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diff --git a/bridge_data_v1/684/im_9.jpg b/bridge_data_v1/684/im_9.jpg
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diff --git a/bridge_data_v2_test/10000/lang.txt b/bridge_data_v2_test/10000/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..fb5cf30534fb42c930ad6b8d2ad62d7145f7c45a
--- /dev/null
+++ b/bridge_data_v2_test/10000/lang.txt
@@ -0,0 +1,2 @@
+move the object beside the cover 
+confidence: 0.2
diff --git a/bridge_data_v2_test/10055/lang.txt b/bridge_data_v2_test/10055/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..8320e212ac1fca4bd3670622295902013b3ad0a1
--- /dev/null
+++ b/bridge_data_v2_test/10055/lang.txt
@@ -0,0 +1,2 @@
+move the yellow brush to the bottom right of the table
+confidence: 0.6
diff --git a/bridge_data_v2_test/10099/lang.txt b/bridge_data_v2_test/10099/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..93497ba41d280ac7de06eaed451691f231fe36b8
--- /dev/null
+++ b/bridge_data_v2_test/10099/lang.txt
@@ -0,0 +1,2 @@
+push the purple fabric next to the spoon
+confidence: 0.4
diff --git a/bridge_data_v2_test/10144/lang.txt b/bridge_data_v2_test/10144/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..3fd06e811bda7670a84ec31af62e95ed694488c8
--- /dev/null
+++ b/bridge_data_v2_test/10144/lang.txt
@@ -0,0 +1,2 @@
+move the silver lid to the right of the can
+confidence: 1
diff --git a/bridge_data_v2_test/10216/lang.txt b/bridge_data_v2_test/10216/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..7fab69bdf77da96d23e68c51510035ac78ff4994
--- /dev/null
+++ b/bridge_data_v2_test/10216/lang.txt
@@ -0,0 +1,2 @@
+Moved the can to the bottom of the table
+confidence: 0.6
diff --git a/bridge_data_v2_test/10416/lang.txt b/bridge_data_v2_test/10416/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..6440e12c34262d69b426af9edef60beb95c610e0
--- /dev/null
+++ b/bridge_data_v2_test/10416/lang.txt
@@ -0,0 +1,2 @@
+move the silver pot to the upper right of table
+confidence: 0.6
diff --git a/bridge_data_v2_test/10636/lang.txt b/bridge_data_v2_test/10636/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..d62e4c04319cc89473183896eb5a688392662325
--- /dev/null
+++ b/bridge_data_v2_test/10636/lang.txt
@@ -0,0 +1,2 @@
+moved the silver lid to the upper middle of the table
+confidence: 1
diff --git a/bridge_data_v2_test/1067/lang.txt b/bridge_data_v2_test/1067/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..bf3041e336d5fd5eef3598f04477c11ed7775f20
--- /dev/null
+++ b/bridge_data_v2_test/1067/lang.txt
@@ -0,0 +1,2 @@
+move the yellow clothes to between the burners
+confidence: 0.8
diff --git a/bridge_data_v2_test/10677/lang.txt b/bridge_data_v2_test/10677/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..d644a4f845d68985cdc702b29c0ef312d13d84f3
--- /dev/null
+++ b/bridge_data_v2_test/10677/lang.txt
@@ -0,0 +1,2 @@
+move the yellow triangle to the right side top of  block
+confidence: 0.8
diff --git a/bridge_data_v2_test/10687/lang.txt b/bridge_data_v2_test/10687/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..298d7f8fb0514fdf8a6cc011b1fc41086e719061
--- /dev/null
+++ b/bridge_data_v2_test/10687/lang.txt
@@ -0,0 +1,2 @@
+put the yellow block on top of another block
+confidence: 0.6
diff --git a/bridge_data_v2_test/10841/lang.txt b/bridge_data_v2_test/10841/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..1a9bbc738ef0e83c36ff88c5111a9a18277b3238
--- /dev/null
+++ b/bridge_data_v2_test/10841/lang.txt
@@ -0,0 +1,2 @@
+Move the blue rectangular block to the center of the table
+confidence: 0.6
diff --git a/bridge_data_v2_test/10865/lang.txt b/bridge_data_v2_test/10865/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..8f18ed06058471d9863b2c52448823b446cb1fb9
--- /dev/null
+++ b/bridge_data_v2_test/10865/lang.txt
@@ -0,0 +1,2 @@
+move the cube to the right side of the square with hole
+confidence: 0.8
diff --git a/bridge_data_v2_test/11089/lang.txt b/bridge_data_v2_test/11089/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..48c7a01cf49505826817cafdd76633e9b21e6d5c
--- /dev/null
+++ b/bridge_data_v2_test/11089/lang.txt
@@ -0,0 +1,2 @@
+move the yellow cloth to the left corner of the stove
+confidence: 0.8
diff --git a/bridge_data_v2_test/11651/lang.txt b/bridge_data_v2_test/11651/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e767ace7df7dbfde7032e928c289be3f5e79cc2e
--- /dev/null
+++ b/bridge_data_v2_test/11651/lang.txt
@@ -0,0 +1,2 @@
+take the red spoon and placed it on the stove
+confidence: 0.6
diff --git a/bridge_data_v2_test/11925/lang.txt b/bridge_data_v2_test/11925/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..d26b7c22f563166149a5d169dab183351438df72
--- /dev/null
+++ b/bridge_data_v2_test/11925/lang.txt
@@ -0,0 +1,2 @@
+put the blue block on top of the cylinder
+confidence: 1.0
diff --git a/bridge_data_v2_test/12036/lang.txt b/bridge_data_v2_test/12036/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..193445bce2630631154ecc81dd6529cf572ee1fb
--- /dev/null
+++ b/bridge_data_v2_test/12036/lang.txt
@@ -0,0 +1,2 @@
+move the blue cube on top of yellow cube
+confidence: 0.8
diff --git a/bridge_data_v2_test/12163/lang.txt b/bridge_data_v2_test/12163/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..43ca6249c1575f64113ea88fe829161416678e8e
--- /dev/null
+++ b/bridge_data_v2_test/12163/lang.txt
@@ -0,0 +1,2 @@
+open the drawer
+confidence: 0.8
diff --git a/bridge_data_v2_test/12279/lang.txt b/bridge_data_v2_test/12279/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..169504b4b3878ed7691a10a73a18f5e9c60e377c
--- /dev/null
+++ b/bridge_data_v2_test/12279/lang.txt
@@ -0,0 +1,2 @@
+opened the drawer
+confidence: 0.6
diff --git a/bridge_data_v2_test/1232/lang.txt b/bridge_data_v2_test/1232/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..041d4fbca06c887bcddaeb52b2e6ece894f085cb
--- /dev/null
+++ b/bridge_data_v2_test/1232/lang.txt
@@ -0,0 +1,2 @@
+gjkblr
+confidence: 0.8
diff --git a/bridge_data_v2_test/12492/lang.txt b/bridge_data_v2_test/12492/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..52a5649babdc4c09279d5f95fd4757dcb629a8b4
--- /dev/null
+++ b/bridge_data_v2_test/12492/lang.txt
@@ -0,0 +1,2 @@
+put the red object in the drawer 
+confidence: 0.8
diff --git a/bridge_data_v2_test/12746/lang.txt b/bridge_data_v2_test/12746/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..dd246ab40cd9acdcbfec51e72628c3cd00583e8c
--- /dev/null
+++ b/bridge_data_v2_test/12746/lang.txt
@@ -0,0 +1,2 @@
+closed the drawer
+confidence: 0.6
diff --git a/bridge_data_v2_test/13089/lang.txt b/bridge_data_v2_test/13089/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a1e88e87bf66baa0a17a0710bee17317901547f3
--- /dev/null
+++ b/bridge_data_v2_test/13089/lang.txt
@@ -0,0 +1,2 @@
+move the gray toy to the upper side of the table
+confidence: 0.8
diff --git a/bridge_data_v2_test/1329/lang.txt b/bridge_data_v2_test/1329/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..8fb3dd297e090220d3f357bd442eda3ad975471d
--- /dev/null
+++ b/bridge_data_v2_test/1329/lang.txt
@@ -0,0 +1,2 @@
+unfold cloth from right to left
+confidence: 0.8
diff --git a/bridge_data_v2_test/13367/lang.txt b/bridge_data_v2_test/13367/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c14d3658a52c57d7bc6efae7caf5d1697c2ff48f
--- /dev/null
+++ b/bridge_data_v2_test/13367/lang.txt
@@ -0,0 +1 @@
+sweep into pile
diff --git a/bridge_data_v2_test/13458/lang.txt b/bridge_data_v2_test/13458/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..61e0a15014db364a5a23af94dc9187eeba3f00ce
--- /dev/null
+++ b/bridge_data_v2_test/13458/lang.txt
@@ -0,0 +1,2 @@
+move the thing below the microwave
+confidence: 0.6
diff --git a/bridge_data_v2_test/13576/lang.txt b/bridge_data_v2_test/13576/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..5e6d794e9d04b33158bf0d1263edbc15d11742d9
--- /dev/null
+++ b/bridge_data_v2_test/13576/lang.txt
@@ -0,0 +1,2 @@
+put the red object on the left bottom of the table
+confidence: 0.8
diff --git a/bridge_data_v2_test/1431/lang.txt b/bridge_data_v2_test/1431/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..19f9921c9c0d527fabc027fabaa2eb6cd03ddf27
--- /dev/null
+++ b/bridge_data_v2_test/1431/lang.txt
@@ -0,0 +1,2 @@
+fold the cloth from top to bottom
+confidence: 0.6
diff --git a/bridge_data_v2_test/14312/lang.txt b/bridge_data_v2_test/14312/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..bc8ca0addc2cbb64925b1124246dc6b63c3026d3
--- /dev/null
+++ b/bridge_data_v2_test/14312/lang.txt
@@ -0,0 +1,2 @@
+move the red object to the bottom right of the table
+confidence: 0.6
diff --git a/bridge_data_v2_test/14322/lang.txt b/bridge_data_v2_test/14322/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..d2bb82609459d247d22eeee284850ed43b600609
--- /dev/null
+++ b/bridge_data_v2_test/14322/lang.txt
@@ -0,0 +1,2 @@
+put the blue spoon in between the can and the red object
+confidence: 0.8
diff --git a/bridge_data_v2_test/14522/lang.txt b/bridge_data_v2_test/14522/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..cd713e96c0de1026c721a3d63cd8c4e491c03309
--- /dev/null
+++ b/bridge_data_v2_test/14522/lang.txt
@@ -0,0 +1,2 @@
+put the ball in cups
+confidence: 0.4
diff --git a/bridge_data_v2_test/14662/lang.txt b/bridge_data_v2_test/14662/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..d356e013f39db6ed0334d8d4fee41bb9329cf311
--- /dev/null
+++ b/bridge_data_v2_test/14662/lang.txt
@@ -0,0 +1,2 @@
+place the stick on top of the block
+confidence: 1
diff --git a/bridge_data_v2_test/14757/lang.txt b/bridge_data_v2_test/14757/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..4f17d549425392eb0b0629488ce3e5716a6b73d7
--- /dev/null
+++ b/bridge_data_v2_test/14757/lang.txt
@@ -0,0 +1,2 @@
+move the circular pyramid to the left
+confidence: 1
diff --git a/bridge_data_v2_test/15194/lang.txt b/bridge_data_v2_test/15194/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..aa58d14a8248a98108d492d594b1e8f63ff5972f
--- /dev/null
+++ b/bridge_data_v2_test/15194/lang.txt
@@ -0,0 +1,2 @@
+put the block on top of the arc
+confidence: 0.6
diff --git a/bridge_data_v2_test/15498/lang.txt b/bridge_data_v2_test/15498/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..2d16672aed59e19b6a7acc178651b9b7a1fa7e92
--- /dev/null
+++ b/bridge_data_v2_test/15498/lang.txt
@@ -0,0 +1,2 @@
+put the red block on the top of arc
+confidence: 1
diff --git a/bridge_data_v2_test/15505/lang.txt b/bridge_data_v2_test/15505/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..4f86e0a3ea708ef03588e25c61f6e0737684ab05
--- /dev/null
+++ b/bridge_data_v2_test/15505/lang.txt
@@ -0,0 +1,2 @@
+take off the red block from the tower and place it on top of the yellow cube
+confidence: 1
diff --git a/bridge_data_v2_test/15643/lang.txt b/bridge_data_v2_test/15643/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..3effdc0108cad44ff3209b793cc1de2f83cfab62
--- /dev/null
+++ b/bridge_data_v2_test/15643/lang.txt
@@ -0,0 +1,2 @@
+put the cheese bar  in the drawer 
+confidence: 1
diff --git a/bridge_data_v2_test/15741/lang.txt b/bridge_data_v2_test/15741/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..4fec3a9fd676d71613978a08cb64cee015143483
--- /dev/null
+++ b/bridge_data_v2_test/15741/lang.txt
@@ -0,0 +1,2 @@
+saca el maiz del cajon
+confidence: 0.6
diff --git a/bridge_data_v2_test/15993/lang.txt b/bridge_data_v2_test/15993/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..94448319e1126227fa160fce602e31d13a7ac854
--- /dev/null
+++ b/bridge_data_v2_test/15993/lang.txt
@@ -0,0 +1,3 @@
+take the thing out of the drawer and put it on the left side of the table
+
+confidence: 0.8
diff --git a/bridge_data_v2_test/16357/lang.txt b/bridge_data_v2_test/16357/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..43ca6249c1575f64113ea88fe829161416678e8e
--- /dev/null
+++ b/bridge_data_v2_test/16357/lang.txt
@@ -0,0 +1,2 @@
+open the drawer
+confidence: 0.8
diff --git a/bridge_data_v2_test/16376/lang.txt b/bridge_data_v2_test/16376/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..11206815d8b5b8859a29181e59cf9c6f47c9837a
--- /dev/null
+++ b/bridge_data_v2_test/16376/lang.txt
@@ -0,0 +1,2 @@
+put the green object on the bottom left of the table
+confidence: 0.8
diff --git a/bridge_data_v2_test/16489/lang.txt b/bridge_data_v2_test/16489/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..3c9a4a4eb8b34fece77403652dde97b4859a5778
--- /dev/null
+++ b/bridge_data_v2_test/16489/lang.txt
@@ -0,0 +1,2 @@
+move the yellow object to the lower left side of the table
+confidence: 0.4
diff --git a/bridge_data_v2_test/16546/lang.txt b/bridge_data_v2_test/16546/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..6eeabe45462341375cf5bbe71be49138edbf5013
--- /dev/null
+++ b/bridge_data_v2_test/16546/lang.txt
@@ -0,0 +1,3 @@
+
+take the pepper and leave it on the table
+confidence: 0.2
diff --git a/bridge_data_v2_test/16866/lang.txt b/bridge_data_v2_test/16866/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f6aab17a113c67ad00d6c224ee2ff1977b00a5f1
--- /dev/null
+++ b/bridge_data_v2_test/16866/lang.txt
@@ -0,0 +1,2 @@
+moved the silver pot to the top right banner
+confidence: 0.8
diff --git a/bridge_data_v2_test/17012/lang.txt b/bridge_data_v2_test/17012/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0cbf4cbf4e9e0b15dbed75bf9eb9d6600def9c9a
--- /dev/null
+++ b/bridge_data_v2_test/17012/lang.txt
@@ -0,0 +1,2 @@
+put the red fork to the upper right burner
+confidence: 0.6
diff --git a/bridge_data_v2_test/17185/lang.txt b/bridge_data_v2_test/17185/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e2aaa654f65d12c3868141813d4496385f5fc06f
--- /dev/null
+++ b/bridge_data_v2_test/17185/lang.txt
@@ -0,0 +1,2 @@
+move fork on top of the bottom right burner
+confidence: 0.8
diff --git a/bridge_data_v2_test/17254/lang.txt b/bridge_data_v2_test/17254/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..845b52a3fab9961eb57e84e7929621a05b8b508f
--- /dev/null
+++ b/bridge_data_v2_test/17254/lang.txt
@@ -0,0 +1 @@
+open microwave
diff --git a/bridge_data_v2_test/17352/lang.txt b/bridge_data_v2_test/17352/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..539c91dc51999f5d2918b7a89204cec742812438
--- /dev/null
+++ b/bridge_data_v2_test/17352/lang.txt
@@ -0,0 +1,3 @@
+putting the block in the hole
+
+confidence: 1
diff --git a/bridge_data_v2_test/18351/lang.txt b/bridge_data_v2_test/18351/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c14d3658a52c57d7bc6efae7caf5d1697c2ff48f
--- /dev/null
+++ b/bridge_data_v2_test/18351/lang.txt
@@ -0,0 +1 @@
+sweep into pile
diff --git a/bridge_data_v2_test/245/lang.txt b/bridge_data_v2_test/245/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a4dd45249b6c0010f8e7ff0d5ca6869560370825
--- /dev/null
+++ b/bridge_data_v2_test/245/lang.txt
@@ -0,0 +1,2 @@
+take the banana from the pot and put it between the left stoves
+confidence: 0.6
diff --git a/bridge_data_v2_test/2640/lang.txt b/bridge_data_v2_test/2640/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..b5a9276d9362554cc647f24172f0222390eb7c9d
--- /dev/null
+++ b/bridge_data_v2_test/2640/lang.txt
@@ -0,0 +1,2 @@
+take the white ball from the orange cloth
+confidence: 1
diff --git a/bridge_data_v2_test/2795/lang.txt b/bridge_data_v2_test/2795/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..2767ccf7aa3b9f00fb2f213d3fc7b66daa6dc5c6
--- /dev/null
+++ b/bridge_data_v2_test/2795/lang.txt
@@ -0,0 +1,2 @@
+fold the blue cloth on the table from bottom right to top left
+confidence: 1
diff --git a/bridge_data_v2_test/3035/lang.txt b/bridge_data_v2_test/3035/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..1a943227417c25365c39ac9a08915b17fbd95087
--- /dev/null
+++ b/bridge_data_v2_test/3035/lang.txt
@@ -0,0 +1,2 @@
+move the strawberry from top of yellow cloth to right of the table
+confidence: 1
diff --git a/bridge_data_v2_test/3490/lang.txt b/bridge_data_v2_test/3490/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c14d3658a52c57d7bc6efae7caf5d1697c2ff48f
--- /dev/null
+++ b/bridge_data_v2_test/3490/lang.txt
@@ -0,0 +1 @@
+sweep into pile
diff --git a/bridge_data_v2_test/382/lang.txt b/bridge_data_v2_test/382/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..6e71b5670ed648edf6accb3914ab7625d40009bd
--- /dev/null
+++ b/bridge_data_v2_test/382/lang.txt
@@ -0,0 +1,2 @@
+put the cheese to the top side of the right burner
+confidence: 0.6
diff --git a/bridge_data_v2_test/40/lang.txt b/bridge_data_v2_test/40/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..4de314abb75c0bc1e16a628e3a2ca9d0fe121a8f
--- /dev/null
+++ b/bridge_data_v2_test/40/lang.txt
@@ -0,0 +1,2 @@
+move the silver pot lid to the left bottom burner
+confidence: 1
diff --git a/bridge_data_v2_test/4757/lang.txt b/bridge_data_v2_test/4757/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..03b852bce61fdaa6e2c64aa862f523dff4872d26
--- /dev/null
+++ b/bridge_data_v2_test/4757/lang.txt
@@ -0,0 +1,2 @@
+fold a  cloth right
+confidence: 0.8
diff --git a/bridge_data_v2_test/5114/lang.txt b/bridge_data_v2_test/5114/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..1ea5b7aff114e456177dae3998c47c28141e624a
--- /dev/null
+++ b/bridge_data_v2_test/5114/lang.txt
@@ -0,0 +1,2 @@
+fold the cloth from bottom left to top right
+confidence: 1
diff --git a/bridge_data_v2_test/5344/lang.txt b/bridge_data_v2_test/5344/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c04877fed7040793d7648df3a6add3ec7eeea82d
--- /dev/null
+++ b/bridge_data_v2_test/5344/lang.txt
@@ -0,0 +1,2 @@
+fold the cloth from bottom left 
+confidence: 1
diff --git a/bridge_data_v2_test/5491/lang.txt b/bridge_data_v2_test/5491/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..3975a33384200397a5566411a20d7794bea7b455
--- /dev/null
+++ b/bridge_data_v2_test/5491/lang.txt
@@ -0,0 +1,2 @@
+unfold the cloth from top right to bottom left
+confidence: 1
diff --git a/bridge_data_v2_test/567/lang.txt b/bridge_data_v2_test/567/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..dce58a42f9da8109152a6b5f33b52194ce371b6e
--- /dev/null
+++ b/bridge_data_v2_test/567/lang.txt
@@ -0,0 +1,2 @@
+move the blue spoon to the right burner
+confidence: 0.8
diff --git a/bridge_data_v2_test/5778/lang.txt b/bridge_data_v2_test/5778/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..bb343f6e5b883eeefd8df25dab5269a94b77ecbb
--- /dev/null
+++ b/bridge_data_v2_test/5778/lang.txt
@@ -0,0 +1,2 @@
+pince le tissu haut à gauche vers le bas à droite
+confidence: 0.6
diff --git a/bridge_data_v2_test/5967/lang.txt b/bridge_data_v2_test/5967/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..29f7ee816b30f4a918bde5771b4dd2a511442737
--- /dev/null
+++ b/bridge_data_v2_test/5967/lang.txt
@@ -0,0 +1,2 @@
+folding the cloth from top to bottom
+confidence: 0.4
diff --git a/bridge_data_v2_test/6114/lang.txt b/bridge_data_v2_test/6114/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..ec9a8bcd259cfc669991edd2f376b4152259c6df
--- /dev/null
+++ b/bridge_data_v2_test/6114/lang.txt
@@ -0,0 +1,2 @@
+unfold the cloth from top right to bottom left
+confidence: 0.4
diff --git a/bridge_data_v2_test/6455/lang.txt b/bridge_data_v2_test/6455/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e750ecfebd68ce51c6876263277cc298573de094
--- /dev/null
+++ b/bridge_data_v2_test/6455/lang.txt
@@ -0,0 +1,2 @@
+put the white object on the top right corner of the cloth
+confidence: 0.8
diff --git a/bridge_data_v2_test/7552/lang.txt b/bridge_data_v2_test/7552/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9409d688b2cddda4d228f5011ad0d1788d4bfda6
--- /dev/null
+++ b/bridge_data_v2_test/7552/lang.txt
@@ -0,0 +1,2 @@
+move the bunny to the lower middle edge of the table
+confidence: 0.8
diff --git a/bridge_data_v2_test/7949/lang.txt b/bridge_data_v2_test/7949/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..b37ed00cd02c08b7466fee454433ebc1eee2a4b2
--- /dev/null
+++ b/bridge_data_v2_test/7949/lang.txt
@@ -0,0 +1,2 @@
+fold the cloth from bottom to top
+confidence: 0.8
diff --git a/bridge_data_v2_test/8081/lang.txt b/bridge_data_v2_test/8081/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..609fa8171eb5a4656b855724cb3721f7da9657c7
--- /dev/null
+++ b/bridge_data_v2_test/8081/lang.txt
@@ -0,0 +1,2 @@
+move the cloth to the left of the table
+confidence: 0.6
diff --git a/bridge_data_v2_test/8214/lang.txt b/bridge_data_v2_test/8214/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..3975a33384200397a5566411a20d7794bea7b455
--- /dev/null
+++ b/bridge_data_v2_test/8214/lang.txt
@@ -0,0 +1,2 @@
+unfold the cloth from top right to bottom left
+confidence: 1
diff --git a/bridge_data_v2_test/8286/lang.txt b/bridge_data_v2_test/8286/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..ade8d46f749fc7f8a22865f9d299962c86b8d46e
--- /dev/null
+++ b/bridge_data_v2_test/8286/lang.txt
@@ -0,0 +1,2 @@
+unfold the cloth from top left to left 
+confidence: 0.8
diff --git a/bridge_data_v2_test/8616/lang.txt b/bridge_data_v2_test/8616/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..34901b7da429afdddfaa1a7bcfc496315a562af5
--- /dev/null
+++ b/bridge_data_v2_test/8616/lang.txt
@@ -0,0 +1,2 @@
+move the cloth from bottom to top
+confidence: 1
diff --git a/bridge_data_v2_test/8848/lang.txt b/bridge_data_v2_test/8848/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..34bd5d04977237a34c54ca52dd12adba277c0267
--- /dev/null
+++ b/bridge_data_v2_test/8848/lang.txt
@@ -0,0 +1,2 @@
+put the big spoon to the right of the silver pan
+confidence: 0.8
diff --git a/bridge_data_v2_test/889/lang.txt b/bridge_data_v2_test/889/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..82e99f3d88e1374cc764421da41d8dbb97b700a5
--- /dev/null
+++ b/bridge_data_v2_test/889/lang.txt
@@ -0,0 +1,2 @@
+move the yellow cloth to the left stove
+confidence: 0.6
diff --git a/bridge_data_v2_test/9126/lang.txt b/bridge_data_v2_test/9126/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..cebe1e27b86422d3f2add1420cb352a9a8c1a24c
--- /dev/null
+++ b/bridge_data_v2_test/9126/lang.txt
@@ -0,0 +1,2 @@
+move table cloth to middle lower side of the table
+confidence: 0.4
diff --git a/bridge_data_v2_test/9826/lang.txt b/bridge_data_v2_test/9826/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..11c8be2ee15d97ce83aa995c1da2456fdea19f7e
--- /dev/null
+++ b/bridge_data_v2_test/9826/lang.txt
@@ -0,0 +1,2 @@
+move the can to the bottom side of the table
+confidence: 0.6
diff --git a/bridge_data_v2_test/9983/lang.txt b/bridge_data_v2_test/9983/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..61a24b93fc5a50ffd2ae3ec5c7df8b924202aa92
--- /dev/null
+++ b/bridge_data_v2_test/9983/lang.txt
@@ -0,0 +1,2 @@
+put the the spoon upper left side of the table beside the pot
+confidence: 0.8