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diff --git a/bridge_data_v1/681/im_8.jpg b/bridge_data_v1/681/im_8.jpg
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--- /dev/null
+++ b/bridge_data_v1/681/im_8.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 46659
diff --git a/bridge_data_v2_test/100/lang.txt b/bridge_data_v2_test/100/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..d17ced10eedac41f8d46d72e5a8e61e5453d7db3
--- /dev/null
+++ b/bridge_data_v2_test/100/lang.txt
@@ -0,0 +1,2 @@
+move the blue fork to the top right of the stove
+confidence: 0.4
diff --git a/bridge_data_v2_test/10117/lang.txt b/bridge_data_v2_test/10117/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c155014d9132dc37d97054b544a94f5a68b4277d
--- /dev/null
+++ b/bridge_data_v2_test/10117/lang.txt
@@ -0,0 +1,2 @@
+move the can to lower left of the table
+confidence: 0.8
diff --git a/bridge_data_v2_test/1019/lang.txt b/bridge_data_v2_test/1019/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..cb612a9e5ad81617bace342bd9ce822b000b640a
--- /dev/null
+++ b/bridge_data_v2_test/1019/lang.txt
@@ -0,0 +1,2 @@
+moved the red spoon to the right side of the stove right beside the orange cloth
+confidence: 0.8
diff --git a/bridge_data_v2_test/11226/lang.txt b/bridge_data_v2_test/11226/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..171199cd1f5cb6107f5d0c563f459e60b0e5bc75
--- /dev/null
+++ b/bridge_data_v2_test/11226/lang.txt
@@ -0,0 +1,2 @@
+pone el objeto amarillo en el lado izquierdo de la stufa 
+confidence: 0.6
diff --git a/bridge_data_v2_test/11254/lang.txt b/bridge_data_v2_test/11254/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..5e18df291fbda13271263d5612db0fe302bd5605
--- /dev/null
+++ b/bridge_data_v2_test/11254/lang.txt
@@ -0,0 +1,2 @@
+moved the pot lid on the pot
+confidence: 1
diff --git a/bridge_data_v2_test/11370/lang.txt b/bridge_data_v2_test/11370/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..8fa55daa3df86678f232b32c7290939dbbeeb4b7
--- /dev/null
+++ b/bridge_data_v2_test/11370/lang.txt
@@ -0,0 +1,2 @@
+moved the lid to the top of the pot
+confidence: 1
diff --git a/bridge_data_v2_test/11886/lang.txt b/bridge_data_v2_test/11886/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..94592b28825374983c03e65e6e1e1d7625af9317
--- /dev/null
+++ b/bridge_data_v2_test/11886/lang.txt
@@ -0,0 +1,2 @@
+Moved the brown cylinder from left side of the table to the right side of the table
+confidence: 0.8
diff --git a/bridge_data_v2_test/1205/lang.txt b/bridge_data_v2_test/1205/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..35e0886afccf0d0b4625ffdaae9e6091a66f79b4
--- /dev/null
+++ b/bridge_data_v2_test/1205/lang.txt
@@ -0,0 +1,2 @@
+move the plastic spatula to the right burner
+confidence: 0.6
diff --git a/bridge_data_v2_test/13057/lang.txt b/bridge_data_v2_test/13057/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..16aba22b98dbfad32938871502ff34d13f48bff8
--- /dev/null
+++ b/bridge_data_v2_test/13057/lang.txt
@@ -0,0 +1,3 @@
+Close the drawer
+
+confidence: 0.6
diff --git a/bridge_data_v2_test/1332/lang.txt b/bridge_data_v2_test/1332/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..683e673fdc18f06b4770b2b3bc9bd67629570216
--- /dev/null
+++ b/bridge_data_v2_test/1332/lang.txt
@@ -0,0 +1,2 @@
+fold the cloth from right to left
+confidence: 1
diff --git a/bridge_data_v2_test/13556/lang.txt b/bridge_data_v2_test/13556/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..d38b769d54d0572cce60104bc760db0432455b05
--- /dev/null
+++ b/bridge_data_v2_test/13556/lang.txt
@@ -0,0 +1,2 @@
+Take the cover and put it on the silver pot. 
+confidence: 0.4
diff --git a/bridge_data_v2_test/13566/lang.txt b/bridge_data_v2_test/13566/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..da3b3707ee4c74b8bd4996f705d140f0bda95290
--- /dev/null
+++ b/bridge_data_v2_test/13566/lang.txt
@@ -0,0 +1,2 @@
+plastic is picked up from the left of spoon and placed on the right side of the spoon
+confidence: 0.6
diff --git a/bridge_data_v2_test/13590/lang.txt b/bridge_data_v2_test/13590/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c662cb5c21757f6b3113667ebbdcc4e172f599cd
--- /dev/null
+++ b/bridge_data_v2_test/13590/lang.txt
@@ -0,0 +1,2 @@
+move the silver pot to the top side of the table
+confidence: 0.6
diff --git a/bridge_data_v2_test/13606/lang.txt b/bridge_data_v2_test/13606/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..15f188aa5ead5083b908b4dd5e60a435a7efed8f
--- /dev/null
+++ b/bridge_data_v2_test/13606/lang.txt
@@ -0,0 +1,2 @@
+take the lid of the silver pot and put it above the yellow knife
+confidence: 1
diff --git a/bridge_data_v2_test/13710/lang.txt b/bridge_data_v2_test/13710/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e3efd64ce8885663681007bf8ff1bbe8ce0dd531
--- /dev/null
+++ b/bridge_data_v2_test/13710/lang.txt
@@ -0,0 +1,2 @@
+ take the with object out of the pot and put it on the left burner
+confidence: 0.6
diff --git a/bridge_data_v2_test/14054/lang.txt b/bridge_data_v2_test/14054/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..73e728f39f8168136ae3f0f70837603310ee7159
--- /dev/null
+++ b/bridge_data_v2_test/14054/lang.txt
@@ -0,0 +1,2 @@
+removing the lid and placing it on the left side of the counter on top of the green towel
+confidence: 0.6
diff --git a/bridge_data_v2_test/14277/lang.txt b/bridge_data_v2_test/14277/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e0cc103215e4342aad2f39436b1b54024abc1b7a
--- /dev/null
+++ b/bridge_data_v2_test/14277/lang.txt
@@ -0,0 +1,3 @@
+rotate the pot 45 degrees
+
+confidence: 0.6
diff --git a/bridge_data_v2_test/1440/lang.txt b/bridge_data_v2_test/1440/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..06ce6f72e552790e6251e1a431db929d9f99df71
--- /dev/null
+++ b/bridge_data_v2_test/1440/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/1458/lang.txt b/bridge_data_v2_test/1458/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..3dfe84cddecae8acd578a622ff50cd575ed7d825
--- /dev/null
+++ b/bridge_data_v2_test/1458/lang.txt
@@ -0,0 +1,2 @@
+Fold the cloth into left side
+confidence: 1
diff --git a/bridge_data_v2_test/1473/lang.txt b/bridge_data_v2_test/1473/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..701b21fbd76e1e86cc47a2a3158a3db2d4ab53d5
--- /dev/null
+++ b/bridge_data_v2_test/1473/lang.txt
@@ -0,0 +1,2 @@
+remove the fabric on the machine
+confidence: 0.6
diff --git a/bridge_data_v2_test/1475/lang.txt b/bridge_data_v2_test/1475/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..8d048bcc9024dce9c3236c281d9fec276835e3d1
--- /dev/null
+++ b/bridge_data_v2_test/1475/lang.txt
@@ -0,0 +1,2 @@
+move the cloth from left side of the stow to right
+confidence: 1
diff --git a/bridge_data_v2_test/14861/lang.txt b/bridge_data_v2_test/14861/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..16d22ae2737b5241369d1035c13a334d57d90631
--- /dev/null
+++ b/bridge_data_v2_test/14861/lang.txt
@@ -0,0 +1,2 @@
+put the circle on top of the cylinder
+confidence: 0.8
diff --git a/bridge_data_v2_test/1514/lang.txt b/bridge_data_v2_test/1514/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..fb06f534e39d9ace1e33be73f6723b6dbd06472e
--- /dev/null
+++ b/bridge_data_v2_test/1514/lang.txt
@@ -0,0 +1,2 @@
+unfold the cloth from bottom right to top left
+confidence: 0.6
diff --git a/bridge_data_v2_test/15393/lang.txt b/bridge_data_v2_test/15393/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..63b06cd498c121b5096da29870b793ab961e91a4
--- /dev/null
+++ b/bridge_data_v2_test/15393/lang.txt
@@ -0,0 +1,2 @@
+Take the red block 
+confidence: 1
diff --git a/bridge_data_v2_test/15537/lang.txt b/bridge_data_v2_test/15537/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a6af618593e3b347768c0233fd4b567dee7c61d4
--- /dev/null
+++ b/bridge_data_v2_test/15537/lang.txt
@@ -0,0 +1,2 @@
+move the cup to the left side of the table
+confidence: 1
diff --git a/bridge_data_v2_test/1589/lang.txt b/bridge_data_v2_test/1589/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..22ff54d75a26d526e407f96c7513c0c7554a4dee
--- /dev/null
+++ b/bridge_data_v2_test/1589/lang.txt
@@ -0,0 +1,2 @@
+move the cloth from bottom left to the top right
+confidence: 1
diff --git a/bridge_data_v2_test/15992/lang.txt b/bridge_data_v2_test/15992/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c1a426b84916f81f7a86cdd7dcb258a906490db7
--- /dev/null
+++ b/bridge_data_v2_test/15992/lang.txt
@@ -0,0 +1,2 @@
+take the red bottle out of the drawer and put it on the left side of the green object
+confidence: 0.8
diff --git a/bridge_data_v2_test/16122/lang.txt b/bridge_data_v2_test/16122/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..1d48d274d8b74254f0ceab5dbcfaa728fe7766cf
--- /dev/null
+++ b/bridge_data_v2_test/16122/lang.txt
@@ -0,0 +1,2 @@
+open the drawer
+confidence: 0.6
diff --git a/bridge_data_v2_test/16364/lang.txt b/bridge_data_v2_test/16364/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f79091dc6108ecb32435d75c903cbc62d460287f
--- /dev/null
+++ b/bridge_data_v2_test/16364/lang.txt
@@ -0,0 +1,2 @@
+put the green object in the middle of the table
+confidence: 0.8
diff --git a/bridge_data_v2_test/16445/lang.txt b/bridge_data_v2_test/16445/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a5ac6d3adb5c20be82a13d287b23cbeb454de162
--- /dev/null
+++ b/bridge_data_v2_test/16445/lang.txt
@@ -0,0 +1,2 @@
+put the red thing on the drawer
+confidence: 0.6
diff --git a/bridge_data_v2_test/16770/lang.txt b/bridge_data_v2_test/16770/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..6b1ea1d4cee4fdd7e19b1f68f7c7cc39b9f82b39
--- /dev/null
+++ b/bridge_data_v2_test/16770/lang.txt
@@ -0,0 +1,2 @@
+move egg plant from left burner to the middle of the burners
+confidence: 0.8
diff --git a/bridge_data_v2_test/16884/lang.txt b/bridge_data_v2_test/16884/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..1363307a5e22c7e43693d3f2e9c962ec68bc07b2
--- /dev/null
+++ b/bridge_data_v2_test/16884/lang.txt
@@ -0,0 +1,2 @@
+transfer the red fork from right burner to the left burner
+confidence: 0.6
diff --git a/bridge_data_v2_test/17046/lang.txt b/bridge_data_v2_test/17046/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..b218725786ec75f05b6e859cf1f31a55f630ba45
--- /dev/null
+++ b/bridge_data_v2_test/17046/lang.txt
@@ -0,0 +1,2 @@
+move blue spoon from top left burner and put on top right burner
+confidence: 0.4
diff --git a/bridge_data_v2_test/17206/lang.txt b/bridge_data_v2_test/17206/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f36d61cc51608a782319ef2c8e4061649921893a
--- /dev/null
+++ b/bridge_data_v2_test/17206/lang.txt
@@ -0,0 +1,2 @@
+move the blue fork to the bottom-right burner
+confidence: 1
diff --git a/bridge_data_v2_test/17346/lang.txt b/bridge_data_v2_test/17346/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c63a683ef60581e790463ff4da443c832bf73444
--- /dev/null
+++ b/bridge_data_v2_test/17346/lang.txt
@@ -0,0 +1,2 @@
+put the yellow rectangle on top of the blue rectangle.
+confidence: 1
diff --git a/bridge_data_v2_test/17487/lang.txt b/bridge_data_v2_test/17487/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c1bbadba978b8a16d0b767bc17462579f3f83edf
--- /dev/null
+++ b/bridge_data_v2_test/17487/lang.txt
@@ -0,0 +1,2 @@
+take the blue rectangle and put it on top of the yellow square
+confidence: 0.8
diff --git a/bridge_data_v2_test/1749/lang.txt b/bridge_data_v2_test/1749/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..4ba97f1a66aa7ed49a131b43f5187b4f221a81c0
--- /dev/null
+++ b/bridge_data_v2_test/1749/lang.txt
@@ -0,0 +1,2 @@
+fold the top left fabric to the bottom left of the burner
+confidence: 0.8
diff --git a/bridge_data_v2_test/17618/lang.txt b/bridge_data_v2_test/17618/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..23f66a12278112a53c7bcf09a3f8499f4f403c3f
--- /dev/null
+++ b/bridge_data_v2_test/17618/lang.txt
@@ -0,0 +1,2 @@
+remove the green triangle off of the tower and put in the middle of the table
+confidence: 0.6
diff --git a/bridge_data_v2_test/17688/lang.txt b/bridge_data_v2_test/17688/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..d4e0ff67e2a7f2ddb89fec69de5e8d42494073ee
--- /dev/null
+++ b/bridge_data_v2_test/17688/lang.txt
@@ -0,0 +1,2 @@
+put the ball on top of the plus
+confidence: 1
diff --git a/bridge_data_v2_test/18156/lang.txt b/bridge_data_v2_test/18156/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..3f4bc28ab29b3697910722c7f4d5285dcf3cd351
--- /dev/null
+++ b/bridge_data_v2_test/18156/lang.txt
@@ -0,0 +1,2 @@
+put down the rectangular cube on the side of the table from the tower
+confidence: 0.4
diff --git a/bridge_data_v2_test/1942/lang.txt b/bridge_data_v2_test/1942/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..403f6703a9f071e0854fbf2e7c1a49456ac6cea8
--- /dev/null
+++ b/bridge_data_v2_test/1942/lang.txt
@@ -0,0 +1,2 @@
+unfold the cloth from left to right
+confidence: 1
diff --git a/bridge_data_v2_test/2221/lang.txt b/bridge_data_v2_test/2221/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e6bc52ebbf1622fba1e0b31e26c66d17d1a2e49e
--- /dev/null
+++ b/bridge_data_v2_test/2221/lang.txt
@@ -0,0 +1,2 @@
+fold the cloth from top left to bottom right
+confidence: 1
diff --git a/bridge_data_v2_test/2523/lang.txt b/bridge_data_v2_test/2523/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..2ef9a9ba185ab741bc7d8fa181c13ad1b9c25407
--- /dev/null
+++ b/bridge_data_v2_test/2523/lang.txt
@@ -0,0 +1,2 @@
+fold the cloth from bottom right to top left
+confidence: 0.8
diff --git a/bridge_data_v2_test/2787/lang.txt b/bridge_data_v2_test/2787/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0efd5f8d6234711174a320b8efc23ea05ac71f77
--- /dev/null
+++ b/bridge_data_v2_test/2787/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/3154/lang.txt b/bridge_data_v2_test/3154/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..77380eb2bb2a57fd04d87871d5612454b0e41440
--- /dev/null
+++ b/bridge_data_v2_test/3154/lang.txt
@@ -0,0 +1,2 @@
+close the drawer
+confidence: 1
diff --git a/bridge_data_v2_test/3384/lang.txt b/bridge_data_v2_test/3384/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c14d3658a52c57d7bc6efae7caf5d1697c2ff48f
--- /dev/null
+++ b/bridge_data_v2_test/3384/lang.txt
@@ -0,0 +1 @@
+sweep into pile
diff --git a/bridge_data_v2_test/3561/lang.txt b/bridge_data_v2_test/3561/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c14d3658a52c57d7bc6efae7caf5d1697c2ff48f
--- /dev/null
+++ b/bridge_data_v2_test/3561/lang.txt
@@ -0,0 +1 @@
+sweep into pile
diff --git a/bridge_data_v2_test/3841/lang.txt b/bridge_data_v2_test/3841/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c14d3658a52c57d7bc6efae7caf5d1697c2ff48f
--- /dev/null
+++ b/bridge_data_v2_test/3841/lang.txt
@@ -0,0 +1 @@
+sweep into pile
diff --git a/bridge_data_v2_test/4742/lang.txt b/bridge_data_v2_test/4742/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..32cf6b8827edd639a233a11428ce7dd6fc11e12b
--- /dev/null
+++ b/bridge_data_v2_test/4742/lang.txt
@@ -0,0 +1,2 @@
+fold the cloth from top to bottom.
+confidence: 0.6
diff --git a/bridge_data_v2_test/5170/lang.txt b/bridge_data_v2_test/5170/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..b3e1df5c09d601611712f9782167cb188b9b0cd8
--- /dev/null
+++ b/bridge_data_v2_test/5170/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/5372/lang.txt b/bridge_data_v2_test/5372/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..7d7b8da2c9ff582244fcd1a4aa45651c970918c6
--- /dev/null
+++ b/bridge_data_v2_test/5372/lang.txt
@@ -0,0 +1,2 @@
+unfold the cloth from bottom left to top right
+confidence: 0.8
diff --git a/bridge_data_v2_test/5459/lang.txt b/bridge_data_v2_test/5459/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..43af6e576c52dd87bdffebf51d7449a0ab0236b6
--- /dev/null
+++ b/bridge_data_v2_test/5459/lang.txt
@@ -0,0 +1,2 @@
+unfold cloth from bottom left to top right 
+confidence: 0.6
diff --git a/bridge_data_v2_test/5556/lang.txt b/bridge_data_v2_test/5556/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..cc4d5dfa2f2763c88221db154a59781d69a378fd
--- /dev/null
+++ b/bridge_data_v2_test/5556/lang.txt
@@ -0,0 +1,2 @@
+ put the blue figure on the top edge of the cloth
+confidence: 0.8
diff --git a/bridge_data_v2_test/5717/lang.txt b/bridge_data_v2_test/5717/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..10a4ee78ffb1a422400027703108de9f1edeafb0
--- /dev/null
+++ b/bridge_data_v2_test/5717/lang.txt
@@ -0,0 +1,2 @@
+unfold cloth from left to right 
+confidence: 1
diff --git a/bridge_data_v2_test/5749/lang.txt b/bridge_data_v2_test/5749/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..82cee3cb7ac92cf4216338e127cfb0ce008f0da5
--- /dev/null
+++ b/bridge_data_v2_test/5749/lang.txt
@@ -0,0 +1,2 @@
+unclothe from botton right to left
+confidence: 0.8
diff --git a/bridge_data_v2_test/5921/lang.txt b/bridge_data_v2_test/5921/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c0c23841442539b170719835843afab39fc77220
--- /dev/null
+++ b/bridge_data_v2_test/5921/lang.txt
@@ -0,0 +1,2 @@
+fold the cloth from top right to bottom left.
+confidence: 0.6
diff --git a/bridge_data_v2_test/6206/lang.txt b/bridge_data_v2_test/6206/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f71b1aa78e5ae68984a6d300d11f1196457605a7
--- /dev/null
+++ b/bridge_data_v2_test/6206/lang.txt
@@ -0,0 +1,2 @@
+move the cloth up and down
+confidence: 0.6
diff --git a/bridge_data_v2_test/6933/lang.txt b/bridge_data_v2_test/6933/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..ab7bc7ae45b9ee02a12357567f14c6a333071129
--- /dev/null
+++ b/bridge_data_v2_test/6933/lang.txt
@@ -0,0 +1,2 @@
+move the red pepper on the right side of the bunny
+confidence: 1
diff --git a/bridge_data_v2_test/6996/lang.txt b/bridge_data_v2_test/6996/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..8efd29765112e71b29b579072ff17466925674f1
--- /dev/null
+++ b/bridge_data_v2_test/6996/lang.txt
@@ -0,0 +1,2 @@
+open the drawer
+confidence: 1
diff --git a/bridge_data_v2_test/7020/lang.txt b/bridge_data_v2_test/7020/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e339efc2992640431e18e1222a18e7c0cffba0c3
--- /dev/null
+++ b/bridge_data_v2_test/7020/lang.txt
@@ -0,0 +1,2 @@
+close the drawer
+confidence: 0.4
diff --git a/bridge_data_v2_test/714/lang.txt b/bridge_data_v2_test/714/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..7fc9a260eaf0bb4b055136679b0d1637457dc7a5
--- /dev/null
+++ b/bridge_data_v2_test/714/lang.txt
@@ -0,0 +1,2 @@
+silver bowl put on yellow cloth
+confidence: 0.6
diff --git a/bridge_data_v2_test/7697/lang.txt b/bridge_data_v2_test/7697/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..3e557007395b10ac8f892f5226f019ffc075a9f2
--- /dev/null
+++ b/bridge_data_v2_test/7697/lang.txt
@@ -0,0 +1,2 @@
+move the elephant to the left side of the table
+confidence: 0.6
diff --git a/bridge_data_v2_test/7918/lang.txt b/bridge_data_v2_test/7918/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..2ef9a9ba185ab741bc7d8fa181c13ad1b9c25407
--- /dev/null
+++ b/bridge_data_v2_test/7918/lang.txt
@@ -0,0 +1,2 @@
+fold the cloth from bottom right to top left
+confidence: 0.8
diff --git a/bridge_data_v2_test/7955/lang.txt b/bridge_data_v2_test/7955/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..915c5e63fb0322c5666b22637180295bb4f5bb46
--- /dev/null
+++ b/bridge_data_v2_test/7955/lang.txt
@@ -0,0 +1,2 @@
+Fold the cloth from bottom right to top left 
+confidence: 1
diff --git a/bridge_data_v2_test/8591/lang.txt b/bridge_data_v2_test/8591/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..d63e07557f83a3b67b4ea96129b7ba7d9c4c130f
--- /dev/null
+++ b/bridge_data_v2_test/8591/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/8832/lang.txt b/bridge_data_v2_test/8832/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..69649ef93b6b0e6e375797ebbd1fa410f827ca75
--- /dev/null
+++ b/bridge_data_v2_test/8832/lang.txt
@@ -0,0 +1,2 @@
+put the lid on the silver pot
+confidence: 1
diff --git a/bridge_data_v2_test/891/lang.txt b/bridge_data_v2_test/891/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..416efdbd45608ced6951ce22c9a1c9d842f2c2e4
--- /dev/null
+++ b/bridge_data_v2_test/891/lang.txt
@@ -0,0 +1,2 @@
+move the pot to the bottom right corner of the stove
+confidence: 0.8
diff --git a/bridge_data_v2_test/8966/lang.txt b/bridge_data_v2_test/8966/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..fb04eb74bd2fc586d3deaf544b95dcbcec908121
--- /dev/null
+++ b/bridge_data_v2_test/8966/lang.txt
@@ -0,0 +1,2 @@
+move the silver pot to the upper middle of the table 
+confidence: 0.6
diff --git a/bridge_data_v2_test/9106/lang.txt b/bridge_data_v2_test/9106/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..de81aba540e7e318da8ea9942ee9a52bdd888966
--- /dev/null
+++ b/bridge_data_v2_test/9106/lang.txt
@@ -0,0 +1,2 @@
+move the blue cloth to the left side of the table
+confidence: 0.8
diff --git a/bridge_data_v2_test/9144/lang.txt b/bridge_data_v2_test/9144/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..625a655c45e36a021f9e0f5c01b356647c48a445
--- /dev/null
+++ b/bridge_data_v2_test/9144/lang.txt
@@ -0,0 +1,2 @@
+Took the orange pan to the right side of the spatula
+confidence: 0.8
diff --git a/bridge_data_v2_test/9377/lang.txt b/bridge_data_v2_test/9377/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..fb38732d6314a241e2eccd7e8f4495fcf5779536
--- /dev/null
+++ b/bridge_data_v2_test/9377/lang.txt
@@ -0,0 +1,2 @@
+move the red object to lower middle of the table
+confidence: 0.8
diff --git a/bridge_data_v2_test/9587/lang.txt b/bridge_data_v2_test/9587/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9cb27282fceda1ceff9ab547f492b21bf5b5644c
--- /dev/null
+++ b/bridge_data_v2_test/9587/lang.txt
@@ -0,0 +1,2 @@
+move the orange pot to the left upper side of the table
+confidence: 0.8
diff --git a/bridge_data_v2_test/9609/lang.txt b/bridge_data_v2_test/9609/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..7ce56c9241e9a737406db38a974a0558cfa1cb54
--- /dev/null
+++ b/bridge_data_v2_test/9609/lang.txt
@@ -0,0 +1,2 @@
+move the silver cover above the blue cloth
+confidence: 0.6
diff --git a/bridge_data_v2_test/9723/lang.txt b/bridge_data_v2_test/9723/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c29e1ed450a79a4f797c63cc87629da0f129ed53
--- /dev/null
+++ b/bridge_data_v2_test/9723/lang.txt
@@ -0,0 +1,2 @@
+move the silver pot on the right side of the table
+confidence: 0.8
diff --git a/bridge_data_v2_test/9976/lang.txt b/bridge_data_v2_test/9976/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..3d39a7029613f15623d46e5e6a1c7f2afa011c36
--- /dev/null
+++ b/bridge_data_v2_test/9976/lang.txt
@@ -0,0 +1,2 @@
+remove the silver lid from the top of the silver pot
+confidence: 1