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+size 50385
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+version https://git-lfs.github.com/spec/v1
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+size 47987
diff --git a/bridge_data_v1/667/im_6.jpg b/bridge_data_v1/667/im_6.jpg
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+version https://git-lfs.github.com/spec/v1
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+size 47449
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+version https://git-lfs.github.com/spec/v1
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+size 48840
diff --git a/bridge_data_v1/667/im_8.jpg b/bridge_data_v1/667/im_8.jpg
new file mode 100644
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+++ b/bridge_data_v1/667/im_8.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 49442
diff --git a/bridge_data_v1/667/im_9.jpg b/bridge_data_v1/667/im_9.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..ef7b3020e5955595128840f29a85599aa555fc8c
--- /dev/null
+++ b/bridge_data_v1/667/im_9.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 49657
diff --git a/bridge_data_v2_test/10032/lang.txt b/bridge_data_v2_test/10032/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..ca444383a4c2295c5a6846e65c4e6d769379319c
--- /dev/null
+++ b/bridge_data_v2_test/10032/lang.txt
@@ -0,0 +1,2 @@
+moved the plastic container from the pot to the table
+confidence: 0.8
diff --git a/bridge_data_v2_test/10193/lang.txt b/bridge_data_v2_test/10193/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..2e31388a46747dadc6f29acb35bcba84dbcf2e88
--- /dev/null
+++ b/bridge_data_v2_test/10193/lang.txt
@@ -0,0 +1,2 @@
+move the can to the left side of the table
+confidence: 1
diff --git a/bridge_data_v2_test/11042/lang.txt b/bridge_data_v2_test/11042/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..d30e5e714a63e415a6e630f12b4710f8991fc160
--- /dev/null
+++ b/bridge_data_v2_test/11042/lang.txt
@@ -0,0 +1,2 @@
+move the sauce pan above the blue brush with one bread
+confidence: 0.6
diff --git a/bridge_data_v2_test/11855/lang.txt b/bridge_data_v2_test/11855/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..5a5223bd26ee9d9419e76bea2dbecef17a115571
--- /dev/null
+++ b/bridge_data_v2_test/11855/lang.txt
@@ -0,0 +1,2 @@
+move the rectangle to the right side 
+confidence: 1
diff --git a/bridge_data_v2_test/11992/lang.txt b/bridge_data_v2_test/11992/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..401929a481bb938ee8145f1eefd53cb23e0eab88
--- /dev/null
+++ b/bridge_data_v2_test/11992/lang.txt
@@ -0,0 +1,2 @@
+put the top rectangle on the bench
+confidence: 0.4
diff --git a/bridge_data_v2_test/12110/lang.txt b/bridge_data_v2_test/12110/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..02e445c44af68d86146d53316f672408d3536909
--- /dev/null
+++ b/bridge_data_v2_test/12110/lang.txt
@@ -0,0 +1,2 @@
+close the drawer
+confidence: 0.6
diff --git a/bridge_data_v2_test/12203/lang.txt b/bridge_data_v2_test/12203/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..382d4971c7a19e4210d50e766a98129a6bec2a55
--- /dev/null
+++ b/bridge_data_v2_test/12203/lang.txt
@@ -0,0 +1,2 @@
+take the red object out from the drawer and put it in front of the drawer
+confidence: 1
diff --git a/bridge_data_v2_test/12618/lang.txt b/bridge_data_v2_test/12618/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e385eca0638e4219dad5b5e33165b13e2ebe7873
--- /dev/null
+++ b/bridge_data_v2_test/12618/lang.txt
@@ -0,0 +1,2 @@
+placed the yellow banana inside the drawer on to the right side of the table
+confidence: 0.8
diff --git a/bridge_data_v2_test/12805/lang.txt b/bridge_data_v2_test/12805/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..02e445c44af68d86146d53316f672408d3536909
--- /dev/null
+++ b/bridge_data_v2_test/12805/lang.txt
@@ -0,0 +1,2 @@
+close the drawer
+confidence: 0.6
diff --git a/bridge_data_v2_test/1287/lang.txt b/bridge_data_v2_test/1287/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..12ab67856a4d9cad83b99c885931e7922d52db27
--- /dev/null
+++ b/bridge_data_v2_test/1287/lang.txt
@@ -0,0 +1,2 @@
+move the cloth to the right edge
+confidence: 0.6
diff --git a/bridge_data_v2_test/12878/lang.txt b/bridge_data_v2_test/12878/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..02e445c44af68d86146d53316f672408d3536909
--- /dev/null
+++ b/bridge_data_v2_test/12878/lang.txt
@@ -0,0 +1,2 @@
+close the drawer
+confidence: 0.6
diff --git a/bridge_data_v2_test/12939/lang.txt b/bridge_data_v2_test/12939/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..80ee4b76ee90583635e6dfdc0bfbb549fe1de91c
--- /dev/null
+++ b/bridge_data_v2_test/12939/lang.txt
@@ -0,0 +1,2 @@
+take the red object out of the pot and put it on the left burner
+confidence: 0.2
diff --git a/bridge_data_v2_test/12953/lang.txt b/bridge_data_v2_test/12953/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..8efd29765112e71b29b579072ff17466925674f1
--- /dev/null
+++ b/bridge_data_v2_test/12953/lang.txt
@@ -0,0 +1,2 @@
+open the drawer
+confidence: 1
diff --git a/bridge_data_v2_test/13064/lang.txt b/bridge_data_v2_test/13064/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..2aa0afa0f0d286a22733c14f85b9cd01e9248c46
--- /dev/null
+++ b/bridge_data_v2_test/13064/lang.txt
@@ -0,0 +1,2 @@
+move the rabbit  and put it inside the drawer
+confidence: 0.8
diff --git a/bridge_data_v2_test/13847/lang.txt b/bridge_data_v2_test/13847/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..ceef14f34791fa9fede4bcf88eba1f71e3b6a115
--- /dev/null
+++ b/bridge_data_v2_test/13847/lang.txt
@@ -0,0 +1,2 @@
+move the yellow object to the upper right of the table
+confidence: 0.8
diff --git a/bridge_data_v2_test/13853/lang.txt b/bridge_data_v2_test/13853/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..7154d0b70d33bf11feb5c05b01e351c768d7b503
--- /dev/null
+++ b/bridge_data_v2_test/13853/lang.txt
@@ -0,0 +1,2 @@
+take the light green object on top of the blue cloth and put it in the middle of the table
+confidence: 0.6
diff --git a/bridge_data_v2_test/13899/lang.txt b/bridge_data_v2_test/13899/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..79b64d409ba4b9234a736e05fd03ab10718416af
--- /dev/null
+++ b/bridge_data_v2_test/13899/lang.txt
@@ -0,0 +1,2 @@
+Moved the blue paper from the bottom left side of the table to the upper side 
+confidence: 1
diff --git a/bridge_data_v2_test/14018/lang.txt b/bridge_data_v2_test/14018/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..2fdb00061600d923040fb3b776b01c099ddf26e1
--- /dev/null
+++ b/bridge_data_v2_test/14018/lang.txt
@@ -0,0 +1,2 @@
+flipped the can on its side
+confidence: 1
diff --git a/bridge_data_v2_test/14161/lang.txt b/bridge_data_v2_test/14161/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..5b58b8dae3afd8adf8ce72ea368000a8a9e70c03
--- /dev/null
+++ b/bridge_data_v2_test/14161/lang.txt
@@ -0,0 +1,2 @@
+Moved the plastic shaped ice cream at the top of towel
+confidence: 0.6
diff --git a/bridge_data_v2_test/14274/lang.txt b/bridge_data_v2_test/14274/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..01b6afcfd24aa225ba350bdec6e7e2bb19109e68
--- /dev/null
+++ b/bridge_data_v2_test/14274/lang.txt
@@ -0,0 +1,2 @@
+pick silver lid on table and cover the pot
+confidence: 1
diff --git a/bridge_data_v2_test/14361/lang.txt b/bridge_data_v2_test/14361/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..2b1b0d2d4339563d0133c0ae80faba5c7695a867
--- /dev/null
+++ b/bridge_data_v2_test/14361/lang.txt
@@ -0,0 +1,2 @@
+move the silver pan to the lower left side of the counter
+confidence: 0.8
diff --git a/bridge_data_v2_test/14754/lang.txt b/bridge_data_v2_test/14754/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f86c34a981e60935a8859b5e1b167d50c2d8feaa
--- /dev/null
+++ b/bridge_data_v2_test/14754/lang.txt
@@ -0,0 +1,2 @@
+Move the cylinder to the left.
+confidence: 0.6
diff --git a/bridge_data_v2_test/15248/lang.txt b/bridge_data_v2_test/15248/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..dbeb2570f8a41b6ef0ac1950342ea5c3260c26b9
--- /dev/null
+++ b/bridge_data_v2_test/15248/lang.txt
@@ -0,0 +1,2 @@
+put the small cylinder on top of the cube with a hole
+confidence: 1
diff --git a/bridge_data_v2_test/15489/lang.txt b/bridge_data_v2_test/15489/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..6b1aee4e26fdbeccb38b93b2c4aeaf4fa774688a
--- /dev/null
+++ b/bridge_data_v2_test/15489/lang.txt
@@ -0,0 +1,2 @@
+remove the yellow cube from the tower and put in the middle of the table
+confidence: 0.6
diff --git a/bridge_data_v2_test/1614/lang.txt b/bridge_data_v2_test/1614/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a7e944425c56af7957598bd65aba9f121c5ee43c
--- /dev/null
+++ b/bridge_data_v2_test/1614/lang.txt
@@ -0,0 +1,2 @@
+fold the cloth from bottom to top
+confidence: 0.6
diff --git a/bridge_data_v2_test/16226/lang.txt b/bridge_data_v2_test/16226/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..b941337c6258bbad813cb03398a759b2e75e8d8e
--- /dev/null
+++ b/bridge_data_v2_test/16226/lang.txt
@@ -0,0 +1,2 @@
+moved the red object placed on one side of the cabinet to the front of the cabinet
+confidence: 0.4
diff --git a/bridge_data_v2_test/16293/lang.txt b/bridge_data_v2_test/16293/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..79f7462a3d44b2f1c42ea93f31b32592b7bb7c27
--- /dev/null
+++ b/bridge_data_v2_test/16293/lang.txt
@@ -0,0 +1,2 @@
+put white object in the drawer
+confidence: 1
diff --git a/bridge_data_v2_test/16950/lang.txt b/bridge_data_v2_test/16950/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..48abed6f248c2d9e5a8308db260c82acb51c68d9
--- /dev/null
+++ b/bridge_data_v2_test/16950/lang.txt
@@ -0,0 +1,2 @@
+moved the pot from the upper right burner to the lower right burner
+confidence: 1
diff --git a/bridge_data_v2_test/17162/lang.txt b/bridge_data_v2_test/17162/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e00cb4931d812902d93dc7b84105ed745fdb1bf4
--- /dev/null
+++ b/bridge_data_v2_test/17162/lang.txt
@@ -0,0 +1,2 @@
+moved the blue spoon to the bottom right burner
+confidence: 0.8
diff --git a/bridge_data_v2_test/17295/lang.txt b/bridge_data_v2_test/17295/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..b7b915f9c6876668412d37c2925d37b197a409de
--- /dev/null
+++ b/bridge_data_v2_test/17295/lang.txt
@@ -0,0 +1,2 @@
+put the red arch on top of the blue block
+confidence: 0.8
diff --git a/bridge_data_v2_test/17611/lang.txt b/bridge_data_v2_test/17611/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..24e5140d5fe3a8c475952f105ec5340a80147102
--- /dev/null
+++ b/bridge_data_v2_test/17611/lang.txt
@@ -0,0 +1,2 @@
+put the yellow rectangular block on top of the red arch
+confidence: 0.6
diff --git a/bridge_data_v2_test/17837/lang.txt b/bridge_data_v2_test/17837/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..2cb969825848407949f5b0b2ae9b5a1b9d8d2ab4
--- /dev/null
+++ b/bridge_data_v2_test/17837/lang.txt
@@ -0,0 +1,2 @@
+take the rectangle arch and put it on the blue rectangle
+confidence: 0.8
diff --git a/bridge_data_v2_test/17982/lang.txt b/bridge_data_v2_test/17982/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..27e6bc30ae1da3b7f9807137aae034ad9a9853dd
--- /dev/null
+++ b/bridge_data_v2_test/17982/lang.txt
@@ -0,0 +1,2 @@
+put the plus-shaped block on top of the green block
+confidence: 1.0
diff --git a/bridge_data_v2_test/18120/lang.txt b/bridge_data_v2_test/18120/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0afca1800a95c63fb5fea0958e3fbee7c3b7d6d6
--- /dev/null
+++ b/bridge_data_v2_test/18120/lang.txt
@@ -0,0 +1,2 @@
+move the bar from the arc and put it on top of the table
+confidence: 0.6
diff --git a/bridge_data_v2_test/18176/lang.txt b/bridge_data_v2_test/18176/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..b462b2411b6a08d760553b3ae4b6d6b0d2dfec3f
--- /dev/null
+++ b/bridge_data_v2_test/18176/lang.txt
@@ -0,0 +1,2 @@
+put the plus on top of the green cube
+confidence: 1
diff --git a/bridge_data_v2_test/2111/lang.txt b/bridge_data_v2_test/2111/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..4b676f845f6213df015bc42167df1a16b364cb75
--- /dev/null
+++ b/bridge_data_v2_test/2111/lang.txt
@@ -0,0 +1,2 @@
+unfold the cloth from bottom right to the top left
+confidence: 1
diff --git a/bridge_data_v2_test/2548/lang.txt b/bridge_data_v2_test/2548/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9bc3972e33f8e1b63ffe614d79bf15c6e239ccd3
--- /dev/null
+++ b/bridge_data_v2_test/2548/lang.txt
@@ -0,0 +1,2 @@
+fold the cloth from top right to bottom left
+confidence: 1
diff --git a/bridge_data_v2_test/2631/lang.txt b/bridge_data_v2_test/2631/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..3d8d9a8ee3b0bdd57cce08d1d455818b8a97d838
--- /dev/null
+++ b/bridge_data_v2_test/2631/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/340/lang.txt b/bridge_data_v2_test/340/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..1bcb38a59cb284e6a58f8e6bf1b4970c6ec6465f
--- /dev/null
+++ b/bridge_data_v2_test/340/lang.txt
@@ -0,0 +1,2 @@
+place the purple object inside the silver pot
+confidence: 0.6
diff --git a/bridge_data_v2_test/3594/lang.txt b/bridge_data_v2_test/3594/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c14d3658a52c57d7bc6efae7caf5d1697c2ff48f
--- /dev/null
+++ b/bridge_data_v2_test/3594/lang.txt
@@ -0,0 +1 @@
+sweep into pile
diff --git a/bridge_data_v2_test/3871/lang.txt b/bridge_data_v2_test/3871/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c14d3658a52c57d7bc6efae7caf5d1697c2ff48f
--- /dev/null
+++ b/bridge_data_v2_test/3871/lang.txt
@@ -0,0 +1 @@
+sweep into pile
diff --git a/bridge_data_v2_test/3905/lang.txt b/bridge_data_v2_test/3905/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..2161e180d78e1ec1d7bb6eae5ac94f4fb9686032
--- /dev/null
+++ b/bridge_data_v2_test/3905/lang.txt
@@ -0,0 +1,2 @@
+place a green cloth in the washing machine
+confidence: 0.6
diff --git a/bridge_data_v2_test/4162/lang.txt b/bridge_data_v2_test/4162/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..cf9d9f401a2d57c650bf0c105e4ad0b2ec0d6d8d
--- /dev/null
+++ b/bridge_data_v2_test/4162/lang.txt
@@ -0,0 +1,2 @@
+move the blue clothe
+confidence: 0.6
diff --git a/bridge_data_v2_test/4300/lang.txt b/bridge_data_v2_test/4300/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..48e92e57f517b4e06b9d935e0e012d7f77b5e39d
--- /dev/null
+++ b/bridge_data_v2_test/4300/lang.txt
@@ -0,0 +1,2 @@
+moved the plastic laundry basket to the left of washing machine
+confidence: 0.4
diff --git a/bridge_data_v2_test/4492/lang.txt b/bridge_data_v2_test/4492/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..ecdf94cb2c1a73bfbf9ccffef5c7828a1695340c
--- /dev/null
+++ b/bridge_data_v2_test/4492/lang.txt
@@ -0,0 +1,2 @@
+Move the basket in the left of table
+confidence: 0.6
diff --git a/bridge_data_v2_test/472/lang.txt b/bridge_data_v2_test/472/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..011f29d176eeff29929072ceabeedc7a1a0f1ce7
--- /dev/null
+++ b/bridge_data_v2_test/472/lang.txt
@@ -0,0 +1,2 @@
+move the yellow knife to the top right side of the burner 
+confidence: 0.8
diff --git a/bridge_data_v2_test/4931/lang.txt b/bridge_data_v2_test/4931/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0e62a4398265dabb6393bde2cb1cc6a2a658f5b3
--- /dev/null
+++ b/bridge_data_v2_test/4931/lang.txt
@@ -0,0 +1,2 @@
+move the cloth from left to right
+confidence: 0.6
diff --git a/bridge_data_v2_test/515/lang.txt b/bridge_data_v2_test/515/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..85b80e8639aeea626fbd247e91ffe56f8a2e932c
--- /dev/null
+++ b/bridge_data_v2_test/515/lang.txt
@@ -0,0 +1,3 @@
+put the red thing inside the silver container
+
+confidence: 0.6
diff --git a/bridge_data_v2_test/5200/lang.txt b/bridge_data_v2_test/5200/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..50adcae45f2c7bb232ec843cfbed7cfe2d92ca70
--- /dev/null
+++ b/bridge_data_v2_test/5200/lang.txt
@@ -0,0 +1,2 @@
+fold the cloth from the bottom to the top
+confidence: 1.0
diff --git a/bridge_data_v2_test/5234/lang.txt b/bridge_data_v2_test/5234/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..82a70e18650c960b4da8b91b1a23fe2eda3c0b0c
--- /dev/null
+++ b/bridge_data_v2_test/5234/lang.txt
@@ -0,0 +1,2 @@
+put the blue figure on the top edge of the cloth
+confidence: 0.4
diff --git a/bridge_data_v2_test/5288/lang.txt b/bridge_data_v2_test/5288/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..453a095e00c430720419060ce81d96c6e645d73d
--- /dev/null
+++ b/bridge_data_v2_test/5288/lang.txt
@@ -0,0 +1,2 @@
+move the cloth to the edge of the table 
+confidence: 1
diff --git a/bridge_data_v2_test/5588/lang.txt b/bridge_data_v2_test/5588/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..37f5f43077a19d83f12c7eb2432ce794822ba810
--- /dev/null
+++ b/bridge_data_v2_test/5588/lang.txt
@@ -0,0 +1,2 @@
+ut the blue figure on the top edge of the cloth
+confidence: 0.6
diff --git a/bridge_data_v2_test/5670/lang.txt b/bridge_data_v2_test/5670/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..5b37a1e8c151a70062669428b1b2a28744862db0
--- /dev/null
+++ b/bridge_data_v2_test/5670/lang.txt
@@ -0,0 +1,2 @@
+fold the yellow cloth from left to right
+confidence: 1
diff --git a/bridge_data_v2_test/6204/lang.txt b/bridge_data_v2_test/6204/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..b836aaea01b90e0a055e87b798f9c3c829f4fc5b
--- /dev/null
+++ b/bridge_data_v2_test/6204/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/6375/lang.txt b/bridge_data_v2_test/6375/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..2ed95dc0e89278fd873ea63bc2755837e657e597
--- /dev/null
+++ b/bridge_data_v2_test/6375/lang.txt
@@ -0,0 +1,2 @@
+unfold the cloths from left to ringht
+confidence: 1
diff --git a/bridge_data_v2_test/6436/lang.txt b/bridge_data_v2_test/6436/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..d63e07557f83a3b67b4ea96129b7ba7d9c4c130f
--- /dev/null
+++ b/bridge_data_v2_test/6436/lang.txt
@@ -0,0 +1,2 @@
+unfold the cloth from top right to bottom left
+confidence: 0.8
diff --git a/bridge_data_v2_test/652/lang.txt b/bridge_data_v2_test/652/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..5c3f65c9c143ab6693acb5aa2ff929ce44a17dff
--- /dev/null
+++ b/bridge_data_v2_test/652/lang.txt
@@ -0,0 +1,2 @@
+take a carrots into the pot and put it in the right burners
+confidence: 0.8
diff --git a/bridge_data_v2_test/6546/lang.txt b/bridge_data_v2_test/6546/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..53d11172ff8a27b77137825e41b63cae6fed1e4b
--- /dev/null
+++ b/bridge_data_v2_test/6546/lang.txt
@@ -0,0 +1,2 @@
+unfold the cloth from top right to bottom left
+confidence: 0.6
diff --git a/bridge_data_v2_test/6640/lang.txt b/bridge_data_v2_test/6640/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..8cf88cde5c08c9f8b7b8d9a238959b10c46b94d1
--- /dev/null
+++ b/bridge_data_v2_test/6640/lang.txt
@@ -0,0 +1,2 @@
+put the red object on the top left side of the cloth
+confidence: 0.6
diff --git a/bridge_data_v2_test/7135/lang.txt b/bridge_data_v2_test/7135/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..7538e5ec8e3dde23d17e774d08a4ed4376bac804
--- /dev/null
+++ b/bridge_data_v2_test/7135/lang.txt
@@ -0,0 +1,2 @@
+Close the drawer.
+confidence: 0.8
diff --git a/bridge_data_v2_test/719/lang.txt b/bridge_data_v2_test/719/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..4526737d9e1a3f6420b5133d3ce18fd2af1a7c3a
--- /dev/null
+++ b/bridge_data_v2_test/719/lang.txt
@@ -0,0 +1,3 @@
+take the red object out of the pot and put it on the left burner
+
+confidence: 1
diff --git a/bridge_data_v2_test/749/lang.txt b/bridge_data_v2_test/749/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..16367800cc8612ef9199cd566b848b8ead6c13e1
--- /dev/null
+++ b/bridge_data_v2_test/749/lang.txt
@@ -0,0 +1,2 @@
+move the orange cloth to top right of the stove
+confidence: 0.6
diff --git a/bridge_data_v2_test/7759/lang.txt b/bridge_data_v2_test/7759/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..21988eebf75633d2ad7d632cd9ade353bde0e822
--- /dev/null
+++ b/bridge_data_v2_test/7759/lang.txt
@@ -0,0 +1,2 @@
+move the rabbit to the bottom right of the table
+confidence: 0.6
diff --git a/bridge_data_v2_test/8045/lang.txt b/bridge_data_v2_test/8045/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..82a70e18650c960b4da8b91b1a23fe2eda3c0b0c
--- /dev/null
+++ b/bridge_data_v2_test/8045/lang.txt
@@ -0,0 +1,2 @@
+put the blue figure on the top edge of the cloth
+confidence: 0.4
diff --git a/bridge_data_v2_test/8097/lang.txt b/bridge_data_v2_test/8097/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..77155afa714379f232d00a11875f0c65a77d37a5
--- /dev/null
+++ b/bridge_data_v2_test/8097/lang.txt
@@ -0,0 +1,2 @@
+unfold the cloth from the center
+confidence: 0.6
diff --git a/bridge_data_v2_test/8157/lang.txt b/bridge_data_v2_test/8157/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f7b14eb00f6cb3071e076d58fae0036b607a7855
--- /dev/null
+++ b/bridge_data_v2_test/8157/lang.txt
@@ -0,0 +1,2 @@
+unfold cloth from mid table to top left
+confidence: 1
diff --git a/bridge_data_v2_test/8207/lang.txt b/bridge_data_v2_test/8207/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..555b209b08b8e15ae75823924468ebcc6dcc824b
--- /dev/null
+++ b/bridge_data_v2_test/8207/lang.txt
@@ -0,0 +1,2 @@
+fold the cloth from  the left to the center of it 
+confidence: 0.8
diff --git a/bridge_data_v2_test/8480/lang.txt b/bridge_data_v2_test/8480/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..19ddf68205606c19db4d2198189ac0412c8177ae
--- /dev/null
+++ b/bridge_data_v2_test/8480/lang.txt
@@ -0,0 +1,3 @@
+fold the cloth from left to right
+
+confidence: 0.6
diff --git a/bridge_data_v2_test/8565/lang.txt b/bridge_data_v2_test/8565/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..6d10dda73c9d4dc0bf0adc9eca7619f8b25d824a
--- /dev/null
+++ b/bridge_data_v2_test/8565/lang.txt
@@ -0,0 +1,2 @@
+UNFOLD THE CLOTH TO THE TOP
+confidence: 0.4
diff --git a/bridge_data_v2_test/8735/lang.txt b/bridge_data_v2_test/8735/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..fafb09788c1b6b30b5ccfc7fd223ae7d84fe4783
--- /dev/null
+++ b/bridge_data_v2_test/8735/lang.txt
@@ -0,0 +1,2 @@
+move the silver pot to the centre of the table
+confidence: 0.4
diff --git a/bridge_data_v2_test/8994/lang.txt b/bridge_data_v2_test/8994/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..ed03d7206040420a751e9dcb649838eee5719f67
--- /dev/null
+++ b/bridge_data_v2_test/8994/lang.txt
@@ -0,0 +1,2 @@
+put the corn below the metal pot
+confidence: 1
diff --git a/bridge_data_v2_test/9138/lang.txt b/bridge_data_v2_test/9138/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..bf6e3c979d0fcebab7d7536aa19254aeb9b9e002
--- /dev/null
+++ b/bridge_data_v2_test/9138/lang.txt
@@ -0,0 +1,2 @@
+move silver pot from bottom left of the table to top middle of the table
+confidence: 0.8
diff --git a/bridge_data_v2_test/9263/lang.txt b/bridge_data_v2_test/9263/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..1fe1e7d898153ef3af056972dc10f1b21e2624db
--- /dev/null
+++ b/bridge_data_v2_test/9263/lang.txt
@@ -0,0 +1,2 @@
+move the orange cloth
+confidence: 0.6
diff --git a/bridge_data_v2_test/9436/lang.txt b/bridge_data_v2_test/9436/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..30916f8f20dff783c4917aa4fa62c78a380511d1
--- /dev/null
+++ b/bridge_data_v2_test/9436/lang.txt
@@ -0,0 +1,2 @@
+move the tin to the middle of the table
+confidence: 0.6
diff --git a/bridge_data_v2_test/9683/lang.txt b/bridge_data_v2_test/9683/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..27fb9b02688eea335ff1b54f13379efcfa243497
--- /dev/null
+++ b/bridge_data_v2_test/9683/lang.txt
@@ -0,0 +1,2 @@
+place the meatpie on top of the blue cloth
+confidence: 1