
+++ b/bridge_data_v2_test/3914/lang.txt
@@ -0,0 +1,2 @@
+moved the tray to the right side of the floor
+confidence: 0.6
diff --git a/bridge_data_v2_test/3995/lang.txt b/bridge_data_v2_test/3995/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..495ab83e2e1d3a4353ea75adce20a10333b0ec31
--- /dev/null
+++ b/bridge_data_v2_test/3995/lang.txt
@@ -0,0 +1,2 @@
+take the thing out of basket and put it on the right side of the table
+confidence: 0.2
diff --git a/bridge_data_v2_test/4273/lang.txt b/bridge_data_v2_test/4273/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..7040f97cb0ae0274334871ae361ec1628ae2521d
--- /dev/null
+++ b/bridge_data_v2_test/4273/lang.txt
@@ -0,0 +1,2 @@
+moved the white basket to the left side of the table
+confidence: 0.2
diff --git a/bridge_data_v2_test/4566/lang.txt b/bridge_data_v2_test/4566/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..7ddcdf2b67b04b238ecba0f4f357968a9285a59d
--- /dev/null
+++ b/bridge_data_v2_test/4566/lang.txt
@@ -0,0 +1,2 @@
+moved the white basket to the right side of the washing machine
+confidence: 0.6
diff --git a/bridge_data_v2_test/4902/lang.txt b/bridge_data_v2_test/4902/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a73eb94900c21c040fef8dc6bd2cd09663654fb2
--- /dev/null
+++ b/bridge_data_v2_test/4902/lang.txt
@@ -0,0 +1,2 @@
+fold the cloth from bottom right to top left
+confidence: 1
diff --git a/bridge_data_v2_test/4985/lang.txt b/bridge_data_v2_test/4985/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..6133c5f7592f29806e90b2d7bf2c59844d3be07f
--- /dev/null
+++ b/bridge_data_v2_test/4985/lang.txt
@@ -0,0 +1,2 @@
+Move the cloth to the bottom edge of the table
+confidence: 0.6
diff --git a/bridge_data_v2_test/5012/lang.txt b/bridge_data_v2_test/5012/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..3d8d9a8ee3b0bdd57cce08d1d455818b8a97d838
--- /dev/null
+++ b/bridge_data_v2_test/5012/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/5634/lang.txt b/bridge_data_v2_test/5634/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..683e673fdc18f06b4770b2b3bc9bd67629570216
--- /dev/null
+++ b/bridge_data_v2_test/5634/lang.txt
@@ -0,0 +1,2 @@
+fold the cloth from right to left
+confidence: 1
diff --git a/bridge_data_v2_test/5806/lang.txt b/bridge_data_v2_test/5806/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..5de38459f7b74317fde19f893675122779d387ff
--- /dev/null
+++ b/bridge_data_v2_test/5806/lang.txt
@@ -0,0 +1,2 @@
+folding from the right
+confidence: 0.8
diff --git a/bridge_data_v2_test/5975/lang.txt b/bridge_data_v2_test/5975/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..191eda0ea8d08e21c3eab1a9f1c5c0ab8ddcf9e3
--- /dev/null
+++ b/bridge_data_v2_test/5975/lang.txt
@@ -0,0 +1,2 @@
+unfold the cloth from bottom left to top right
+confidence: 0.4
diff --git a/bridge_data_v2_test/5994/lang.txt b/bridge_data_v2_test/5994/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..634712e5091407f024be26301fa2584821679bf0
--- /dev/null
+++ b/bridge_data_v2_test/5994/lang.txt
@@ -0,0 +1,2 @@
+ put the blue figure on the top edge of the cloth
+confidence: 1
diff --git a/bridge_data_v2_test/6052/lang.txt b/bridge_data_v2_test/6052/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..8d25f70560c8653abaa068a6feb90936758d44ff
--- /dev/null
+++ b/bridge_data_v2_test/6052/lang.txt
@@ -0,0 +1,2 @@
+unfold the cloth from bottom right to  top left 
+confidence: 0.8
diff --git a/bridge_data_v2_test/6233/lang.txt b/bridge_data_v2_test/6233/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..20d69e85f02f117b714b77e1ee4dfd38409340b5
--- /dev/null
+++ b/bridge_data_v2_test/6233/lang.txt
@@ -0,0 +1,2 @@
+fold the cloth from bottom right to upper left
+confidence: 0.6
diff --git a/bridge_data_v2_test/6292/lang.txt b/bridge_data_v2_test/6292/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..361068ec7848bf3560245a1d39c46321a2b58a75
--- /dev/null
+++ b/bridge_data_v2_test/6292/lang.txt
@@ -0,0 +1,2 @@
+fold the cloth from bottom left to the top right
+confidence: 0.8
diff --git a/bridge_data_v2_test/6566/lang.txt b/bridge_data_v2_test/6566/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e3bae0dbd04cc5ead017f51c51ac27aea3854b73
--- /dev/null
+++ b/bridge_data_v2_test/6566/lang.txt
@@ -0,0 +1,2 @@
+fold the cloth from top right to bottom left
+confidence: 0.8
diff --git a/bridge_data_v2_test/668/lang.txt b/bridge_data_v2_test/668/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0557ad8d949ac8047ffb1330c848e5cbb29843ae
--- /dev/null
+++ b/bridge_data_v2_test/668/lang.txt
@@ -0,0 +1,2 @@
+grab the red object from the silver pot and put it on the left side burner 
+confidence: 0.6
diff --git a/bridge_data_v2_test/6825/lang.txt b/bridge_data_v2_test/6825/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..88aed0c136a1a38758e5bfbb74f3dc139f2cae6d
--- /dev/null
+++ b/bridge_data_v2_test/6825/lang.txt
@@ -0,0 +1,2 @@
+move the banana onto the cloth
+confidence: 0.8
diff --git a/bridge_data_v2_test/7208/lang.txt b/bridge_data_v2_test/7208/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..fbd538e74ee48aec4c2691d305241bc67bad036a
--- /dev/null
+++ b/bridge_data_v2_test/7208/lang.txt
@@ -0,0 +1,2 @@
+put the pink toy to the upper corner left side of the table
+confidence: 1
diff --git a/bridge_data_v2_test/7554/lang.txt b/bridge_data_v2_test/7554/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..141de2f55c74ea8aa6f02860722aa55b378a4f7f
--- /dev/null
+++ b/bridge_data_v2_test/7554/lang.txt
@@ -0,0 +1,2 @@
+Order the objects on the table
+confidence: 0.4
diff --git a/bridge_data_v2_test/7733/lang.txt b/bridge_data_v2_test/7733/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..5d7d5680f70cd7a729fec1dc5f0b7fca1fb04973
--- /dev/null
+++ b/bridge_data_v2_test/7733/lang.txt
@@ -0,0 +1,3 @@
+closed the open drawer
+
+confidence: 0.8
diff --git a/bridge_data_v2_test/7886/lang.txt b/bridge_data_v2_test/7886/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..4f5b481a9b3abb3e467e336fe231e7881bf271d4
--- /dev/null
+++ b/bridge_data_v2_test/7886/lang.txt
@@ -0,0 +1,2 @@
+move the cloth from right to left 
+confidence: 0.6
diff --git a/bridge_data_v2_test/8304/lang.txt b/bridge_data_v2_test/8304/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..616ae5d4c7b030bdf1501eed50f4454da5786748
--- /dev/null
+++ b/bridge_data_v2_test/8304/lang.txt
@@ -0,0 +1,2 @@
+unfold the cloth from top left to bottom left
+confidence: 0.8
diff --git a/bridge_data_v2_test/8578/lang.txt b/bridge_data_v2_test/8578/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..d483d5d0655cabfa7a491294042dc2ea5902fce8
--- /dev/null
+++ b/bridge_data_v2_test/8578/lang.txt
@@ -0,0 +1,2 @@
+unfold the cloth from right to left
+confidence: 0.8
diff --git a/bridge_data_v2_test/8853/lang.txt b/bridge_data_v2_test/8853/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..b1c0f578cf248d8a656c896f432b8f7fbceb6119
--- /dev/null
+++ b/bridge_data_v2_test/8853/lang.txt
@@ -0,0 +1,2 @@
+moved the blue arc to the left side of the silver pot
+confidence: 0.8
diff --git a/bridge_data_v2_test/9114/lang.txt b/bridge_data_v2_test/9114/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..8fc58af77d5b5a2efb1c398c83def034a6665a16
--- /dev/null
+++ b/bridge_data_v2_test/9114/lang.txt
@@ -0,0 +1,2 @@
+mueve  el tenedor azul a la parte superior izquierda de la mesa.
+confidence: 0.6
diff --git a/bridge_data_v2_test/9180/lang.txt b/bridge_data_v2_test/9180/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..5321d6b85d9796d40af6130437c8bbcf649a8a33
--- /dev/null
+++ b/bridge_data_v2_test/9180/lang.txt
@@ -0,0 +1,2 @@
+put the silver pot on top of the purple cloth
+confidence: 1
diff --git a/bridge_data_v2_test/9700/lang.txt b/bridge_data_v2_test/9700/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..87c1bcf5cb0c8132c218c92b80a0826b74ad04ed
--- /dev/null
+++ b/bridge_data_v2_test/9700/lang.txt
@@ -0,0 +1,2 @@
+moves the yellow knife to the bottom centre of the table
+confidence: 0.6
diff --git a/bridge_data_v2_test/9974/lang.txt b/bridge_data_v2_test/9974/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..33370a0a5650a0f81c71d3a5e5d2a9ba0ef251f9
--- /dev/null
+++ b/bridge_data_v2_test/9974/lang.txt
@@ -0,0 +1,2 @@
+move the silver pot to the left side of table
+confidence: 0.8