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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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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1c63261ec9bcc5b50221c9bd4c1e858a57c848a7a6defa75c135be32207cfada
+size 48965
diff --git a/bridge_data_v1/651/im_27.jpg b/bridge_data_v1/651/im_27.jpg
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+++ b/bridge_data_v1/651/im_27.jpg
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+version https://git-lfs.github.com/spec/v1
+oid sha256:4a899ebbed6fb7890516b060ca18954bab21835610e45091d50d444d7d6f396f
+size 49220
diff --git a/bridge_data_v1/651/im_28.jpg b/bridge_data_v1/651/im_28.jpg
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+++ b/bridge_data_v1/651/im_28.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7395d8bbcde9e744559ca57842cfb63906fc30d1121ba05512e96c6543f5808f
+size 49692
diff --git a/bridge_data_v1/651/im_3.jpg b/bridge_data_v1/651/im_3.jpg
new file mode 100644
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--- /dev/null
+++ b/bridge_data_v1/651/im_3.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7befa0138a2de270d2f672f328795cfbd8f701e32ee5471e5e16b2110ff9c24e
+size 48133
diff --git a/bridge_data_v1/651/im_4.jpg b/bridge_data_v1/651/im_4.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..ae2771ca82093045422bcaf05b83fa623a3e9083
--- /dev/null
+++ b/bridge_data_v1/651/im_4.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bc8ad5edc3e6f75f544378ea515f686ba34ff97e44177435f0cbb735046dbc81
+size 47572
diff --git a/bridge_data_v2_test/10109/lang.txt b/bridge_data_v2_test/10109/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..79537386137c5d2bb00e84b9604e9df8d38eba12
--- /dev/null
+++ b/bridge_data_v2_test/10109/lang.txt
@@ -0,0 +1,2 @@
+Move the food can to the left of the pot cover
+confidence: 1
diff --git a/bridge_data_v2_test/10161/lang.txt b/bridge_data_v2_test/10161/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..3febc1fcebd3dd56ed3096d8a4057cf5c137b8ca
--- /dev/null
+++ b/bridge_data_v2_test/10161/lang.txt
@@ -0,0 +1,2 @@
+placing the green towel on the right side of the table
+confidence: 0.8
diff --git a/bridge_data_v2_test/10378/lang.txt b/bridge_data_v2_test/10378/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..ebdfcf1866ab5c03e2c57b622a245226784f917f
--- /dev/null
+++ b/bridge_data_v2_test/10378/lang.txt
@@ -0,0 +1,2 @@
+close the pot and place on the upper left side of the table
+confidence: 0.2
diff --git a/bridge_data_v2_test/10415/lang.txt b/bridge_data_v2_test/10415/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..59457f69515a40ac4f3d2bbac2fd91d861dcd3cc
--- /dev/null
+++ b/bridge_data_v2_test/10415/lang.txt
@@ -0,0 +1,2 @@
+put the duck out of stove and move it on the table
+confidence: 0.6
diff --git a/bridge_data_v2_test/10631/lang.txt b/bridge_data_v2_test/10631/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..dc0f6e095015d99602a0af03baaaaeb07933288c
--- /dev/null
+++ b/bridge_data_v2_test/10631/lang.txt
@@ -0,0 +1,2 @@
+opened the pot lid and placed it on the right side of the pot
+confidence: 0.8
diff --git a/bridge_data_v2_test/10798/lang.txt b/bridge_data_v2_test/10798/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..81a0dec8a34c41ebb5285e68a37dffa14d06396c
--- /dev/null
+++ b/bridge_data_v2_test/10798/lang.txt
@@ -0,0 +1,2 @@
+put the cup on  top of the tower 
+confidence: 0.2
diff --git a/bridge_data_v2_test/10845/lang.txt b/bridge_data_v2_test/10845/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..82bbd85245cfd3df527af15cea4e1cf983a1b21c
--- /dev/null
+++ b/bridge_data_v2_test/10845/lang.txt
@@ -0,0 +1,2 @@
+place the block with the hole on top of the block
+confidence: 1
diff --git a/bridge_data_v2_test/11246/lang.txt b/bridge_data_v2_test/11246/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..7dc3a8abffb730762e935548c4150380cd7bd79d
--- /dev/null
+++ b/bridge_data_v2_test/11246/lang.txt
@@ -0,0 +1,2 @@
+move the blue object on the lower left side of the stove
+confidence: 0.4
diff --git a/bridge_data_v2_test/11375/lang.txt b/bridge_data_v2_test/11375/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f1dda877e7a28635bead4dfdd4beac000c655c68
--- /dev/null
+++ b/bridge_data_v2_test/11375/lang.txt
@@ -0,0 +1,2 @@
+moved the pot from the left of the cooker to the right top of the cooker
+confidence: 0.4
diff --git a/bridge_data_v2_test/11450/lang.txt b/bridge_data_v2_test/11450/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..42ea51bf4a1155486d92c862881119f8abe84b8d
--- /dev/null
+++ b/bridge_data_v2_test/11450/lang.txt
@@ -0,0 +1,2 @@
+El brazo robótico tomó el objeto naranja y en el lado derecho de la estufa  
+confidence: 0.8
diff --git a/bridge_data_v2_test/11509/lang.txt b/bridge_data_v2_test/11509/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..95b470134d5417750f6839a9f16d5b0fbf1cd569
--- /dev/null
+++ b/bridge_data_v2_test/11509/lang.txt
@@ -0,0 +1,2 @@
+move the blue ladle to the right burner
+confidence: 1
diff --git a/bridge_data_v2_test/11744/lang.txt b/bridge_data_v2_test/11744/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c3678b3fb569bb83edac3a0eadd679bfa0ca56fc
--- /dev/null
+++ b/bridge_data_v2_test/11744/lang.txt
@@ -0,0 +1,2 @@
+picked up orange object and moved it to the bottom left burner
+confidence: 0.6
diff --git a/bridge_data_v2_test/11890/lang.txt b/bridge_data_v2_test/11890/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..54332eea5b426b51c2a55cd6fec8194ea58013b3
--- /dev/null
+++ b/bridge_data_v2_test/11890/lang.txt
@@ -0,0 +1,2 @@
+move the red arch to the right
+confidence: 1
diff --git a/bridge_data_v2_test/11913/lang.txt b/bridge_data_v2_test/11913/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9f0bbbe9948c4064d7e51720c21b86527f99187f
--- /dev/null
+++ b/bridge_data_v2_test/11913/lang.txt
@@ -0,0 +1,2 @@
+remove the top to the left of the table
+confidence: 0.8
diff --git a/bridge_data_v2_test/12638/lang.txt b/bridge_data_v2_test/12638/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a331110eb56cb9996d9756ec5c76849e8e1bb85e
--- /dev/null
+++ b/bridge_data_v2_test/12638/lang.txt
@@ -0,0 +1,2 @@
+move the pink toy to the bottom side of the table
+confidence: 0.4
diff --git a/bridge_data_v2_test/13396/lang.txt b/bridge_data_v2_test/13396/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c14d3658a52c57d7bc6efae7caf5d1697c2ff48f
--- /dev/null
+++ b/bridge_data_v2_test/13396/lang.txt
@@ -0,0 +1 @@
+sweep into pile
diff --git a/bridge_data_v2_test/13879/lang.txt b/bridge_data_v2_test/13879/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..03f131b43b260bc6d7f145fd81b3c9922765ebc7
--- /dev/null
+++ b/bridge_data_v2_test/13879/lang.txt
@@ -0,0 +1,2 @@
+move the object to the middle left of the table
+confidence: 0.8
diff --git a/bridge_data_v2_test/14021/lang.txt b/bridge_data_v2_test/14021/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..2327949627852bd8b1574f39e91103c4aed72114
--- /dev/null
+++ b/bridge_data_v2_test/14021/lang.txt
@@ -0,0 +1,2 @@
+MOVED THE CAN TO THE LEFT SIDE OF THE SILVER POT AND LID
+confidence: 1
diff --git a/bridge_data_v2_test/14190/lang.txt b/bridge_data_v2_test/14190/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..035dce435a9505163e9d8705e3ec755baf9953cf
--- /dev/null
+++ b/bridge_data_v2_test/14190/lang.txt
@@ -0,0 +1,2 @@
+move the blue cloth the rigth top of the table
+confidence: 0.6
diff --git a/bridge_data_v2_test/14644/lang.txt b/bridge_data_v2_test/14644/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..63d36e2075ae001ad87dabb6839c1406f1fc324a
--- /dev/null
+++ b/bridge_data_v2_test/14644/lang.txt
@@ -0,0 +1,2 @@
+move the square with a hole to the right
+confidence: 0.8
diff --git a/bridge_data_v2_test/14653/lang.txt b/bridge_data_v2_test/14653/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..70ac2922f5ecaa29e3d92184d33ce4d632407b4d
--- /dev/null
+++ b/bridge_data_v2_test/14653/lang.txt
@@ -0,0 +1,2 @@
+take the block off of the arch and put it to the right side of the table
+confidence: 1
diff --git a/bridge_data_v2_test/15179/lang.txt b/bridge_data_v2_test/15179/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..abca5d02c59651cf3cb55d4f150ff2c20e13a908
--- /dev/null
+++ b/bridge_data_v2_test/15179/lang.txt
@@ -0,0 +1,2 @@
+Put the rectangular block at the top of the arch
+confidence: 0.6
diff --git a/bridge_data_v2_test/15491/lang.txt b/bridge_data_v2_test/15491/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..8739b2fe2037f63c5a6df5e00395e9d133cfe119
--- /dev/null
+++ b/bridge_data_v2_test/15491/lang.txt
@@ -0,0 +1,2 @@
+take the yellow cube off of the red block and put it on the table
+confidence: 0.8
diff --git a/bridge_data_v2_test/15945/lang.txt b/bridge_data_v2_test/15945/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..77380eb2bb2a57fd04d87871d5612454b0e41440
--- /dev/null
+++ b/bridge_data_v2_test/15945/lang.txt
@@ -0,0 +1,2 @@
+close the drawer
+confidence: 1
diff --git a/bridge_data_v2_test/16153/lang.txt b/bridge_data_v2_test/16153/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f5effb4d768cf9cb50e3ad6388100f2e03b54d36
--- /dev/null
+++ b/bridge_data_v2_test/16153/lang.txt
@@ -0,0 +1,2 @@
+moving a mouse toy from the drawer to the upper right of the table
+confidence: 0.8
diff --git a/bridge_data_v2_test/16207/lang.txt b/bridge_data_v2_test/16207/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0924c84808024de0688a487c1141e45ba3b00190
--- /dev/null
+++ b/bridge_data_v2_test/16207/lang.txt
@@ -0,0 +1,2 @@
+pulled the drawer out
+confidence: 0.8
diff --git a/bridge_data_v2_test/16297/lang.txt b/bridge_data_v2_test/16297/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..7b1393adc657dca6553d043765b401c7c2856c95
--- /dev/null
+++ b/bridge_data_v2_test/16297/lang.txt
@@ -0,0 +1,2 @@
+moved the sushi to the right side of the table
+confidence: 1
diff --git a/bridge_data_v2_test/16397/lang.txt b/bridge_data_v2_test/16397/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..33f6f5e4ddbfc5e60cef8325b214e8b193ab9d98
--- /dev/null
+++ b/bridge_data_v2_test/16397/lang.txt
@@ -0,0 +1,2 @@
+take the tomato out of the drawer and put it in the table
+confidence: 1
diff --git a/bridge_data_v2_test/16483/lang.txt b/bridge_data_v2_test/16483/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..2d50ef1f2e9319537514bd97e479dfd9d2546ea1
--- /dev/null
+++ b/bridge_data_v2_test/16483/lang.txt
@@ -0,0 +1,2 @@
+ move the silver basket to the right burner
+confidence: 0.6
diff --git a/bridge_data_v2_test/1667/lang.txt b/bridge_data_v2_test/1667/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..eb81614d7cafd06681d8bebdddeec554f0465f55
--- /dev/null
+++ b/bridge_data_v2_test/1667/lang.txt
@@ -0,0 +1,2 @@
+no change in the image
+confidence: 0.6
diff --git a/bridge_data_v2_test/17342/lang.txt b/bridge_data_v2_test/17342/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..8ec064ef8f9b46b127e7e41abe2ca86d64bc3083
--- /dev/null
+++ b/bridge_data_v2_test/17342/lang.txt
@@ -0,0 +1,2 @@
+move the blue block on top of the uncolored cubes
+confidence: 0.6
diff --git a/bridge_data_v2_test/17474/lang.txt b/bridge_data_v2_test/17474/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..b3a8491e99824be16f2d8929f5e0edceaa76a51f
--- /dev/null
+++ b/bridge_data_v2_test/17474/lang.txt
@@ -0,0 +1,2 @@
+put the block on top of the cylinder
+confidence: 0.6
diff --git a/bridge_data_v2_test/17677/lang.txt b/bridge_data_v2_test/17677/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..7cbb720329e9b22616a69dcc0f9845ae17e3ddc3
--- /dev/null
+++ b/bridge_data_v2_test/17677/lang.txt
@@ -0,0 +1,2 @@
+moves the cone to the left side
+confidence: 0.6
diff --git a/bridge_data_v2_test/17715/lang.txt b/bridge_data_v2_test/17715/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..7da3877076f51be9d20dc3bcc580ee2408abf7c3
--- /dev/null
+++ b/bridge_data_v2_test/17715/lang.txt
@@ -0,0 +1,2 @@
+Remove blue rectangle from the tower and put on the block
+confidence: 0.8
diff --git a/bridge_data_v2_test/18014/lang.txt b/bridge_data_v2_test/18014/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..399bdf826d371eaf463b0110b60f0883a6fd167a
--- /dev/null
+++ b/bridge_data_v2_test/18014/lang.txt
@@ -0,0 +1,2 @@
+pick up the brown rectangle and put down on the center table
+confidence: 0.8
diff --git a/bridge_data_v2_test/18119/lang.txt b/bridge_data_v2_test/18119/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..289f2a841d6f22f7be502072d1d74e56a04a73bc
--- /dev/null
+++ b/bridge_data_v2_test/18119/lang.txt
@@ -0,0 +1,2 @@
+take the green cube off of the arch and put it on the cylinder
+confidence: 0.6
diff --git a/bridge_data_v2_test/18304/lang.txt b/bridge_data_v2_test/18304/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c14d3658a52c57d7bc6efae7caf5d1697c2ff48f
--- /dev/null
+++ b/bridge_data_v2_test/18304/lang.txt
@@ -0,0 +1 @@
+sweep into pile
diff --git a/bridge_data_v2_test/2349/lang.txt b/bridge_data_v2_test/2349/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..5295bbbb67fde9e753c1882a5b5f36c981e47a14
--- /dev/null
+++ b/bridge_data_v2_test/2349/lang.txt
@@ -0,0 +1,2 @@
+fold the cloth for top right to bottom left
+confidence: 1
diff --git a/bridge_data_v2_test/2397/lang.txt b/bridge_data_v2_test/2397/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f820fcf2458dedd4f577172cba886bac9c4def60
--- /dev/null
+++ b/bridge_data_v2_test/2397/lang.txt
@@ -0,0 +1,2 @@
+fold the cloth from right to left
+confidence: 0.8
diff --git a/bridge_data_v2_test/2610/lang.txt b/bridge_data_v2_test/2610/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..b3e1df5c09d601611712f9782167cb188b9b0cd8
--- /dev/null
+++ b/bridge_data_v2_test/2610/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/3053/lang.txt b/bridge_data_v2_test/3053/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..bc04295e7903f1001969af72b762621defd7f905
--- /dev/null
+++ b/bridge_data_v2_test/3053/lang.txt
@@ -0,0 +1,2 @@
+move the red object to the bottom left of the cloth
+confidence: 1
diff --git a/bridge_data_v2_test/321/lang.txt b/bridge_data_v2_test/321/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..8a7fb4152ac041303c769f935845b6589c35612d
--- /dev/null
+++ b/bridge_data_v2_test/321/lang.txt
@@ -0,0 +1,2 @@
+put the yellow object on top of the brown cloth on the right top corner of stove
+confidence: 0.2
diff --git a/bridge_data_v2_test/3239/lang.txt b/bridge_data_v2_test/3239/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..36274713501ad0e08838cb635bac7802953c755a
--- /dev/null
+++ b/bridge_data_v2_test/3239/lang.txt
@@ -0,0 +1,2 @@
+close the drawer
+confidence: 0.2
diff --git a/bridge_data_v2_test/3547/lang.txt b/bridge_data_v2_test/3547/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c14d3658a52c57d7bc6efae7caf5d1697c2ff48f
--- /dev/null
+++ b/bridge_data_v2_test/3547/lang.txt
@@ -0,0 +1 @@
+sweep into pile
diff --git a/bridge_data_v2_test/4177/lang.txt b/bridge_data_v2_test/4177/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..11cce8a416904da97b4e9aa0835df189a6a89b2b
--- /dev/null
+++ b/bridge_data_v2_test/4177/lang.txt
@@ -0,0 +1,2 @@
+put the green cloth in the washing machine 
+confidence: 0.4
diff --git a/bridge_data_v2_test/4206/lang.txt b/bridge_data_v2_test/4206/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..2b7544d0f217a7df06e0eea81a220bd39423a7ac
--- /dev/null
+++ b/bridge_data_v2_test/4206/lang.txt
@@ -0,0 +1,2 @@
+move the towel from the wooden table and it in the washing machine
+confidence: 1
diff --git a/bridge_data_v2_test/46/lang.txt b/bridge_data_v2_test/46/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..4449722f959bb664d9b64532bd6649090a58a14f
--- /dev/null
+++ b/bridge_data_v2_test/46/lang.txt
@@ -0,0 +1,2 @@
+move the red fork to the top right burner
+confidence: 1
diff --git a/bridge_data_v2_test/468/lang.txt b/bridge_data_v2_test/468/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..bc56395f1fdd98438b92f3b77507b9cd0a416d92
--- /dev/null
+++ b/bridge_data_v2_test/468/lang.txt
@@ -0,0 +1,2 @@
+robot is closed in object
+confidence: 0.6
diff --git a/bridge_data_v2_test/469/lang.txt b/bridge_data_v2_test/469/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..3ef7364a2af5f4bb97f276dc7059a5b49b195c91
--- /dev/null
+++ b/bridge_data_v2_test/469/lang.txt
@@ -0,0 +1,2 @@
+put the yellow knife on top of the yellow cloth
+confidence: 0.6
diff --git a/bridge_data_v2_test/4712/lang.txt b/bridge_data_v2_test/4712/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..6767ddb0c3df3c8a485bc22339062f8347c19010
--- /dev/null
+++ b/bridge_data_v2_test/4712/lang.txt
@@ -0,0 +1,2 @@
+fold the cloth from top right to left
+confidence: 0.8
diff --git a/bridge_data_v2_test/4801/lang.txt b/bridge_data_v2_test/4801/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..81ab09c9faf6a889c577ab4ed33ed5fb3aeb4ab0
--- /dev/null
+++ b/bridge_data_v2_test/4801/lang.txt
@@ -0,0 +1,2 @@
+Unfold the cloth from right to left
+confidence: 0.6
diff --git a/bridge_data_v2_test/4845/lang.txt b/bridge_data_v2_test/4845/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..14112256d2f677dcc82d19d221484c3d01013d0a
--- /dev/null
+++ b/bridge_data_v2_test/4845/lang.txt
@@ -0,0 +1,2 @@
+unfold the cloth from right to left
+confidence: 1
diff --git a/bridge_data_v2_test/492/lang.txt b/bridge_data_v2_test/492/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..8bf0322610b3da70dfad68a9fc28fb265ec36135
--- /dev/null
+++ b/bridge_data_v2_test/492/lang.txt
@@ -0,0 +1,2 @@
+move the red cloth to the upper right side of the stove
+confidence: 0.8
diff --git a/bridge_data_v2_test/5268/lang.txt b/bridge_data_v2_test/5268/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..4b88492ba92887f40d9b67c16d41f0a891023ad1
--- /dev/null
+++ b/bridge_data_v2_test/5268/lang.txt
@@ -0,0 +1,2 @@
+fold the cloth from the top left to the bottom right 
+confidence: 0.6
diff --git a/bridge_data_v2_test/5306/lang.txt b/bridge_data_v2_test/5306/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f279c69c19e5b6c292a0af696fc480064903a509
--- /dev/null
+++ b/bridge_data_v2_test/5306/lang.txt
@@ -0,0 +1,2 @@
+Move cloth to the left side of table
+confidence: 0.6
diff --git a/bridge_data_v2_test/5467/lang.txt b/bridge_data_v2_test/5467/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..8c8812d6eb203ebe28abf43ccee25962309452bc
--- /dev/null
+++ b/bridge_data_v2_test/5467/lang.txt
@@ -0,0 +1,2 @@
+fold the cloth from bottom right to top left 
+confidence: 1
diff --git a/bridge_data_v2_test/5568/lang.txt b/bridge_data_v2_test/5568/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a7f1ad30929854abcca8cc1135114c18fa1d216c
--- /dev/null
+++ b/bridge_data_v2_test/5568/lang.txt
@@ -0,0 +1,2 @@
+unfold the cloth from left to right
+confidence: 0.6
diff --git a/bridge_data_v2_test/5894/lang.txt b/bridge_data_v2_test/5894/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..977dbf678abacbe397d70567ded0b8691fdfecca
--- /dev/null
+++ b/bridge_data_v2_test/5894/lang.txt
@@ -0,0 +1,2 @@
+Fold the cloth from bottom left to top right
+confidence: 0.8
diff --git a/bridge_data_v2_test/6427/lang.txt b/bridge_data_v2_test/6427/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c2fde0318b6d6567655a5ca07fbaef75c3a20668
--- /dev/null
+++ b/bridge_data_v2_test/6427/lang.txt
@@ -0,0 +1,2 @@
+Move the cloth from the top left side of the table to the centre
+confidence: 1
diff --git a/bridge_data_v2_test/658/lang.txt b/bridge_data_v2_test/658/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e8828f5898c34824d8b864386b153908aeb10328
--- /dev/null
+++ b/bridge_data_v2_test/658/lang.txt
@@ -0,0 +1,2 @@
+move the silver pot to the top left of the stove
+confidence: 0.8
diff --git a/bridge_data_v2_test/66/lang.txt b/bridge_data_v2_test/66/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..615bfb64508a8fdab5a4f5785119e8e2d59e6af7
--- /dev/null
+++ b/bridge_data_v2_test/66/lang.txt
@@ -0,0 +1,2 @@
+move the sushi to the top right burner
+confidence: 1
diff --git a/bridge_data_v2_test/669/lang.txt b/bridge_data_v2_test/669/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..4789b846fd219722272375d9fe2e300b1f844c32
--- /dev/null
+++ b/bridge_data_v2_test/669/lang.txt
@@ -0,0 +1,2 @@
+move the silver pot to the top right top of the burner
+confidence: 0.6
diff --git a/bridge_data_v2_test/7008/lang.txt b/bridge_data_v2_test/7008/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..85789457010d99d57f47454c6a0ad67d07ba51ba
--- /dev/null
+++ b/bridge_data_v2_test/7008/lang.txt
@@ -0,0 +1,4 @@
+take the Cauliflower and put on middle of table
+
+
+confidence: 0.4
diff --git a/bridge_data_v2_test/718/lang.txt b/bridge_data_v2_test/718/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..4dc492db306278f02d4edee5e346ce51a90abbd6
--- /dev/null
+++ b/bridge_data_v2_test/718/lang.txt
@@ -0,0 +1,2 @@
+move the blue spoon to the bottom right side of the stove
+confidence: 0.8
diff --git a/bridge_data_v2_test/7385/lang.txt b/bridge_data_v2_test/7385/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..d293fa5c2ff4c5e61fab5f6fc22659bb1ac6b322
--- /dev/null
+++ b/bridge_data_v2_test/7385/lang.txt
@@ -0,0 +1,2 @@
+put the yellow duck in the drawer
+confidence: 0.6
diff --git a/bridge_data_v2_test/7549/lang.txt b/bridge_data_v2_test/7549/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..8aa340d63857c01ec42d5ebe69b8867b308f92ae
--- /dev/null
+++ b/bridge_data_v2_test/7549/lang.txt
@@ -0,0 +1,2 @@
+pick up the yellow banana and place it on top of the drawer
+confidence: 1
diff --git a/bridge_data_v2_test/7561/lang.txt b/bridge_data_v2_test/7561/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..77380eb2bb2a57fd04d87871d5612454b0e41440
--- /dev/null
+++ b/bridge_data_v2_test/7561/lang.txt
@@ -0,0 +1,2 @@
+close the drawer
+confidence: 1
diff --git a/bridge_data_v2_test/8098/lang.txt b/bridge_data_v2_test/8098/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..3888a0af600866e087239d28f722f09a49989063
--- /dev/null
+++ b/bridge_data_v2_test/8098/lang.txt
@@ -0,0 +1,2 @@
+ufgdh
+confidence: 0.2
diff --git a/bridge_data_v2_test/8263/lang.txt b/bridge_data_v2_test/8263/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..cdc7b0f02f87cf7eb4cde160ae566bb876936db2
--- /dev/null
+++ b/bridge_data_v2_test/8263/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/8283/lang.txt b/bridge_data_v2_test/8283/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a1b57f291572a51b8747f1376f147ed6bae5725a
--- /dev/null
+++ b/bridge_data_v2_test/8283/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/832/lang.txt b/bridge_data_v2_test/832/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..cf0fd2852f079a94a54a11fbb81ea1b5136d4904
--- /dev/null
+++ b/bridge_data_v2_test/832/lang.txt
@@ -0,0 +1,2 @@
+move the silver pot to the top right side of the stove
+confidence: 0.8
diff --git a/bridge_data_v2_test/9067/lang.txt b/bridge_data_v2_test/9067/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..5d37eda8b4813382c884032873f57dd80dec9226
--- /dev/null
+++ b/bridge_data_v2_test/9067/lang.txt
@@ -0,0 +1,2 @@
+move the silver lid behind the box
+confidence: 0.6
diff --git a/bridge_data_v2_test/9232/lang.txt b/bridge_data_v2_test/9232/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..067212e3fa0817c20bdaf848b96c59b8138f343a
--- /dev/null
+++ b/bridge_data_v2_test/9232/lang.txt
@@ -0,0 +1,2 @@
+move the lid of the silver pot to the front of the microwave oven
+confidence: 0.8
diff --git a/bridge_data_v2_test/9293/lang.txt b/bridge_data_v2_test/9293/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..31ab9c3f03b5048f36806270d0fccb38ad84ca55
--- /dev/null
+++ b/bridge_data_v2_test/9293/lang.txt
@@ -0,0 +1,2 @@
+moved the silver pot to the bottom left side of the table
+confidence: 0.8
diff --git a/bridge_data_v2_test/9664/lang.txt b/bridge_data_v2_test/9664/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..7d97b80f959b244c8a360edfeadb42e8c23ab234
--- /dev/null
+++ b/bridge_data_v2_test/9664/lang.txt
@@ -0,0 +1,2 @@
+move the can beside the orange towel
+confidence: 1