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+size 58722
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+size 58358
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+version https://git-lfs.github.com/spec/v1
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diff --git a/bridge_data_v1/646/im_9.jpg b/bridge_data_v1/646/im_9.jpg
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--- /dev/null
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+version https://git-lfs.github.com/spec/v1
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diff --git a/bridge_data_v2_test/10192/lang.txt b/bridge_data_v2_test/10192/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..2ca951e9eb7b6e8e84c1637a41c6a15db167848d
--- /dev/null
+++ b/bridge_data_v2_test/10192/lang.txt
@@ -0,0 +1,2 @@
+move the bread to the bottom right corner of the table 
+confidence: 1
diff --git a/bridge_data_v2_test/10247/lang.txt b/bridge_data_v2_test/10247/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e14bbd7ad8f17fdc86060cfad8a3d26c0bfd3633
--- /dev/null
+++ b/bridge_data_v2_test/10247/lang.txt
@@ -0,0 +1,2 @@
+move the can to the right side of the table
+confidence: 0.8
diff --git a/bridge_data_v2_test/10447/lang.txt b/bridge_data_v2_test/10447/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..067c6a9a1552840feccba0da9f985377e451138d
--- /dev/null
+++ b/bridge_data_v2_test/10447/lang.txt
@@ -0,0 +1,2 @@
+take the silver pot lid from bottom right of the wooden table and placed it on the silver pot
+confidence: 0.8
diff --git a/bridge_data_v2_test/10592/lang.txt b/bridge_data_v2_test/10592/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..1591764223b97779b3046e517d90568a40593210
--- /dev/null
+++ b/bridge_data_v2_test/10592/lang.txt
@@ -0,0 +1,2 @@
+moved the silver bowl to the upper right side of the table
+confidence: 0.6
diff --git a/bridge_data_v2_test/1084/lang.txt b/bridge_data_v2_test/1084/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..8dc4c264181e55cb2b33a9a74320b334265fe712
--- /dev/null
+++ b/bridge_data_v2_test/1084/lang.txt
@@ -0,0 +1,2 @@
+move the silver pot to the top right side of the stove
+confidence: 1
diff --git a/bridge_data_v2_test/10893/lang.txt b/bridge_data_v2_test/10893/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c3845a42b4570ded8902106f4a8d5a6babff9f7d
--- /dev/null
+++ b/bridge_data_v2_test/10893/lang.txt
@@ -0,0 +1,2 @@
+move the orange cleaner to the upper stove
+confidence: 0.2
diff --git a/bridge_data_v2_test/11063/lang.txt b/bridge_data_v2_test/11063/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..663ae3af5bb48962be594951bade5a4c74bd39aa
--- /dev/null
+++ b/bridge_data_v2_test/11063/lang.txt
@@ -0,0 +1,2 @@
+move the blue spatula on the upper left of stove
+confidence: 1
diff --git a/bridge_data_v2_test/11186/lang.txt b/bridge_data_v2_test/11186/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..94aca5e2cb0978127fe57c4895cabdf8b7c66d80
--- /dev/null
+++ b/bridge_data_v2_test/11186/lang.txt
@@ -0,0 +1,2 @@
+picked up the corn and moved it to the right side of the stove
+confidence: 1
diff --git a/bridge_data_v2_test/11447/lang.txt b/bridge_data_v2_test/11447/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..5294af6fb7285a953792a031128ddb69270ea4e7
--- /dev/null
+++ b/bridge_data_v2_test/11447/lang.txt
@@ -0,0 +1,2 @@
+push the yellow cloth to the left side burner
+confidence: 0.6
diff --git a/bridge_data_v2_test/11910/lang.txt b/bridge_data_v2_test/11910/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..ee3fb47d68e870da49e52b44beb66f813f360e3d
--- /dev/null
+++ b/bridge_data_v2_test/11910/lang.txt
@@ -0,0 +1,2 @@
+put the brown to the top of yellow block
+confidence: 0.8
diff --git a/bridge_data_v2_test/12559/lang.txt b/bridge_data_v2_test/12559/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..1d48d274d8b74254f0ceab5dbcfaa728fe7766cf
--- /dev/null
+++ b/bridge_data_v2_test/12559/lang.txt
@@ -0,0 +1,2 @@
+open the drawer
+confidence: 0.6
diff --git a/bridge_data_v2_test/12594/lang.txt b/bridge_data_v2_test/12594/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e2be0c1d7b85bf6318450e371148ea56a13b4270
--- /dev/null
+++ b/bridge_data_v2_test/12594/lang.txt
@@ -0,0 +1,2 @@
+put the red pepper in the drawer
+confidence: 1
diff --git a/bridge_data_v2_test/1277/lang.txt b/bridge_data_v2_test/1277/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a7f1ad30929854abcca8cc1135114c18fa1d216c
--- /dev/null
+++ b/bridge_data_v2_test/1277/lang.txt
@@ -0,0 +1,2 @@
+unfold the cloth from left to right
+confidence: 0.6
diff --git a/bridge_data_v2_test/13194/lang.txt b/bridge_data_v2_test/13194/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c14d3658a52c57d7bc6efae7caf5d1697c2ff48f
--- /dev/null
+++ b/bridge_data_v2_test/13194/lang.txt
@@ -0,0 +1 @@
+sweep into pile
diff --git a/bridge_data_v2_test/13634/lang.txt b/bridge_data_v2_test/13634/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a2e86c81f743d1c0fd4ccf496693959aab9768d5
--- /dev/null
+++ b/bridge_data_v2_test/13634/lang.txt
@@ -0,0 +1,2 @@
+move the green cloth the bottom right side of the table
+confidence: 0.8
diff --git a/bridge_data_v2_test/14203/lang.txt b/bridge_data_v2_test/14203/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..d0b1cc231f6059a06daf36a65c889fca6ce2f577
--- /dev/null
+++ b/bridge_data_v2_test/14203/lang.txt
@@ -0,0 +1,2 @@
+move the spoon to the right side on the table
+confidence: 0.6
diff --git a/bridge_data_v2_test/14676/lang.txt b/bridge_data_v2_test/14676/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c5747c350c5b7a5c383c7cb64dc3d2e84a6aaada
--- /dev/null
+++ b/bridge_data_v2_test/14676/lang.txt
@@ -0,0 +1,2 @@
+move the block from the left edge to the right
+confidence: 0.8
diff --git a/bridge_data_v2_test/15202/lang.txt b/bridge_data_v2_test/15202/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..8a011f5878c88209d88a10ab1586687b700a720c
--- /dev/null
+++ b/bridge_data_v2_test/15202/lang.txt
@@ -0,0 +1,2 @@
+put the stick in the cube with a hole
+confidence: 0.6
diff --git a/bridge_data_v2_test/15329/lang.txt b/bridge_data_v2_test/15329/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..19e41fee9515da135f234d7369dbad6b34971a20
--- /dev/null
+++ b/bridge_data_v2_test/15329/lang.txt
@@ -0,0 +1,2 @@
+move the  rectangular block and put it on the table
+confidence: 1
diff --git a/bridge_data_v2_test/15843/lang.txt b/bridge_data_v2_test/15843/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..1e277b7825465cd004f6aea950a05e56af9d8f90
--- /dev/null
+++ b/bridge_data_v2_test/15843/lang.txt
@@ -0,0 +1,2 @@
+coloque o ovo  dentro da gaveta 
+confidence: 0.6
diff --git a/bridge_data_v2_test/16345/lang.txt b/bridge_data_v2_test/16345/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..7bb01a3c699103cf8913f3deef6528fbd6531d1b
--- /dev/null
+++ b/bridge_data_v2_test/16345/lang.txt
@@ -0,0 +1,2 @@
+put the thing on the left bottom side of the yellow object
+confidence: 0.6
diff --git a/bridge_data_v2_test/16605/lang.txt b/bridge_data_v2_test/16605/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..92f59f0e2c2e22fd89d1dc871785a2a1c5ac005f
--- /dev/null
+++ b/bridge_data_v2_test/16605/lang.txt
@@ -0,0 +1,2 @@
+Move the silver pot from the top left to the bottom left burner 
+confidence: 0.8
diff --git a/bridge_data_v2_test/16629/lang.txt b/bridge_data_v2_test/16629/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..4ed491506c430a28cbd0dce54d2a451b0b1bca6e
--- /dev/null
+++ b/bridge_data_v2_test/16629/lang.txt
@@ -0,0 +1,2 @@
+Move the pot lid to the lower left burner
+confidence: 1
diff --git a/bridge_data_v2_test/1671/lang.txt b/bridge_data_v2_test/1671/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a0c081fc92e719ef5ed2acdd94b87210cb962bc4
--- /dev/null
+++ b/bridge_data_v2_test/1671/lang.txt
@@ -0,0 +1,2 @@
+move the cloth from bottom right to top right
+confidence: 0.8
diff --git a/bridge_data_v2_test/16893/lang.txt b/bridge_data_v2_test/16893/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..ef93c06f0e951d58ed2e60f0b88d2d508893c06f
--- /dev/null
+++ b/bridge_data_v2_test/16893/lang.txt
@@ -0,0 +1,2 @@
+move the red object to the bottom right burner
+confidence: 0.8
diff --git a/bridge_data_v2_test/1700/lang.txt b/bridge_data_v2_test/1700/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..d0f3a4a53c7e1d53daf83430fa2888816e5be3bb
--- /dev/null
+++ b/bridge_data_v2_test/1700/lang.txt
@@ -0,0 +1,2 @@
+unfold the cloth from top left to bottom right
+confidence: 1
diff --git a/bridge_data_v2_test/17034/lang.txt b/bridge_data_v2_test/17034/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..60e3129b5a62c66df445fc6d50d45c962f7a20d1
--- /dev/null
+++ b/bridge_data_v2_test/17034/lang.txt
@@ -0,0 +1,2 @@
+move the blue spoon to the left bottom of burner
+confidence: 0.8
diff --git a/bridge_data_v2_test/17280/lang.txt b/bridge_data_v2_test/17280/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..345cee49fdc9f974f78608c20c14dbf56ef6f213
--- /dev/null
+++ b/bridge_data_v2_test/17280/lang.txt
@@ -0,0 +1,2 @@
+put the yellow cube on top of the cube with hole in the middle
+confidence: 0.6
diff --git a/bridge_data_v2_test/17520/lang.txt b/bridge_data_v2_test/17520/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..fd2532ab7f87d636fb47ba11be104a134f0c5b53
--- /dev/null
+++ b/bridge_data_v2_test/17520/lang.txt
@@ -0,0 +1,2 @@
+put the the red hexagonal block to the center of the table
+confidence: 1
diff --git a/bridge_data_v2_test/17915/lang.txt b/bridge_data_v2_test/17915/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f252578348736270f49ef263df8d9ffd3c1e51d5
--- /dev/null
+++ b/bridge_data_v2_test/17915/lang.txt
@@ -0,0 +1,2 @@
+Put the blue block in the middle of the table 
+confidence: 0.8
diff --git a/bridge_data_v2_test/18018/lang.txt b/bridge_data_v2_test/18018/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..835d5323608be6ce0d2d98bf69f2f956bca7d806
--- /dev/null
+++ b/bridge_data_v2_test/18018/lang.txt
@@ -0,0 +1,2 @@
+put the white arch on the top of the tower
+confidence: 0.8
diff --git a/bridge_data_v2_test/18030/lang.txt b/bridge_data_v2_test/18030/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..d4ffd73ab4ac35927162c686a22b80e2202fdd51
--- /dev/null
+++ b/bridge_data_v2_test/18030/lang.txt
@@ -0,0 +1,2 @@
+put the block on top of the other block
+confidence: 1
diff --git a/bridge_data_v2_test/18106/lang.txt b/bridge_data_v2_test/18106/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..67bd838102b7218fce1c5023577dd36bb2a4bfd1
--- /dev/null
+++ b/bridge_data_v2_test/18106/lang.txt
@@ -0,0 +1,2 @@
+put the yellow triangle on top of the tower
+confidence: 0.8
diff --git a/bridge_data_v2_test/18321/lang.txt b/bridge_data_v2_test/18321/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c14d3658a52c57d7bc6efae7caf5d1697c2ff48f
--- /dev/null
+++ b/bridge_data_v2_test/18321/lang.txt
@@ -0,0 +1 @@
+sweep into pile
diff --git a/bridge_data_v2_test/1955/lang.txt b/bridge_data_v2_test/1955/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e3bae0dbd04cc5ead017f51c51ac27aea3854b73
--- /dev/null
+++ b/bridge_data_v2_test/1955/lang.txt
@@ -0,0 +1,2 @@
+fold the cloth from top right to bottom left
+confidence: 0.8
diff --git a/bridge_data_v2_test/2/lang.txt b/bridge_data_v2_test/2/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..01eb7a31a53cbd99770b383f921ed0707e02086c
--- /dev/null
+++ b/bridge_data_v2_test/2/lang.txt
@@ -0,0 +1,2 @@
+take the red spoon and put it to the middle of the stove
+confidence: 1
diff --git a/bridge_data_v2_test/2157/lang.txt b/bridge_data_v2_test/2157/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f820fcf2458dedd4f577172cba886bac9c4def60
--- /dev/null
+++ b/bridge_data_v2_test/2157/lang.txt
@@ -0,0 +1,2 @@
+fold the cloth from right to left
+confidence: 0.8
diff --git a/bridge_data_v2_test/223/lang.txt b/bridge_data_v2_test/223/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..839d1c12675c7490f3e3928e14b060af82ea4a28
--- /dev/null
+++ b/bridge_data_v2_test/223/lang.txt
@@ -0,0 +1,2 @@
+move the blue fork to the lower left burner
+confidence: 0.6
diff --git a/bridge_data_v2_test/2298/lang.txt b/bridge_data_v2_test/2298/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..31b984afad2a450cac51a822c12ff4ee1a1810e8
--- /dev/null
+++ b/bridge_data_v2_test/2298/lang.txt
@@ -0,0 +1,2 @@
+put the strawberry into the cloth
+confidence: 0.8
diff --git a/bridge_data_v2_test/2326/lang.txt b/bridge_data_v2_test/2326/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e6bc52ebbf1622fba1e0b31e26c66d17d1a2e49e
--- /dev/null
+++ b/bridge_data_v2_test/2326/lang.txt
@@ -0,0 +1,2 @@
+fold the cloth from top left to bottom right
+confidence: 1
diff --git a/bridge_data_v2_test/2605/lang.txt b/bridge_data_v2_test/2605/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..3d8d9a8ee3b0bdd57cce08d1d455818b8a97d838
--- /dev/null
+++ b/bridge_data_v2_test/2605/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/2669/lang.txt b/bridge_data_v2_test/2669/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..998865229009a5bf8c6c49eb55d3ba51d37ea115
--- /dev/null
+++ b/bridge_data_v2_test/2669/lang.txt
@@ -0,0 +1,2 @@
+unfold the cloth from bottom right to top left
+confidence: 1
diff --git a/bridge_data_v2_test/2718/lang.txt b/bridge_data_v2_test/2718/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f5e49c1c888184d38a88f2df3bbea1644dd188c3
--- /dev/null
+++ b/bridge_data_v2_test/2718/lang.txt
@@ -0,0 +1,2 @@
+unfold cloth from left to right
+confidence: 0.8
diff --git a/bridge_data_v2_test/2805/lang.txt b/bridge_data_v2_test/2805/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f0301eb6b692c5cf85bc9d1925ff2d65808398b2
--- /dev/null
+++ b/bridge_data_v2_test/2805/lang.txt
@@ -0,0 +1,2 @@
+fold the cloth from left to right
+confidence: 1
diff --git a/bridge_data_v2_test/2983/lang.txt b/bridge_data_v2_test/2983/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..acd9c9b09b0f111c3b7976ac379143e10f0761f2
--- /dev/null
+++ b/bridge_data_v2_test/2983/lang.txt
@@ -0,0 +1,2 @@
+put the sushi toy on the top right edge of the cloth
+confidence: 0.8
diff --git a/bridge_data_v2_test/3212/lang.txt b/bridge_data_v2_test/3212/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..2400efb7a1fd7cd9b1938a67fcaff7b1691471d2
--- /dev/null
+++ b/bridge_data_v2_test/3212/lang.txt
@@ -0,0 +1,2 @@
+close the drawer
+confidence: 0.8
diff --git a/bridge_data_v2_test/350/lang.txt b/bridge_data_v2_test/350/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..46256658809e7f729c88f8388a577c18c1f34dc3
--- /dev/null
+++ b/bridge_data_v2_test/350/lang.txt
@@ -0,0 +1,2 @@
+put the pot on the left burner
+confidence: 0.8
diff --git a/bridge_data_v2_test/3520/lang.txt b/bridge_data_v2_test/3520/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c14d3658a52c57d7bc6efae7caf5d1697c2ff48f
--- /dev/null
+++ b/bridge_data_v2_test/3520/lang.txt
@@ -0,0 +1 @@
+sweep into pile
diff --git a/bridge_data_v2_test/3797/lang.txt b/bridge_data_v2_test/3797/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c14d3658a52c57d7bc6efae7caf5d1697c2ff48f
--- /dev/null
+++ b/bridge_data_v2_test/3797/lang.txt
@@ -0,0 +1 @@
+sweep into pile
diff --git a/bridge_data_v2_test/3874/lang.txt b/bridge_data_v2_test/3874/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c14d3658a52c57d7bc6efae7caf5d1697c2ff48f
--- /dev/null
+++ b/bridge_data_v2_test/3874/lang.txt
@@ -0,0 +1 @@
+sweep into pile
diff --git a/bridge_data_v2_test/3991/lang.txt b/bridge_data_v2_test/3991/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a4c0bfa6bd318df4b8e03ab06bece3dc1b624fe2
--- /dev/null
+++ b/bridge_data_v2_test/3991/lang.txt
@@ -0,0 +1,2 @@
+take the blue cloth and wipe the washing machine with this cloth
+confidence: 1
diff --git a/bridge_data_v2_test/4087/lang.txt b/bridge_data_v2_test/4087/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..77203bdb783d2228f54780514695ef2a1a5064a5
--- /dev/null
+++ b/bridge_data_v2_test/4087/lang.txt
@@ -0,0 +1,2 @@
+move the yellow thing into the washing machine
+confidence: 0.4
diff --git a/bridge_data_v2_test/4159/lang.txt b/bridge_data_v2_test/4159/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0b3b82a41ae126f7650851d07121eabc6d07c855
--- /dev/null
+++ b/bridge_data_v2_test/4159/lang.txt
@@ -0,0 +1,2 @@
+put the green cloth in the white basket
+confidence: 1
diff --git a/bridge_data_v2_test/4306/lang.txt b/bridge_data_v2_test/4306/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..4f0df7af62d9578e31b9f7b24c804ffecfe54b22
--- /dev/null
+++ b/bridge_data_v2_test/4306/lang.txt
@@ -0,0 +1,2 @@
+put the blue cloth in the washing machine
+confidence: 0.8
diff --git a/bridge_data_v2_test/4769/lang.txt b/bridge_data_v2_test/4769/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..403f6703a9f071e0854fbf2e7c1a49456ac6cea8
--- /dev/null
+++ b/bridge_data_v2_test/4769/lang.txt
@@ -0,0 +1,2 @@
+unfold the cloth from left to right
+confidence: 1
diff --git a/bridge_data_v2_test/5027/lang.txt b/bridge_data_v2_test/5027/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..036a30eae7488c6bb9ec912c1dd6c139dd0689cf
--- /dev/null
+++ b/bridge_data_v2_test/5027/lang.txt
@@ -0,0 +1,2 @@
+fold the cloth from the top to the bottom
+confidence: 0.4
diff --git a/bridge_data_v2_test/5166/lang.txt b/bridge_data_v2_test/5166/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..4df936dc6fe758dba4dc5131cfc9072bc7e73a69
--- /dev/null
+++ b/bridge_data_v2_test/5166/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/5899/lang.txt b/bridge_data_v2_test/5899/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..6f0b2568748ac47249b97276d5830d9863988bc0
--- /dev/null
+++ b/bridge_data_v2_test/5899/lang.txt
@@ -0,0 +1,2 @@
+unfold the cloth from top right to left
+confidence: 0.6
diff --git a/bridge_data_v2_test/6092/lang.txt b/bridge_data_v2_test/6092/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..647e4da15e0dc0fe640fb9c7645ff8bcb300bb4d
--- /dev/null
+++ b/bridge_data_v2_test/6092/lang.txt
@@ -0,0 +1,2 @@
+fold the cloth top left to bottom right
+confidence: 1
diff --git a/bridge_data_v2_test/6238/lang.txt b/bridge_data_v2_test/6238/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..23143bca87cbefaa29da9d235d9e1c5a4aa5ab86
--- /dev/null
+++ b/bridge_data_v2_test/6238/lang.txt
@@ -0,0 +1,2 @@
+unfold from top right to bottom left
+confidence: 1
diff --git a/bridge_data_v2_test/6677/lang.txt b/bridge_data_v2_test/6677/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..d60f8a97140da17fac784e3a0c71ea2765c06907
--- /dev/null
+++ b/bridge_data_v2_test/6677/lang.txt
@@ -0,0 +1,2 @@
+unfolding a ball inside a cloth
+confidence: 0.8
diff --git a/bridge_data_v2_test/6691/lang.txt b/bridge_data_v2_test/6691/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..fb06f534e39d9ace1e33be73f6723b6dbd06472e
--- /dev/null
+++ b/bridge_data_v2_test/6691/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/6776/lang.txt b/bridge_data_v2_test/6776/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a3d231843d51c67c615de8ba5bf3cb83cf7a86e4
--- /dev/null
+++ b/bridge_data_v2_test/6776/lang.txt
@@ -0,0 +1,2 @@
+fold the cloth from bottom rigth to up left
+confidence: 1
diff --git a/bridge_data_v2_test/6965/lang.txt b/bridge_data_v2_test/6965/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..2400efb7a1fd7cd9b1938a67fcaff7b1691471d2
--- /dev/null
+++ b/bridge_data_v2_test/6965/lang.txt
@@ -0,0 +1,2 @@
+close the drawer
+confidence: 0.8
diff --git a/bridge_data_v2_test/7096/lang.txt b/bridge_data_v2_test/7096/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..77380eb2bb2a57fd04d87871d5612454b0e41440
--- /dev/null
+++ b/bridge_data_v2_test/7096/lang.txt
@@ -0,0 +1,2 @@
+close the drawer
+confidence: 1
diff --git a/bridge_data_v2_test/7358/lang.txt b/bridge_data_v2_test/7358/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..2400efb7a1fd7cd9b1938a67fcaff7b1691471d2
--- /dev/null
+++ b/bridge_data_v2_test/7358/lang.txt
@@ -0,0 +1,2 @@
+close the drawer
+confidence: 0.8
diff --git a/bridge_data_v2_test/7710/lang.txt b/bridge_data_v2_test/7710/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..1f3fe18ddf27d280e2c091733d94bc06c8f14e69
--- /dev/null
+++ b/bridge_data_v2_test/7710/lang.txt
@@ -0,0 +1,2 @@
+pick up the green object and place it on the bottom right side of the table
+confidence: 0.8
diff --git a/bridge_data_v2_test/8240/lang.txt b/bridge_data_v2_test/8240/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..8333bf3c906e8e3368bc51e8b185cd58cbef0c2f
--- /dev/null
+++ b/bridge_data_v2_test/8240/lang.txt
@@ -0,0 +1,2 @@
+fold the cloth from top left to top right
+confidence: 1
diff --git a/bridge_data_v2_test/8508/lang.txt b/bridge_data_v2_test/8508/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..fb56ed7867397307cd39df8e02d5583dc37afdb2
--- /dev/null
+++ b/bridge_data_v2_test/8508/lang.txt
@@ -0,0 +1,2 @@
+The robot will open the package.
+confidence: 0.4
diff --git a/bridge_data_v2_test/8754/lang.txt b/bridge_data_v2_test/8754/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f3a6520b980a8020f2b6aedfa1331cab45561486
--- /dev/null
+++ b/bridge_data_v2_test/8754/lang.txt
@@ -0,0 +1,2 @@
+moves the tin to the bottom centre of the table
+confidence: 0.8
diff --git a/bridge_data_v2_test/9438/lang.txt b/bridge_data_v2_test/9438/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f6b52a23c564315f0ae0e8f7ba32d6535e903a3
--- /dev/null
+++ b/bridge_data_v2_test/9438/lang.txt
@@ -0,0 +1,2 @@
+robot did not pick anything
+confidence: 0.6
diff --git a/bridge_data_v2_test/9544/lang.txt b/bridge_data_v2_test/9544/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a1196525671917396bd85084898cd0cedecfbc4e
--- /dev/null
+++ b/bridge_data_v2_test/9544/lang.txt
@@ -0,0 +1,2 @@
+put the white and brown thing in the pot
+confidence: 0.8
diff --git a/bridge_data_v2_test/956/lang.txt b/bridge_data_v2_test/956/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..8e5fbbae9a8144239bfc7de2550f5cb087d15665
--- /dev/null
+++ b/bridge_data_v2_test/956/lang.txt
@@ -0,0 +1,2 @@
+put the eggplant on top of the green cloth
+confidence: 1
diff --git a/bridge_data_v2_test/9635/lang.txt b/bridge_data_v2_test/9635/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..6c6f95a34b39dbea7f501ac4266e4e49c2a183fb
--- /dev/null
+++ b/bridge_data_v2_test/9635/lang.txt
@@ -0,0 +1,2 @@
+Move the blue fork to the top of the table.
+confidence: 1
diff --git a/bridge_data_v2_test/9986/lang.txt b/bridge_data_v2_test/9986/lang.txt
new file mode 100644
index 0000000000000000000000000000000000000000..1b9abf49ae48d53ef69201b9c8e875e9df5bb914
--- /dev/null
+++ b/bridge_data_v2_test/9986/lang.txt
@@ -0,0 +1,2 @@
+put the lid on the lower right corner of the table
+confidence: 0.8