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    {
      "history": "current_repeat",
      "variant": "full_original",
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      "prompt": "Robot: robocoin_agilex_decoupled_hd. Task: the right gripper place the red cup in the center of the table, the left gripper take the blue spoon from the cup lid and scoop out the coffee beans from the coffee cup and put them into the red cup, the left gripper put the spoon back into the cup lid.\nSubtask context (ordered by onset): Scoop a spoonful of beans into the cup\nAtomic instruction: left arm: Scoop coffee beans from the black container and pour them into the red cup.",
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    {
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      "prompt": "Robot: robocoin_agilex_decoupled_hd. Task: the right gripper place the red cup in the center of the table, the left gripper take the blue spoon from the cup lid and scoop out the coffee beans from the coffee cup and put them into the red cup, the left gripper put the spoon back into the cup lid.\nSubtask context (ordered by onset): Scoop a spoonful of beans into the cup\nAtomic instruction: left arm: Scoop coffee beans from the black container and pour them into the red cup.",
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    {
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      "prompt": "Robot: robocoin_agilex_decoupled_hd. Task: Stop and remain still.\nSubtask context (ordered by onset): Hold both arms still.\nAtomic instruction: Both arms: Hold still and keep the grippers unchanged.",
      "context": "e0211ed0f2ab498225fa1fe354414acda33d55ff14ad5956290a03f5de1dc3c7"
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    {
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      "prompt": "Robot: robocoin_agilex_decoupled_hd. Task: Stop and remain still.\nSubtask context (ordered by onset): Hold both arms still.\nAtomic instruction: Both arms: Hold still and keep the grippers unchanged.",
      "context": "e0211ed0f2ab498225fa1fe354414acda33d55ff14ad5956290a03f5de1dc3c7"
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    {
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      "prompt": "Robot: robocoin_agilex_decoupled_hd. Task: the right gripper place the red cup in the center of the table, the left gripper take the blue spoon from the cup lid and scoop out the coffee beans from the coffee cup and put them into the red cup, the left gripper put the spoon back into the cup lid.\nSubtask context (ordered by onset): Scoop a spoonful of beans into the cup\nAtomic instruction: right arm: Scoop coffee beans from the black container and pour them into the red cup.",
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    {
      "history": "current_repeat",
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      "seed": 42,
      "prompt": "Robot: robocoin_agilex_decoupled_hd. Task: the right gripper place the red cup in the center of the table, the left gripper take the blue spoon from the cup lid and scoop out the coffee beans from the coffee cup and put them into the red cup, the left gripper put the spoon back into the cup lid.\nSubtask context (ordered by onset): Scoop a spoonful of beans into the cup\nAtomic instruction: right arm: Scoop coffee beans from the black container and pour them into the red cup.",
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    {
      "history": "current_repeat",
      "variant": "l3_conflict",
      "seed": 314,
      "prompt": "Robot: robocoin_agilex_decoupled_hd. Task: Raise the left arm; keep the right arm still.\nSubtask context (ordered by onset): Scoop a spoonful of beans into the cup\nAtomic instruction: left arm: Scoop coffee beans from the black container and pour them into the red cup.",
      "context": "227f530604e5caa7c92c9c6c2badfbb61bb49d67a40762840958fae44c93efe0"
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    {
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      "seed": 42,
      "prompt": "Robot: robocoin_agilex_decoupled_hd. Task: Raise the left arm; keep the right arm still.\nSubtask context (ordered by onset): Scoop a spoonful of beans into the cup\nAtomic instruction: left arm: Scoop coffee beans from the black container and pour them into the red cup.",
      "context": "227f530604e5caa7c92c9c6c2badfbb61bb49d67a40762840958fae44c93efe0"
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    {
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      "prompt": "Robot: robocoin_agilex_decoupled_hd. Task: the right gripper place the red cup in the center of the table, the left gripper take the blue spoon from the cup lid and scoop out the coffee beans from the coffee cup and put them into the red cup, the left gripper put the spoon back into the cup lid.\nSubtask context (ordered by onset): Scoop a spoonful of beans into the cup\nAtomic instruction: left arm: Scoop coffee beans from the black container and pour them into the red cup.",
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    {
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      "prompt": "Robot: robocoin_agilex_decoupled_hd. Task: the right gripper place the red cup in the center of the table, the left gripper take the blue spoon from the cup lid and scoop out the coffee beans from the coffee cup and put them into the red cup, the left gripper put the spoon back into the cup lid.\nSubtask context (ordered by onset): Scoop a spoonful of beans into the cup\nAtomic instruction: left arm: Scoop coffee beans from the black container and pour them into the red cup.",
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    {
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      "prompt": "Robot: robocoin_agilex_decoupled_hd. Task: Stop and remain still.\nSubtask context (ordered by onset): Hold both arms still.\nAtomic instruction: Both arms: Hold still and keep the grippers unchanged.",
      "context": "e0211ed0f2ab498225fa1fe354414acda33d55ff14ad5956290a03f5de1dc3c7"
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    {
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      "prompt": "Robot: robocoin_agilex_decoupled_hd. Task: Stop and remain still.\nSubtask context (ordered by onset): Hold both arms still.\nAtomic instruction: Both arms: Hold still and keep the grippers unchanged.",
      "context": "e0211ed0f2ab498225fa1fe354414acda33d55ff14ad5956290a03f5de1dc3c7"
    },
    {
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      "prompt": "Robot: robocoin_agilex_decoupled_hd. Task: the right gripper place the red cup in the center of the table, the left gripper take the blue spoon from the cup lid and scoop out the coffee beans from the coffee cup and put them into the red cup, the left gripper put the spoon back into the cup lid.\nSubtask context (ordered by onset): Scoop a spoonful of beans into the cup\nAtomic instruction: right arm: Scoop coffee beans from the black container and pour them into the red cup.",
      "context": "fdd4fe954fb06bbb25a358115d6e8e9ae44ededd6e277263e90c4eaa81377c72"
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    {
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      "variant": "full_swap_l1",
      "seed": 42,
      "prompt": "Robot: robocoin_agilex_decoupled_hd. Task: the right gripper place the red cup in the center of the table, the left gripper take the blue spoon from the cup lid and scoop out the coffee beans from the coffee cup and put them into the red cup, the left gripper put the spoon back into the cup lid.\nSubtask context (ordered by onset): Scoop a spoonful of beans into the cup\nAtomic instruction: right arm: Scoop coffee beans from the black container and pour them into the red cup.",
      "context": "fdd4fe954fb06bbb25a358115d6e8e9ae44ededd6e277263e90c4eaa81377c72"
    },
    {
      "history": "reverse_past",
      "variant": "l3_conflict",
      "seed": 314,
      "prompt": "Robot: robocoin_agilex_decoupled_hd. Task: Raise the left arm; keep the right arm still.\nSubtask context (ordered by onset): Scoop a spoonful of beans into the cup\nAtomic instruction: left arm: Scoop coffee beans from the black container and pour them into the red cup.",
      "context": "227f530604e5caa7c92c9c6c2badfbb61bb49d67a40762840958fae44c93efe0"
    },
    {
      "history": "reverse_past",
      "variant": "l3_conflict",
      "seed": 42,
      "prompt": "Robot: robocoin_agilex_decoupled_hd. Task: Raise the left arm; keep the right arm still.\nSubtask context (ordered by onset): Scoop a spoonful of beans into the cup\nAtomic instruction: left arm: Scoop coffee beans from the black container and pour them into the red cup.",
      "context": "227f530604e5caa7c92c9c6c2badfbb61bb49d67a40762840958fae44c93efe0"
    },
    {
      "history": "true_history",
      "variant": "full_original",
      "seed": 314,
      "prompt": "Robot: robocoin_agilex_decoupled_hd. Task: the right gripper place the red cup in the center of the table, the left gripper take the blue spoon from the cup lid and scoop out the coffee beans from the coffee cup and put them into the red cup, the left gripper put the spoon back into the cup lid.\nSubtask context (ordered by onset): Scoop a spoonful of beans into the cup\nAtomic instruction: left arm: Scoop coffee beans from the black container and pour them into the red cup.",
      "context": "881ed750a8f44c7d87fdb3f20f256132a5cc215c2436dd5a2d840d0985a83d3b"
    },
    {
      "history": "true_history",
      "variant": "full_original",
      "seed": 42,
      "prompt": "Robot: robocoin_agilex_decoupled_hd. Task: the right gripper place the red cup in the center of the table, the left gripper take the blue spoon from the cup lid and scoop out the coffee beans from the coffee cup and put them into the red cup, the left gripper put the spoon back into the cup lid.\nSubtask context (ordered by onset): Scoop a spoonful of beans into the cup\nAtomic instruction: left arm: Scoop coffee beans from the black container and pour them into the red cup.",
      "context": "881ed750a8f44c7d87fdb3f20f256132a5cc215c2436dd5a2d840d0985a83d3b"
    },
    {
      "history": "true_history",
      "variant": "full_stop",
      "seed": 314,
      "prompt": "Robot: robocoin_agilex_decoupled_hd. Task: Stop and remain still.\nSubtask context (ordered by onset): Hold both arms still.\nAtomic instruction: Both arms: Hold still and keep the grippers unchanged.",
      "context": "e0211ed0f2ab498225fa1fe354414acda33d55ff14ad5956290a03f5de1dc3c7"
    },
    {
      "history": "true_history",
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      "seed": 42,
      "prompt": "Robot: robocoin_agilex_decoupled_hd. Task: Stop and remain still.\nSubtask context (ordered by onset): Hold both arms still.\nAtomic instruction: Both arms: Hold still and keep the grippers unchanged.",
      "context": "e0211ed0f2ab498225fa1fe354414acda33d55ff14ad5956290a03f5de1dc3c7"
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    {
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      "seed": 314,
      "prompt": "Robot: robocoin_agilex_decoupled_hd. Task: the right gripper place the red cup in the center of the table, the left gripper take the blue spoon from the cup lid and scoop out the coffee beans from the coffee cup and put them into the red cup, the left gripper put the spoon back into the cup lid.\nSubtask context (ordered by onset): Scoop a spoonful of beans into the cup\nAtomic instruction: right arm: Scoop coffee beans from the black container and pour them into the red cup.",
      "context": "fdd4fe954fb06bbb25a358115d6e8e9ae44ededd6e277263e90c4eaa81377c72"
    },
    {
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      "variant": "full_swap_l1",
      "seed": 42,
      "prompt": "Robot: robocoin_agilex_decoupled_hd. Task: the right gripper place the red cup in the center of the table, the left gripper take the blue spoon from the cup lid and scoop out the coffee beans from the coffee cup and put them into the red cup, the left gripper put the spoon back into the cup lid.\nSubtask context (ordered by onset): Scoop a spoonful of beans into the cup\nAtomic instruction: right arm: Scoop coffee beans from the black container and pour them into the red cup.",
      "context": "fdd4fe954fb06bbb25a358115d6e8e9ae44ededd6e277263e90c4eaa81377c72"
    },
    {
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      "variant": "l1_conflict",
      "seed": 314,
      "prompt": "Robot: robocoin_agilex_decoupled_hd. Task: the right gripper place the red cup in the center of the table, the left gripper take the blue spoon from the cup lid and scoop out the coffee beans from the coffee cup and put them into the red cup, the left gripper put the spoon back into the cup lid.\nSubtask context (ordered by onset): Scoop a spoonful of beans into the cup\nAtomic instruction: Both arms: Hold still and keep the grippers unchanged.",
      "context": "8c82f79f30d41f3c0a00f47ba9c859ff57bf158f776bcc665609eb87aea18354"
    },
    {
      "history": "true_history",
      "variant": "l1_conflict",
      "seed": 42,
      "prompt": "Robot: robocoin_agilex_decoupled_hd. Task: the right gripper place the red cup in the center of the table, the left gripper take the blue spoon from the cup lid and scoop out the coffee beans from the coffee cup and put them into the red cup, the left gripper put the spoon back into the cup lid.\nSubtask context (ordered by onset): Scoop a spoonful of beans into the cup\nAtomic instruction: Both arms: Hold still and keep the grippers unchanged.",
      "context": "8c82f79f30d41f3c0a00f47ba9c859ff57bf158f776bcc665609eb87aea18354"
    },
    {
      "history": "true_history",
      "variant": "l1_only_original",
      "seed": 314,
      "prompt": "Robot: robocoin_agilex_decoupled_hd\nAtomic instruction: left arm: Scoop coffee beans from the black container and pour them into the red cup.",
      "context": "7ad00156a568375367657b1b631644287ef46a954e15d311fd0f685a7e60d85a"
    },
    {
      "history": "true_history",
      "variant": "l1_only_original",
      "seed": 42,
      "prompt": "Robot: robocoin_agilex_decoupled_hd\nAtomic instruction: left arm: Scoop coffee beans from the black container and pour them into the red cup.",
      "context": "7ad00156a568375367657b1b631644287ef46a954e15d311fd0f685a7e60d85a"
    },
    {
      "history": "true_history",
      "variant": "l1_only_stop",
      "seed": 314,
      "prompt": "Robot: robocoin_agilex_decoupled_hd\nAtomic instruction: Both arms: Hold still and keep the grippers unchanged.",
      "context": "90d0afd5583d741c3b567d1feabe073ca5a37c149e55a25e720a7bc48c0ebd1f"
    },
    {
      "history": "true_history",
      "variant": "l1_only_stop",
      "seed": 42,
      "prompt": "Robot: robocoin_agilex_decoupled_hd\nAtomic instruction: Both arms: Hold still and keep the grippers unchanged.",
      "context": "90d0afd5583d741c3b567d1feabe073ca5a37c149e55a25e720a7bc48c0ebd1f"
    },
    {
      "history": "true_history",
      "variant": "l1_only_swap",
      "seed": 314,
      "prompt": "Robot: robocoin_agilex_decoupled_hd\nAtomic instruction: right arm: Scoop coffee beans from the black container and pour them into the red cup.",
      "context": "aeba9d7338d3fec531ef9acc418d27c78aaf17d3b0a65630c74f66896a239739"
    },
    {
      "history": "true_history",
      "variant": "l1_only_swap",
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