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+version https://git-lfs.github.com/spec/v1
+oid sha256:3c72afebaf18c6cc3af67b6b46ab27160ac8ffd52c99c9913133c72f854fdfc7
+size 61576
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new file mode 100644
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--- /dev/null
+++ b/bridge_data_v1/641/im_3.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b747d7cc683aeb9d2666eb2859b638b6b0481c4ac51b2727a91928cd9580d914
+size 61342
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new file mode 100644
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--- /dev/null
+++ b/bridge_data_v1/641/im_30.jpg
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+version https://git-lfs.github.com/spec/v1
+oid sha256:672eab1e7486577d9051ba8b446adccc0ed05bbd3f23fed3b8b9d2d5dbbb354c
+size 60719
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new file mode 100644
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+version https://git-lfs.github.com/spec/v1
+oid sha256:e0237cfbd94140c182f10977d84076e63dde74f9efb129ffc01af7d2c2c6b6ee
+size 61000
diff --git a/bridge_data_v1/641/im_32.jpg b/bridge_data_v1/641/im_32.jpg
new file mode 100644
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+version https://git-lfs.github.com/spec/v1
+oid sha256:7c5784a8fbdd061477655b6d59dd2d0d31f3cd8f7521f76b06514745cc589153
+size 62617
diff --git a/bridge_data_v1/641/im_4.jpg b/bridge_data_v1/641/im_4.jpg
new file mode 100644
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c6347dfc911af78b040e0acfc8b9a2b9ed36d964cac9be6cd237d65c4396ac38
+size 62694
diff --git a/bridge_data_v1/641/im_5.jpg b/bridge_data_v1/641/im_5.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..5bda032bee12832bf687f83b5bbe3a234097c73b
--- /dev/null
+++ b/bridge_data_v1/641/im_5.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cdde731b9e9ed246f217f45a5ef3405c5dee84aa9db06d0868e3910cae501b7a
+size 62087
diff --git a/bridge_data_v1/641/im_6.jpg b/bridge_data_v1/641/im_6.jpg
new file mode 100644
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--- /dev/null
+++ b/bridge_data_v1/641/im_6.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a196fb68d4a67b69147a48f436226f63975d057a1c1eb601c702144b2f701b83
+size 60776
diff --git a/bridge_data_v1/641/im_7.jpg b/bridge_data_v1/641/im_7.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..2dfd50b03c85b66fed420e067f541370a094f273
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+++ b/bridge_data_v1/641/im_7.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c20279801922a3351624f121b7e94840301ff5288fb9a5058e8905eea773cf3c
+size 61585
diff --git a/bridge_data_v1/641/im_8.jpg b/bridge_data_v1/641/im_8.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..82e78d9bf5ce5a8b91bc2ecfb9c9e5e04e2dc7dc
--- /dev/null
+++ b/bridge_data_v1/641/im_8.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:809d73fbd31964095f50340267a74a7210df4cd243b6964be3ce0f05f832cc7b
+size 59747
diff --git a/bridge_data_v1/641/im_9.jpg b/bridge_data_v1/641/im_9.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..2a35c06bd9109fc9d3a9230bd36e42cc933b6515
--- /dev/null
+++ b/bridge_data_v1/641/im_9.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eaad50d4068d5a94d62a7bf75a6d015feabb0bcc1b9c4a65b28dcb25688cd20a
+size 60137
diff --git a/bridge_data_v1_test/10364/lang.txt b/bridge_data_v1_test/10364/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a9ddc698c29a6f9a2e7986acfcf7ebfbb6e2d2e2
--- /dev/null
+++ b/bridge_data_v1_test/10364/lang.txt
@@ -0,0 +1 @@
+put spatula on plate sink
diff --git a/bridge_data_v1_test/11740/lang.txt b/bridge_data_v1_test/11740/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0590e36129a82205e8638dae35597a571bf92df5
--- /dev/null
+++ b/bridge_data_v1_test/11740/lang.txt
@@ -0,0 +1 @@
+put green squash into pot or pan
diff --git a/bridge_data_v1_test/12064/lang.txt b/bridge_data_v1_test/12064/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..3cca7ebd771bcf4a923f37921433e242eb6ffe45
--- /dev/null
+++ b/bridge_data_v1_test/12064/lang.txt
@@ -0,0 +1 @@
+put detergent from sink into drying rack
diff --git a/bridge_data_v1_test/1535/lang.txt b/bridge_data_v1_test/1535/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..35db9342ac6f780d99d30619ad8c5454d568fe8f
--- /dev/null
+++ b/bridge_data_v1_test/1535/lang.txt
@@ -0,0 +1 @@
+put corn in pan which is on stove
diff --git a/bridge_data_v1_test/1611/lang.txt b/bridge_data_v1_test/1611/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..35db9342ac6f780d99d30619ad8c5454d568fe8f
--- /dev/null
+++ b/bridge_data_v1_test/1611/lang.txt
@@ -0,0 +1 @@
+put corn in pan which is on stove
diff --git a/bridge_data_v1_test/1814/lang.txt b/bridge_data_v1_test/1814/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..b41538a9ae876935340de7733b6591cede6def29
--- /dev/null
+++ b/bridge_data_v1_test/1814/lang.txt
@@ -0,0 +1 @@
+put pepper in pan
diff --git a/bridge_data_v1_test/1980/lang.txt b/bridge_data_v1_test/1980/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..b0b4d76b41e2620dca35ff0157704569806de878
--- /dev/null
+++ b/bridge_data_v1_test/1980/lang.txt
@@ -0,0 +1 @@
+put knife on cutting board
diff --git a/bridge_data_v1_test/2154/lang.txt b/bridge_data_v1_test/2154/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a563677ccf03c7248659514c35a38423471b4c1d
--- /dev/null
+++ b/bridge_data_v1_test/2154/lang.txt
@@ -0,0 +1 @@
+put pepper in pot or pan
diff --git a/bridge_data_v1_test/2627/lang.txt b/bridge_data_v1_test/2627/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f66bae477970d3eeb491e8da4678835fdb133daa
--- /dev/null
+++ b/bridge_data_v1_test/2627/lang.txt
@@ -0,0 +1 @@
+put broccoli in pot
diff --git a/bridge_data_v1_test/387/lang.txt b/bridge_data_v1_test/387/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c3a5c2ecb2b7cd3d20610e4e6d5087c3291e1df5
--- /dev/null
+++ b/bridge_data_v1_test/387/lang.txt
@@ -0,0 +1 @@
+pick up any cup
diff --git a/bridge_data_v1_test/411/lang.txt b/bridge_data_v1_test/411/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c3a5c2ecb2b7cd3d20610e4e6d5087c3291e1df5
--- /dev/null
+++ b/bridge_data_v1_test/411/lang.txt
@@ -0,0 +1 @@
+pick up any cup
diff --git a/bridge_data_v1_test/4120/lang.txt b/bridge_data_v1_test/4120/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..7425c199c67476a7bcfa341bf1c47572cff7ae93
--- /dev/null
+++ b/bridge_data_v1_test/4120/lang.txt
@@ -0,0 +1 @@
+lever vertical to front
diff --git a/bridge_data_v1_test/4615/lang.txt b/bridge_data_v1_test/4615/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f4fc3a9bdaad8d2b87e88da3fe081d3d5cb5f6bb
--- /dev/null
+++ b/bridge_data_v1_test/4615/lang.txt
@@ -0,0 +1 @@
+take lid off pot or pan
diff --git a/bridge_data_v1_test/4965/lang.txt b/bridge_data_v1_test/4965/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..6a35c19399ee94deebf70d20181bf6f50a9b7a94
--- /dev/null
+++ b/bridge_data_v1_test/4965/lang.txt
@@ -0,0 +1 @@
+turn lever vertical to front
diff --git a/bridge_data_v1_test/5526/lang.txt b/bridge_data_v1_test/5526/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..6a398d6f4e36170da05a42d2eed1b0e122c68b1f
--- /dev/null
+++ b/bridge_data_v1_test/5526/lang.txt
@@ -0,0 +1 @@
+put pear in bowl
diff --git a/bridge_data_v1_test/5602/lang.txt b/bridge_data_v1_test/5602/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..57511071d870a240ad4e59a8f3f4d7726e81daee
--- /dev/null
+++ b/bridge_data_v1_test/5602/lang.txt
@@ -0,0 +1 @@
+take carrot out of pot cardboard fence
diff --git a/bridge_data_v1_test/5813/lang.txt b/bridge_data_v1_test/5813/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..2a54d1c3e4ece32d78772c0149fbedd236ea75cc
--- /dev/null
+++ b/bridge_data_v1_test/5813/lang.txt
@@ -0,0 +1 @@
+put banana in pot cardboard fence
diff --git a/bridge_data_v1_test/7856/lang.txt b/bridge_data_v1_test/7856/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..80b96b6ae8f18edec499a040795ef24f3388fb25
--- /dev/null
+++ b/bridge_data_v1_test/7856/lang.txt
@@ -0,0 +1 @@
+pour almonds in pot
diff --git a/bridge_data_v1_test/787/lang.txt b/bridge_data_v1_test/787/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..28f71ea27f7596ee9fe8205fa5f07391e7220731
--- /dev/null
+++ b/bridge_data_v1_test/787/lang.txt
@@ -0,0 +1 @@
+pick up violet Allen key
diff --git a/bridge_data_v1_test/7977/lang.txt b/bridge_data_v1_test/7977/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..97c041551690e8b21234f1330fbee9cce6a19789
--- /dev/null
+++ b/bridge_data_v1_test/7977/lang.txt
@@ -0,0 +1 @@
+put sushi in pot cardboard fence
diff --git a/bridge_data_v1_test/8497/lang.txt b/bridge_data_v1_test/8497/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..59758eeb6d73b5b34528f00c9acc06ed95b86995
--- /dev/null
+++ b/bridge_data_v1_test/8497/lang.txt
@@ -0,0 +1 @@
+put pot or pan on stove
diff --git a/bridge_data_v1_test/8531/lang.txt b/bridge_data_v1_test/8531/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..6a398d6f4e36170da05a42d2eed1b0e122c68b1f
--- /dev/null
+++ b/bridge_data_v1_test/8531/lang.txt
@@ -0,0 +1 @@
+put pear in bowl
diff --git a/bridge_data_v1_test/9179/lang.txt b/bridge_data_v1_test/9179/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0854e419104fb75149055fbcd623d9b8f3c8bc0a
--- /dev/null
+++ b/bridge_data_v1_test/9179/lang.txt
@@ -0,0 +1 @@
+put sweet potato in pot
diff --git a/bridge_data_v1_test/9224/lang.txt b/bridge_data_v1_test/9224/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..b0b4d76b41e2620dca35ff0157704569806de878
--- /dev/null
+++ b/bridge_data_v1_test/9224/lang.txt
@@ -0,0 +1 @@
+put knife on cutting board
diff --git a/bridge_data_v2_test/10434/lang.txt b/bridge_data_v2_test/10434/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c182a74a9b1b9d81c690bee3735905a3aa8fa412
--- /dev/null
+++ b/bridge_data_v2_test/10434/lang.txt
@@ -0,0 +1,2 @@
+moved the purple cloth the left bottom part of the table
+confidence: 0.8
diff --git a/bridge_data_v2_test/110/lang.txt b/bridge_data_v2_test/110/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..631f606b54aada908d91b7cf4d65736c66a6be92
--- /dev/null
+++ b/bridge_data_v2_test/110/lang.txt
@@ -0,0 +1,2 @@
+Move the blue fork to the lower right burner
+confidence: 0.6
diff --git a/bridge_data_v2_test/11341/lang.txt b/bridge_data_v2_test/11341/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..36dd51595afedb7d500f2f8110b2760eb4d57b2e
--- /dev/null
+++ b/bridge_data_v2_test/11341/lang.txt
@@ -0,0 +1,2 @@
+moved the cup o the table
+confidence: 0.4
diff --git a/bridge_data_v2_test/11902/lang.txt b/bridge_data_v2_test/11902/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..aaa949fd128481debb078ee30c4775dec75172c5
--- /dev/null
+++ b/bridge_data_v2_test/11902/lang.txt
@@ -0,0 +1,2 @@
+put the ball in the cup
+confidence: 0.6
diff --git a/bridge_data_v2_test/12879/lang.txt b/bridge_data_v2_test/12879/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..6659d31f02346be7ce1cd1c75288419ce655da2c
--- /dev/null
+++ b/bridge_data_v2_test/12879/lang.txt
@@ -0,0 +1,2 @@
+closed the drawer
+confidence: 0.4
diff --git a/bridge_data_v2_test/13860/lang.txt b/bridge_data_v2_test/13860/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..3aafb37f21b3f5152ba5c0aceb475a218049c1a6
--- /dev/null
+++ b/bridge_data_v2_test/13860/lang.txt
@@ -0,0 +1,2 @@
+move the blue towel to the right side of the table
+confidence: 0.8
diff --git a/bridge_data_v2_test/13961/lang.txt b/bridge_data_v2_test/13961/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..2a02fc0bd6eb9006fd793c026d9a785eb32e06d7
--- /dev/null
+++ b/bridge_data_v2_test/13961/lang.txt
@@ -0,0 +1,2 @@
+move the yellow doll to the bottom right of the table
+confidence: 0.6
diff --git a/bridge_data_v2_test/14708/lang.txt b/bridge_data_v2_test/14708/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..08b42f5910b5d60832a04cc9673bbf007c2b9d8c
--- /dev/null
+++ b/bridge_data_v2_test/14708/lang.txt
@@ -0,0 +1,2 @@
+put the rectangular block on top of another rectangular block
+confidence: 0.8
diff --git a/bridge_data_v2_test/15042/lang.txt b/bridge_data_v2_test/15042/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..d854bfe6ba9c68466f11a033096d94f9b00b2ccb
--- /dev/null
+++ b/bridge_data_v2_test/15042/lang.txt
@@ -0,0 +1,2 @@
+move the red hexagon to the right side of the table
+confidence: 0.8
diff --git a/bridge_data_v2_test/15080/lang.txt b/bridge_data_v2_test/15080/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..023c35b5afc517915eb148643c64c17466baca60
--- /dev/null
+++ b/bridge_data_v2_test/15080/lang.txt
@@ -0,0 +1,2 @@
+pick rectangle block and place it on top of another block
+confidence: 1
diff --git a/bridge_data_v2_test/15350/lang.txt b/bridge_data_v2_test/15350/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..fd2631b966ca18c5c983f96008250d685911a1fb
--- /dev/null
+++ b/bridge_data_v2_test/15350/lang.txt
@@ -0,0 +1,2 @@
+put the red cylinder in the blue block
+confidence: 0.8
diff --git a/bridge_data_v2_test/15494/lang.txt b/bridge_data_v2_test/15494/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e2eba2eb27b02def2fcac1f59d34d0d207b7c48f
--- /dev/null
+++ b/bridge_data_v2_test/15494/lang.txt
@@ -0,0 +1,2 @@
+remove the triangle from the tower and put it on the left side of the table
+confidence: 1
diff --git a/bridge_data_v2_test/15799/lang.txt b/bridge_data_v2_test/15799/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..2a62f8b560954e0de978ec4b436fe96c46249715
--- /dev/null
+++ b/bridge_data_v2_test/15799/lang.txt
@@ -0,0 +1,2 @@
+open the drawer
+confidence: 0.4
diff --git a/bridge_data_v2_test/1632/lang.txt b/bridge_data_v2_test/1632/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f404de38839b56d3b635becdf0e6921f6efe9a41
--- /dev/null
+++ b/bridge_data_v2_test/1632/lang.txt
@@ -0,0 +1,2 @@
+fold the cloth from left to right
+confidence: 0.6
diff --git a/bridge_data_v2_test/16569/lang.txt b/bridge_data_v2_test/16569/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..b109a47cd226b5c6b4178ba49c763dc491091bad
--- /dev/null
+++ b/bridge_data_v2_test/16569/lang.txt
@@ -0,0 +1,2 @@
+pick the green thing and put it on the right bottom burner
+confidence: 1
diff --git a/bridge_data_v2_test/16956/lang.txt b/bridge_data_v2_test/16956/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c565385408a27ec8293de4bb104bb618c9d7977b
--- /dev/null
+++ b/bridge_data_v2_test/16956/lang.txt
@@ -0,0 +1,2 @@
+move the silver pot to the top right stove
+confidence: 1
diff --git a/bridge_data_v2_test/17172/lang.txt b/bridge_data_v2_test/17172/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..78e01ccf2f4360da137790acf9cf56e45bb0c931
--- /dev/null
+++ b/bridge_data_v2_test/17172/lang.txt
@@ -0,0 +1,2 @@
+move the blue fork to the bottom right of the stove
+confidence: 1
diff --git a/bridge_data_v2_test/17886/lang.txt b/bridge_data_v2_test/17886/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..925ea66e4d2ecf11e8aaef7a70bd2214db992d29
--- /dev/null
+++ b/bridge_data_v2_test/17886/lang.txt
@@ -0,0 +1,2 @@
+put the cylinder from the top of blue cube, to the top of other cylinder
+confidence: 0.8
diff --git a/bridge_data_v2_test/17941/lang.txt b/bridge_data_v2_test/17941/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..cedbfcff4eabf3db48205db17b4b23901a8c4aa7
--- /dev/null
+++ b/bridge_data_v2_test/17941/lang.txt
@@ -0,0 +1,2 @@
+remove the green cube on top of the yellow cuboid and put it on top of the blue cube
+confidence: 0.6
diff --git a/bridge_data_v2_test/17991/lang.txt b/bridge_data_v2_test/17991/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..4b6c2771c45913bc0f10ef4c603ed0373e0f60ad
--- /dev/null
+++ b/bridge_data_v2_test/17991/lang.txt
@@ -0,0 +1,2 @@
+pick rectangle block from the tower and place it on top of two cube
+confidence: 0.8
diff --git a/bridge_data_v2_test/18035/lang.txt b/bridge_data_v2_test/18035/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f4f918137fe2789c48b01853edebe363726898fc
--- /dev/null
+++ b/bridge_data_v2_test/18035/lang.txt
@@ -0,0 +1,2 @@
+put the green cube on top of the tower
+confidence: 0.2
diff --git a/bridge_data_v2_test/18269/lang.txt b/bridge_data_v2_test/18269/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c14d3658a52c57d7bc6efae7caf5d1697c2ff48f
--- /dev/null
+++ b/bridge_data_v2_test/18269/lang.txt
@@ -0,0 +1 @@
+sweep into pile
diff --git a/bridge_data_v2_test/18295/lang.txt b/bridge_data_v2_test/18295/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c14d3658a52c57d7bc6efae7caf5d1697c2ff48f
--- /dev/null
+++ b/bridge_data_v2_test/18295/lang.txt
@@ -0,0 +1 @@
+sweep into pile
diff --git a/bridge_data_v2_test/2355/lang.txt b/bridge_data_v2_test/2355/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..8761ab5ad5383374b99774229b1b8f84df2fbc85
--- /dev/null
+++ b/bridge_data_v2_test/2355/lang.txt
@@ -0,0 +1,2 @@
+unfold the cloth from bottom to top
+confidence: 0.8
diff --git a/bridge_data_v2_test/2698/lang.txt b/bridge_data_v2_test/2698/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..4cb06b7985333539adade36574e6e1009bd949bc
--- /dev/null
+++ b/bridge_data_v2_test/2698/lang.txt
@@ -0,0 +1,2 @@
+put the blue figure on the right of the cloth
+confidence: 0.4
diff --git a/bridge_data_v2_test/2818/lang.txt b/bridge_data_v2_test/2818/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..649c66befd6eec66cfc12ac42587995008f2a543
--- /dev/null
+++ b/bridge_data_v2_test/2818/lang.txt
@@ -0,0 +1,2 @@
+unfold the cloth from bottom left to top right
+confidence: 1
diff --git a/bridge_data_v2_test/3013/lang.txt b/bridge_data_v2_test/3013/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..888978ca085d31b55dbc3c8f2fa279cbb0b6836c
--- /dev/null
+++ b/bridge_data_v2_test/3013/lang.txt
@@ -0,0 +1,2 @@
+unfold the cloth from top right to bottom left
+confidence: 0.2
diff --git a/bridge_data_v2_test/3295/lang.txt b/bridge_data_v2_test/3295/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c14d3658a52c57d7bc6efae7caf5d1697c2ff48f
--- /dev/null
+++ b/bridge_data_v2_test/3295/lang.txt
@@ -0,0 +1 @@
+sweep into pile
diff --git a/bridge_data_v2_test/3326/lang.txt b/bridge_data_v2_test/3326/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c14d3658a52c57d7bc6efae7caf5d1697c2ff48f
--- /dev/null
+++ b/bridge_data_v2_test/3326/lang.txt
@@ -0,0 +1 @@
+sweep into pile
diff --git a/bridge_data_v2_test/3357/lang.txt b/bridge_data_v2_test/3357/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c14d3658a52c57d7bc6efae7caf5d1697c2ff48f
--- /dev/null
+++ b/bridge_data_v2_test/3357/lang.txt
@@ -0,0 +1 @@
+sweep into pile
diff --git a/bridge_data_v2_test/3528/lang.txt b/bridge_data_v2_test/3528/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c14d3658a52c57d7bc6efae7caf5d1697c2ff48f
--- /dev/null
+++ b/bridge_data_v2_test/3528/lang.txt
@@ -0,0 +1 @@
+sweep into pile
diff --git a/bridge_data_v2_test/364/lang.txt b/bridge_data_v2_test/364/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..3cabf0ff1dc2b0ace1fea6b491cacbaff15723ae
--- /dev/null
+++ b/bridge_data_v2_test/364/lang.txt
@@ -0,0 +1,2 @@
+put the silver pot on the left side of the purple cloth.
+confidence: 0.6
diff --git a/bridge_data_v2_test/3656/lang.txt b/bridge_data_v2_test/3656/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c14d3658a52c57d7bc6efae7caf5d1697c2ff48f
--- /dev/null
+++ b/bridge_data_v2_test/3656/lang.txt
@@ -0,0 +1 @@
+sweep into pile
diff --git a/bridge_data_v2_test/3730/lang.txt b/bridge_data_v2_test/3730/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c14d3658a52c57d7bc6efae7caf5d1697c2ff48f
--- /dev/null
+++ b/bridge_data_v2_test/3730/lang.txt
@@ -0,0 +1 @@
+sweep into pile
diff --git a/bridge_data_v2_test/3792/lang.txt b/bridge_data_v2_test/3792/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c14d3658a52c57d7bc6efae7caf5d1697c2ff48f
--- /dev/null
+++ b/bridge_data_v2_test/3792/lang.txt
@@ -0,0 +1 @@
+sweep into pile
diff --git a/bridge_data_v2_test/4497/lang.txt b/bridge_data_v2_test/4497/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..bb06435c0449220d885b0ae75da1ac8d959c081a
--- /dev/null
+++ b/bridge_data_v2_test/4497/lang.txt
@@ -0,0 +1,2 @@
+move the orange cloth to the right side of the floor
+confidence: 0.8
diff --git a/bridge_data_v2_test/4711/lang.txt b/bridge_data_v2_test/4711/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..4565063bea6e369465372b8ffc39e50faae6addf
--- /dev/null
+++ b/bridge_data_v2_test/4711/lang.txt
@@ -0,0 +1,2 @@
+unfold the cloth to top left of the table
+confidence: 1
diff --git a/bridge_data_v2_test/5650/lang.txt b/bridge_data_v2_test/5650/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..aaab31d2e6df12d12a7895ec44fb9d5c43ec7b1e
--- /dev/null
+++ b/bridge_data_v2_test/5650/lang.txt
@@ -0,0 +1,2 @@
+fold the cloth from top to bottom
+confidence: 1
diff --git a/bridge_data_v2_test/5884/lang.txt b/bridge_data_v2_test/5884/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..649c66befd6eec66cfc12ac42587995008f2a543
--- /dev/null
+++ b/bridge_data_v2_test/5884/lang.txt
@@ -0,0 +1,2 @@
+unfold the cloth from bottom left to top right
+confidence: 1
diff --git a/bridge_data_v2_test/5891/lang.txt b/bridge_data_v2_test/5891/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..3e59fbe62c4c3d1fc4024436d29293233d68ed63
--- /dev/null
+++ b/bridge_data_v2_test/5891/lang.txt
@@ -0,0 +1,2 @@
+unfold the cloth from bottom left to the top right 
+confidence: 1
diff --git a/bridge_data_v2_test/617/lang.txt b/bridge_data_v2_test/617/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..2c2d2a3836c323bbd995d0abf2fc2a3f71f71919
--- /dev/null
+++ b/bridge_data_v2_test/617/lang.txt
@@ -0,0 +1,2 @@
+move the corn to the left side of the stove
+confidence: 0.8
diff --git a/bridge_data_v2_test/634/lang.txt b/bridge_data_v2_test/634/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0a02b35325f865709eedde0a5d6f443b5ca36421
--- /dev/null
+++ b/bridge_data_v2_test/634/lang.txt
@@ -0,0 +1,2 @@
+move the blue thing to the bottom left of the stove
+confidence: 0.8
diff --git a/bridge_data_v2_test/6341/lang.txt b/bridge_data_v2_test/6341/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..5d000c346712dfd64c6ec26fc6fbfcc0561f2055
--- /dev/null
+++ b/bridge_data_v2_test/6341/lang.txt
@@ -0,0 +1,2 @@
+ unfold the cloth from to right to boutton
+confidence: 0.8
diff --git a/bridge_data_v2_test/6894/lang.txt b/bridge_data_v2_test/6894/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..dfb0e13ffe0a8f693114c2ed6cc596d5e89704ed
--- /dev/null
+++ b/bridge_data_v2_test/6894/lang.txt
@@ -0,0 +1,2 @@
+put the puppy doll in the drawer
+confidence: 0.4
diff --git a/bridge_data_v2_test/7427/lang.txt b/bridge_data_v2_test/7427/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..efbdd5a3999e151f67280cb250194199bac18295
--- /dev/null
+++ b/bridge_data_v2_test/7427/lang.txt
@@ -0,0 +1,2 @@
+move the red thing to the bottom right side of the table
+confidence: 0.8
diff --git a/bridge_data_v2_test/7853/lang.txt b/bridge_data_v2_test/7853/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..1800af450345fafa067b969b43d3e63eb5703dcb
--- /dev/null
+++ b/bridge_data_v2_test/7853/lang.txt
@@ -0,0 +1,2 @@
+put the blue object into the drawer
+confidence: 0.8
diff --git a/bridge_data_v2_test/9073/lang.txt b/bridge_data_v2_test/9073/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..d5bdc03c9a6fb62d07d8144068b578252d5dccb4
--- /dev/null
+++ b/bridge_data_v2_test/9073/lang.txt
@@ -0,0 +1,2 @@
+move the can to the bottom right side of the table
+confidence: 0.6
diff --git a/bridge_data_v2_test/9164/lang.txt b/bridge_data_v2_test/9164/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..efbcac36869e65f7227eba9bd0af356d76271840
--- /dev/null
+++ b/bridge_data_v2_test/9164/lang.txt
@@ -0,0 +1,2 @@
+Move the blue spatula and place in between the tin and the doll.
+confidence: 0.8
diff --git a/bridge_data_v2_test/9378/lang.txt b/bridge_data_v2_test/9378/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..eff896bb3c3e55cf5d9def1d30ba859bfe87b5df
--- /dev/null
+++ b/bridge_data_v2_test/9378/lang.txt
@@ -0,0 +1,2 @@
+Put the red object to the right side of the yellow spoon
+confidence: 0.4
diff --git a/bridge_data_v2_test/9513/lang.txt b/bridge_data_v2_test/9513/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..159db5ffd69f3cc357cc9fd0350a3551c5617442
--- /dev/null
+++ b/bridge_data_v2_test/9513/lang.txt
@@ -0,0 +1,2 @@
+take silver lid and place it top right
+confidence: 0.2
diff --git a/bridge_data_v2_test/9799/lang.txt b/bridge_data_v2_test/9799/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..449d0737642aa636ae33526a71f9473b92806ed0
--- /dev/null
+++ b/bridge_data_v2_test/9799/lang.txt
@@ -0,0 +1,2 @@
+move the silver pot to the left side of table
+confidence: 0.6