Question: Given the baseline sensor stream below and the counterfactual scenario where a collision hanging cable occurs at timestep 9378 ms, rank the signal segments listed in the 'options' field in the order you would expect them to appear as the event manifests. Answer only with a four letter string indicating your ranking (ie. DCAB), nothing else.

Choices:
A. co0=-0.05, co1=-1.34, co2=-1.13, co3=-0.6, co4=-0.02, co5=-0.15, dib=0, dob=0, ec0=-0.05, ec1=-1.34, ec2=-1.12, ec3=-0.59, ec4=-0.02, ec5=-0.15, etc0=0, etc1=-1.31, etc2=-1.17, etc3=-0.56, etc4=0, etc5=0, e=29, fp0=33.88, fp1=-70.45, fp2=106.13, fp3=-126.05, fp4=-90.51, fp5=301.43, fs0=0, fs1=0.01, fs2=0.01, fs3=0, fs4=0, fs5=0, ft0=-0.22, ft1=-0.28, ft2=0.12, ft3=0.07, ft4=-3.13, ft5=0, fts0=0, fts1=0, fts2=0, fts3=0, fts4=0, fts5=0, gc=-1, jm0=253, jm1=253, jm2=253, jm3=253, jm4=253, jm5=253, jt0=33.53, jt1=35.7, jt2=38.9, jt3=40.07, jt4=43, jt5=40.82, mv=48.19, rc=0.68, rm=7, rv=48.19, rs=2, sm=1, sp0=33.89, sp1=-70.45, sp2=106.12, sp3=-126.04, sp4=-90.5, sp5=301.43, ss0=0, ss1=0, ss2=0, ss3=0, ss4=0, ss5=0, st0=-0.22, st1=-0.28, st2=0.12, st3=0.07, st4=-3.13, st5=0, sts0=0, sts1=0, sts2=0, sts3=0, sts4=0, sts5=0, ss=1, tsf=1, tp=7, tm=0, tf0=-0.35, tf1=-6.42, tf2=0.45, tf3=0.91, tf4=-0.23, tf5=-0.7 | co0=-0.05, co1=-1.34, co2=-1.14, co3=-0.6, co4=-0.02, co5=-0.15, dib=0, dob=0, ec0=-0.05, ec1=-1.36, ec2=-1.14, ec3=-0.6, ec4=-0.02, ec5=-0.15, etc0=0, etc1=-1.31, etc2=-1.17, etc3=-0.56, etc4=0, etc5=0, e=29, fp0=33.89, fp1=-70.45, fp2=106.13, fp3=-126.05, fp4=-90.51, fp5=301.43, fs0=0, fs1=0, fs2=0.01, fs3=0, fs4=0, fs5=0, ft0=-0.22, ft1=-0.28, ft2=0.12, ft3=0.07, ft4=-3.13, ft5=0, fts0=0, fts1=0, fts2=0, fts3=0, fts4=0, fts5=0, gc=0, jm0=253, jm1=253, jm2=253, jm3=253, jm4=253, jm5=253, jt0=33.53, jt1=35.7, jt2=38.9, jt3=40.07, jt4=43, jt5=40.82, mv=48.19, rc=0.72, rm=7, rv=48.19, rs=2, sm=1, sp0=33.89, sp1=-70.45, sp2=106.12, sp3=-126.04, sp4=-90.5, sp5=301.43, ss0=0, ss1=0, ss2=0, ss3=0, ss4=0, ss5=0, st0=-0.22, st1=-0.28, st2=0.12, st3=0.07, st4=-3.13, st5=0, sts0=0, sts1=0, sts2=0, sts3=0, sts4=0, sts5=0, ss=1, tsf=1, tp=7, tm=0, tf0=-0.47, tf1=-6.7, tf2=-0.24, tf3=0.92, tf4=-0.22, tf5=-0.71 | co0=-0.05, co1=-1.34, co2=-1.14, co3=-0.6, co4=-0.02, co5=-0.15, dib=0, dob=0, ec0=-0.05, ec1=-1.36, ec2=-1.14, ec3=-0.6, ec4=-0.02, ec5=-0.15, etc0=0, etc1=-1.31, etc2=-1.17, etc3=-0.56, etc4=0, etc5=0, e=29, fp0=33.89, fp1=-70.45, fp2=106.13, fp3=-126.05, fp4=-90.51, fp5=301.43, fs0=0, fs1=0, fs2=0.01, fs3=0, fs4=0, fs5=0, ft0=-0.22, ft1=-0.28, ft2=0.12, ft3=0.07, ft4=-3.13, ft5=0, fts0=0, fts1=0, fts2=0, fts3=0, fts4=0, fts5=0, gc=0, jm0=253, jm1=253, jm2=253, jm3=253, jm4=253, jm5=253, jt0=33.53, jt1=35.7, jt2=38.9, jt3=40.07, jt4=43, jt5=40.82, mv=48.19, rc=0.72, rm=7, rv=48.19, rs=2, sm=1, sp0=33.89, sp1=-70.45, sp2=106.12, sp3=-126.04, sp4=-90.5, sp5=301.43, ss0=0, ss1=0, ss2=0, ss3=0, ss4=0, ss5=0, st0=-0.22, st1=-0.28, st2=0.12, st3=0.07, st4=-3.13, st5=0, sts0=0, sts1=0, sts2=0, sts3=0, sts4=0, sts5=0, ss=1, tsf=1, tp=7, tm=0, tf0=-0.47, tf1=-6.7, tf2=-0.24, tf3=0.92, tf4=-0.22, tf5=-0.71 | co0=-0.04, co1=-1.34, co2=-1.19, co3=-0.59, co4=-0.02, co5=-0.15, dib=0, dob=0, ec0=-0.04, ec1=-1.31, ec2=-1.18, ec3=-0.59, ec4=-0.02, ec5=-0.15, etc0=0, etc1=-1.31, etc2=-1.17, etc3=-0.56, etc4=0, etc5=0, e=29, fp0=33.89, fp1=-70.45, fp2=106.13, fp3=-126.05, fp4=-90.51, fp5=301.43, fs0=0, fs1=0, fs2=0.01, fs3=0, fs4=0, fs5=0, ft0=-0.22, ft1=-0.28, ft2=0.12, ft3=0.07, ft4=-3.13, ft5=0, fts0=0, fts1=0, fts2=0, fts3=0, fts4=0, fts5=0, gc=0, jm0=253, jm1=253, jm2=253, jm3=253, jm4=253, jm5=253, jt0=33.53, jt1=35.7, jt2=38.9, jt3=40.07, jt4=43, jt5=40.82, mv=48.19, rc=0.64, rm=7, rv=48.19, rs=2, sm=1, sp0=33.89, sp1=-70.45, sp2=106.12, sp3=-126.04, sp4=-90.5, sp5=301.43, ss0=0, ss1=0, ss2=0, ss3=0, ss4=0, ss5=0, st0=-0.22, st1=-0.28, st2=0.12, st3=0.07, st4=-3.13, st5=0, sts0=0, sts1=0, sts2=0, sts3=0, sts4=0, sts5=0, ss=1, tsf=1, tp=7, tm=0, tf0=2.3, tf1=-2.72, tf2=0.36, tf3=0.38, tf4=0.13, tf5=-0.7 | co0=-0.05, co1=-1.34, co2=-1.25, co3=-0.6, co4=-0.02, co5=-0.15, dib=0, dob=0, ec0=-0.06, ec1=-1.33, ec2=-1.25, ec3=-0.6, ec4=-0.03, ec5=-0.15, etc0=0, etc1=-1.31, etc2=-1.17, etc3=-0.56, etc4=0, etc5=0, e=0, fp0=33.89, fp1=-70.45, fp2=106.12, fp3=-126.05, fp4=-90.51, fp5=301.42, fs0=0, fs1=0, fs2=0, fs3=0, fs4=0, fs5=0, ft0=-0.22, ft1=-0.28, ft2=0.12, ft3=0.07, ft4=-3.13, ft5=0, fts0=0, fts1=0, fts2=0, fts3=0, fts4=0, fts5=0, gc=0, jm0=253, jm1=253, jm2=253, jm3=253, jm4=253, jm5=253, jt0=33.53, jt1=35.7, jt2=38.9, jt3=40.07, jt4=43, jt5=40.82, mv=48.19, rc=0.57, rm=7, rv=48.19, rs=2, sm=1, sp0=33.89, sp1=-70.45, sp2=106.12, sp3=-126.04, sp4=-90.5, sp5=301.43, ss0=0, ss1=0, ss2=0, ss3=0, ss4=0, ss5=0, st0=-0.22, st1=-0.28, st2=0.12, st3=0.07, st4=-3.13, st5=0, sts0=0, sts1=0, sts2=0, sts3=0, sts4=0, sts5=0, ss=1, tsf=1, tp=7, tm=0, tf0=3.66, tf1=-1.69, tf2=-1.63, tf3=0.16, tf4=0.41, tf5=-0.69 | co0=-0.05, co1=-1.34, co2=-1.32, co3=-0.6, co4=-0.02, co5=-0.15, dib=0, dob=0, ec0=-0.04, ec1=-1.36, ec2=-1.33, ec3=-0.59, ec4=-0.02, ec5=-0.15, etc0=0, etc1=-1.31, etc2=-1.17, etc3=-0.56, etc4=0, etc5=0, e=0, fp0=33.88, fp1=-70.45, fp2=106.13, fp3=-126.05, fp4=-90.5, fp5=301.43, fs0=0, fs1=0, fs2=0, fs3=0, fs4=0, fs5=0, ft0=-0.22, ft1=-0.28, ft2=0.12, ft3=0.07, ft4=-3.13, ft5=0, fts0=0, fts1=0, fts2=0, fts3=0, fts4=0, fts5=0, gc=-2, jm0=253, jm1=253, jm2=253, jm3=253, jm4=253, jm5=253, jt0=33.53, jt1=35.7, jt2=38.9, jt3=40.07, jt4=43, jt5=40.82, mv=48.19, rc=0.68, rm=7, rv=48.19, rs=2, sm=1, sp0=33.89, sp1=-70.45, sp2=106.12, sp3=-126.04, sp4=-90.5, sp5=301.43, ss0=0, ss1=0, ss2=0, ss3=0, ss4=0, ss5=0, st0=-0.22, st1=-0.28, st2=0.12, st3=0.07, st4=-3.13, st5=0, sts0=0, sts1=0, sts2=0, sts3=0, sts4=0, sts5=0, ss=1, tsf=1, tp=7, tm=0, tf0=5.18, tf1=0.88, tf2=-4.32, tf3=-0.33, tf4=0.87, tf5=-0.7 | co0=-0.05, co1=-1.34, co2=-1.32, co3=-0.6, co4=-0.02, co5=-0.15, dib=0, dob=0, ec0=-0.04, ec1=-1.36, ec2=-1.33, ec3=-0.59, ec4=-0.02, ec5=-0.15, etc0=0, etc1=-1.31, etc2=-1.17, etc3=-0.56, etc4=0, etc5=0, e=0, fp0=33.88, fp1=-70.45, fp2=106.13, fp3=-126.05, fp4=-90.5, fp5=301.43, fs0=0, fs1=0, fs2=0, fs3=0, fs4=0, fs5=0, ft0=-0.22, ft1=-0.28, ft2=0.12, ft3=0.07, ft4=-3.13, ft5=0, fts0=0, fts1=0, fts2=0, fts3=0, fts4=0, fts5=0, gc=-2, jm0=253, jm1=253, jm2=253, jm3=253, jm4=253, jm5=253, jt0=33.53, jt1=35.7, jt2=38.9, jt3=40.07, jt4=43, jt5=40.82, mv=48.19, rc=0.68, rm=7, rv=48.19, rs=2, sm=1, sp0=33.89, sp1=-70.45, sp2=106.12, sp3=-126.04, sp4=-90.5, sp5=301.43, ss0=0, ss1=0, ss2=0, ss3=0, ss4=0, ss5=0, st0=-0.22, st1=-0.28, st2=0.12, st3=0.07, st4=-3.13, st5=0, sts0=0, sts1=0, sts2=0, sts3=0, sts4=0, sts5=0, ss=1, tsf=1, tp=7, tm=0, tf0=5.18, tf1=0.88, tf2=-4.32, tf3=-0.33, tf4=0.87, tf5=-0.7
B. co0=-0.05, co1=-1.34, co2=-1.31, co3=-0.6, co4=-0.02, co5=-0.15, dib=0, dob=0, ec0=-0.04, ec1=-1.36, ec2=-1.31, ec3=-0.59, ec4=-0.02, ec5=-0.15, etc0=0, etc1=-1.31, etc2=-1.17, etc3=-0.56, etc4=0, etc5=0, e=0, fp0=33.89, fp1=-70.45, fp2=106.12, fp3=-126.05, fp4=-90.51, fp5=301.43, fs0=0, fs1=0, fs2=0, fs3=0, fs4=0, fs5=0, ft0=-0.22, ft1=-0.28, ft2=0.12, ft3=0.07, ft4=-3.13, ft5=0, fts0=0, fts1=0, fts2=0, fts3=0, fts4=0, fts5=0, gc=0, jm0=253, jm1=253, jm2=253, jm3=253, jm4=253, jm5=253, jt0=33.53, jt1=35.7, jt2=38.9, jt3=40.07, jt4=43, jt5=40.82, mv=48.19, rc=0.64, rm=7, rv=48.19, rs=2, sm=1, sp0=33.89, sp1=-70.45, sp2=106.12, sp3=-126.04, sp4=-90.5, sp5=301.43, ss0=0, ss1=0, ss2=0, ss3=0, ss4=0, ss5=0, st0=-0.22, st1=-0.28, st2=0.12, st3=0.07, st4=-3.13, st5=0, sts0=0, sts1=0, sts2=0, sts3=0, sts4=0, sts5=0, ss=1, tsf=1, tp=7, tm=0, tf0=4.63, tf1=0.17, tf2=-4.02, tf3=-0.22, tf4=0.76, tf5=-0.7 | co0=-0.05, co1=-1.34, co2=-1.31, co3=-0.6, co4=-0.02, co5=-0.15, dib=0, dob=0, ec0=-0.04, ec1=-1.3, ec2=-1.31, ec3=-0.59, ec4=-0.03, ec5=-0.15, etc0=0, etc1=-1.31, etc2=-1.17, etc3=-0.56, etc4=0, etc5=0, e=0, fp0=33.89, fp1=-70.45, fp2=106.13, fp3=-126.05, fp4=-90.51, fp5=301.43, fs0=0, fs1=0, fs2=0, fs3=0, fs4=0, fs5=0, ft0=-0.22, ft1=-0.28, ft2=0.12, ft3=0.07, ft4=-3.13, ft5=0, fts0=0, fts1=0, fts2=0, fts3=0, fts4=0, fts5=0, gc=1, jm0=253, jm1=253, jm2=253, jm3=253, jm4=253, jm5=253, jt0=33.53, jt1=35.7, jt2=38.9, jt3=40.07, jt4=43, jt5=40.82, mv=48.19, rc=0.79, rm=7, rv=48.19, rs=2, sm=1, sp0=33.89, sp1=-70.45, sp2=106.12, sp3=-126.04, sp4=-90.5, sp5=301.43, ss0=0, ss1=0, ss2=0, ss3=0, ss4=0, ss5=0, st0=-0.22, st1=-0.28, st2=0.12, st3=0.07, st4=-3.13, st5=0, sts0=0, sts1=0, sts2=0, sts3=0, sts4=0, sts5=0, ss=1, tsf=1, tp=7, tm=0, tf0=6.49, tf1=2.76, tf2=-2.07, tf3=-0.48, tf4=0.86, tf5=-0.69 | co0=-0.05, co1=-1.34, co2=-1.31, co3=-0.6, co4=-0.02, co5=-0.15, dib=0, dob=0, ec0=-0.06, ec1=-1.36, ec2=-1.33, ec3=-0.59, ec4=-0.01, ec5=-0.15, etc0=0, etc1=-1.31, etc2=-1.17, etc3=-0.56, etc4=0, etc5=0, e=0, fp0=33.89, fp1=-70.45, fp2=106.13, fp3=-126.05, fp4=-90.51, fp5=301.43, fs0=0, fs1=0, fs2=0, fs3=0, fs4=0, fs5=0, ft0=-0.22, ft1=-0.28, ft2=0.12, ft3=0.07, ft4=-3.13, ft5=0, fts0=0, fts1=0, fts2=0, fts3=0, fts4=0, fts5=0, gc=0, jm0=253, jm1=253, jm2=253, jm3=253, jm4=253, jm5=253, jt0=33.53, jt1=35.7, jt2=38.9, jt3=40.07, jt4=43, jt5=40.82, mv=48.19, rc=0.72, rm=7, rv=48.19, rs=2, sm=1, sp0=33.89, sp1=-70.45, sp2=106.12, sp3=-126.04, sp4=-90.5, sp5=301.43, ss0=0, ss1=0, ss2=0, ss3=0, ss4=0, ss5=0, st0=-0.22, st1=-0.28, st2=0.12, st3=0.07, st4=-3.13, st5=0, sts0=0, sts1=0, sts2=0, sts3=0, sts4=0, sts5=0, ss=1, tsf=1, tp=7, tm=0, tf0=6.51, tf1=2.46, tf2=-2.19, tf3=-0.41, tf4=0.88, tf5=-0.67 | co0=-0.05, co1=-1.34, co2=-1.31, co3=-0.6, co4=-0.02, co5=-0.15, dib=0, dob=0, ec0=-0.04, ec1=-1.3, ec2=-1.32, ec3=-0.6, ec4=-0.03, ec5=-0.15, etc0=0, etc1=-1.31, etc2=-1.17, etc3=-0.56, etc4=0, etc5=0, e=0, fp0=33.89, fp1=-70.45, fp2=106.13, fp3=-126.05, fp4=-90.51, fp5=301.43, fs0=0, fs1=0, fs2=0, fs3=0, fs4=0, fs5=0, ft0=-0.22, ft1=-0.28, ft2=0.12, ft3=0.07, ft4=-3.13, ft5=0, fts0=0, fts1=0, fts2=0, fts3=0, fts4=0, fts5=0, gc=-1, jm0=253, jm1=253, jm2=253, jm3=253, jm4=253, jm5=253, jt0=33.53, jt1=35.7, jt2=38.9, jt3=40.07, jt4=43, jt5=40.82, mv=48.19, rc=0.64, rm=7, rv=48.19, rs=2, sm=1, sp0=33.89, sp1=-70.45, sp2=106.12, sp3=-126.04, sp4=-90.5, sp5=301.43, ss0=0, ss1=0, ss2=0, ss3=0, ss4=0, ss5=0, st0=-0.22, st1=-0.28, st2=0.12, st3=0.07, st4=-3.13, st5=0, sts0=0, sts1=0, sts2=0, sts3=0, sts4=0, sts5=0, ss=1, tsf=1, tp=7, tm=0, tf0=6.73, tf1=2.93, tf2=-2.02, tf3=-0.51, tf4=0.86, tf5=-0.69 | co0=-0.05, co1=-1.34, co2=-1.31, co3=-0.6, co4=-0.02, co5=-0.15, dib=0, dob=0, ec0=-0.04, ec1=-1.3, ec2=-1.32, ec3=-0.6, ec4=-0.03, ec5=-0.15, etc0=0, etc1=-1.31, etc2=-1.17, etc3=-0.56, etc4=0, etc5=0, e=0, fp0=33.89, fp1=-70.45, fp2=106.13, fp3=-126.05, fp4=-90.51, fp5=301.43, fs0=0, fs1=0, fs2=0, fs3=0, fs4=0, fs5=0, ft0=-0.22, ft1=-0.28, ft2=0.12, ft3=0.07, ft4=-3.13, ft5=0, fts0=0, fts1=0, fts2=0, fts3=0, fts4=0, fts5=0, gc=-1, jm0=253, jm1=253, jm2=253, jm3=253, jm4=253, jm5=253, jt0=33.53, jt1=35.7, jt2=38.9, jt3=40.07, jt4=43, jt5=40.82, mv=48.19, rc=0.64, rm=7, rv=48.19, rs=2, sm=1, sp0=33.89, sp1=-70.45, sp2=106.12, sp3=-126.04, sp4=-90.5, sp5=301.43, ss0=0, ss1=0, ss2=0, ss3=0, ss4=0, ss5=0, st0=-0.22, st1=-0.28, st2=0.12, st3=0.07, st4=-3.13, st5=0, sts0=0, sts1=0, sts2=0, sts3=0, sts4=0, sts5=0, ss=1, tsf=1, tp=7, tm=0, tf0=6.73, tf1=2.93, tf2=-2.02, tf3=-0.51, tf4=0.86, tf5=-0.69 | co0=-0.05, co1=-1.34, co2=-1.31, co3=-0.6, co4=-0.02, co5=-0.15, dib=0, dob=0, ec0=-0.05, ec1=-1.32, ec2=-1.3, ec3=-0.59, ec4=-0.02, ec5=-0.15, etc0=0, etc1=-1.31, etc2=-1.17, etc3=-0.56, etc4=0, etc5=0, e=0, fp0=33.89, fp1=-70.45, fp2=106.13, fp3=-126.05, fp4=-90.51, fp5=301.43, fs0=0, fs1=0, fs2=0, fs3=0, fs4=0, fs5=0, ft0=-0.22, ft1=-0.28, ft2=0.12, ft3=0.07, ft4=-3.13, ft5=0, fts0=0, fts1=0, fts2=0, fts3=0, fts4=0, fts5=0, gc=0, jm0=253, jm1=253, jm2=253, jm3=253, jm4=253, jm5=253, jt0=33.53, jt1=35.7, jt2=38.9, jt3=40.07, jt4=43, jt5=40.82, mv=48.19, rc=0.64, rm=7, rv=48.19, rs=2, sm=1, sp0=33.89, sp1=-70.45, sp2=106.12, sp3=-126.04, sp4=-90.5, sp5=301.43, ss0=0, ss1=0, ss2=0, ss3=0, ss4=0, ss5=0, st0=-0.22, st1=-0.28, st2=0.12, st3=0.07, st4=-3.13, st5=0, sts0=0, sts1=0, sts2=0, sts3=0, sts4=0, sts5=0, ss=1, tsf=1, tp=7, tm=0, tf0=5.71, tf1=1.32, tf2=-2.56, tf3=-0.3, tf4=0.82, tf5=-0.67 | co0=-0.05, co1=-1.34, co2=-1.31, co3=-0.6, co4=-0.02, co5=-0.15, dib=0, dob=0, ec0=-0.05, ec1=-1.37, ec2=-1.31, ec3=-0.59, ec4=-0.02, ec5=-0.15, etc0=0, etc1=-1.31, etc2=-1.17, etc3=-0.56, etc4=0, etc5=0, e=0, fp0=33.89, fp1=-70.45, fp2=106.13, fp3=-126.05, fp4=-90.5, fp5=301.43, fs0=0, fs1=0, fs2=0, fs3=0, fs4=0, fs5=0, ft0=-0.22, ft1=-0.28, ft2=0.12, ft3=0.07, ft4=-3.13, ft5=0, fts0=0, fts1=0, fts2=0, fts3=0, fts4=0, fts5=0, gc=0, jm0=253, jm1=253, jm2=253, jm3=253, jm4=253, jm5=253, jt0=33.53, jt1=35.7, jt2=38.9, jt3=40.07, jt4=43, jt5=40.82, mv=48.19, rc=0.61, rm=7, rv=48.19, rs=2, sm=1, sp0=33.89, sp1=-70.45, sp2=106.12, sp3=-126.04, sp4=-90.5, sp5=301.43, ss0=0, ss1=0, ss2=0, ss3=0, ss4=0, ss5=0, st0=-0.22, st1=-0.28, st2=0.12, st3=0.07, st4=-3.13, st5=0, sts0=0, sts1=0, sts2=0, sts3=0, sts4=0, sts5=0, ss=1, tsf=1, tp=7, tm=0, tf0=4.76, tf1=-0.07, tf2=-4.12, tf3=-0.16, tf4=0.8, tf5=-0.68
C. co0=-0.05, co1=-1.34, co2=-1.31, co3=-0.6, co4=-0.02, co5=-0.15, dib=0, dob=0, ec0=-0.06, ec1=-1.32, ec2=-1.32, ec3=-0.59, ec4=-0.02, ec5=-0.15, etc0=0, etc1=-1.31, etc2=-1.17, etc3=-0.56, etc4=0, etc5=0, e=0, fp0=33.88, fp1=-70.45, fp2=106.13, fp3=-126.05, fp4=-90.51, fp5=301.43, fs0=0, fs1=0, fs2=0, fs3=0, fs4=0, fs5=0, ft0=-0.22, ft1=-0.28, ft2=0.12, ft3=0.07, ft4=-3.13, ft5=0, fts0=0, fts1=0, fts2=0, fts3=0, fts4=0, fts5=0, gc=-3, jm0=253, jm1=253, jm2=253, jm3=253, jm4=253, jm5=253, jt0=33.53, jt1=35.7, jt2=38.9, jt3=40.07, jt4=43, jt5=40.82, mv=48.19, rc=0.64, rm=7, rv=48.19, rs=2, sm=1, sp0=33.89, sp1=-70.45, sp2=106.12, sp3=-126.04, sp4=-90.5, sp5=301.43, ss0=0, ss1=0, ss2=0, ss3=0, ss4=0, ss5=0, st0=-0.22, st1=-0.28, st2=0.12, st3=0.07, st4=-3.13, st5=0, sts0=0, sts1=0, sts2=0, sts3=0, sts4=0, sts5=0, ss=1, tsf=1, tp=7, tm=0, tf0=6.18, tf1=1.58, tf2=-2.83, tf3=-0.35, tf4=0.88, tf5=-0.68 | co0=-0.04, co1=-1.34, co2=-1.31, co3=-0.6, co4=-0.02, co5=-0.15, dib=0, dob=0, ec0=-0.04, ec1=-1.32, ec2=-1.32, ec3=-0.59, ec4=-0.02, ec5=-0.15, etc0=0, etc1=-1.31, etc2=-1.17, etc3=-0.56, etc4=0, etc5=0, e=0, fp0=33.89, fp1=-70.45, fp2=106.12, fp3=-126.05, fp4=-90.51, fp5=301.43, fs0=0, fs1=0, fs2=0, fs3=0, fs4=0, fs5=0, ft0=-0.22, ft1=-0.28, ft2=0.12, ft3=0.07, ft4=-3.13, ft5=0, fts0=0, fts1=0, fts2=0, fts3=0, fts4=0, fts5=0, gc=-3, jm0=253, jm1=253, jm2=253, jm3=253, jm4=253, jm5=253, jt0=33.53, jt1=35.7, jt2=38.9, jt3=40.07, jt4=43, jt5=40.82, mv=48.19, rc=0.72, rm=7, rv=48.19, rs=2, sm=1, sp0=33.89, sp1=-70.45, sp2=106.12, sp3=-126.04, sp4=-90.5, sp5=301.43, ss0=0, ss1=0, ss2=0, ss3=0, ss4=0, ss5=0, st0=-0.22, st1=-0.28, st2=0.12, st3=0.07, st4=-3.13, st5=0, sts0=0, sts1=0, sts2=0, sts3=0, sts4=0, sts5=0, ss=1, tsf=1, tp=8, tm=0, tf0=6.11, tf1=2.22, tf2=-2.62, tf3=-0.4, tf4=0.87, tf5=-0.7 | co0=-0.04, co1=-1.71, co2=-1.6, co3=-0.41, co4=-0.01, co5=-0.16, dib=0, dob=0, ec0=-0.05, ec1=-1.68, ec2=-1.6, ec3=-0.42, ec4=-0.02, ec5=-0.16, etc0=0, etc1=-1.68, etc2=-1.42, etc3=-0.31, etc4=0, etc5=0.01, e=0, fp0=33.88, fp1=-70.56, fp2=106.02, fp3=-125.83, fp4=-90.51, fp5=301.43, fs0=0, fs1=-3.54, fs2=-3.12, fs3=6.35, fs4=0, fs5=0, ft0=-0.22, ft1=-0.28, ft2=0.12, ft3=0.07, ft4=-3.13, ft5=0, fts0=0, fts1=0, fts2=0.03, fts3=0, fts4=0, fts5=0, gc=-3, jm0=253, jm1=253, jm2=253, jm3=253, jm4=253, jm5=253, jt0=33.53, jt1=35.7, jt2=38.9, jt3=40.07, jt4=43, jt5=40.82, mv=48.19, rc=0.75, rm=7, rv=48.19, rs=2, sm=1, sp0=33.89, sp1=-70.58, sp2=106.01, sp3=-125.8, sp4=-90.5, sp5=301.43, ss0=-0.01, ss1=-3.59, ss2=-3.1, ss3=6.69, ss4=0, ss5=0.01, st0=-0.22, st1=-0.28, st2=0.12, st3=0.07, st4=-3.13, st5=0, sts0=0, sts1=0, sts2=0.03, sts3=0, sts4=0, sts5=0, ss=1, tsf=1, tp=8, tm=0.13, tf0=7.53, tf1=3.58, tf2=-1.43, tf3=-0.37, tf4=0.7, tf5=-0.75 | co0=-0.08, co1=-1.69, co2=-1.77, co3=-0.32, co4=0.02, co5=-0.12, dib=0, dob=0, ec0=-0.07, ec1=-1.68, ec2=-1.78, ec3=-0.33, ec4=0.02, ec5=-0.12, etc0=-0.01, etc1=-1.71, etc2=-1.47, etc3=-0.28, etc4=0, etc5=0.02, e=0, fp0=33.89, fp1=-71.41, fp2=105.26, fp3=-124.22, fp4=-90.51, fp5=301.43, fs0=0, fs1=-9.52, fs2=-9.14, fs3=18.51, fs4=0, fs5=0, ft0=-0.22, ft1=-0.28, ft2=0.13, ft3=0.07, ft4=-3.13, ft5=0, fts0=0, fts1=0, fts2=0.07, fts3=0, fts4=0, fts5=0, gc=-3, jm0=253, jm1=253, jm2=253, jm3=253, jm4=253, jm5=253, jt0=33.53, jt1=35.7, jt2=38.9, jt3=40.07, jt4=43, jt5=40.82, mv=48.19, rc=0.86, rm=7, rv=48.19, rs=2, sm=1, sp0=33.88, sp1=-71.43, sp2=105.24, sp3=-124.19, sp4=-90.5, sp5=301.43, ss0=-0.04, ss1=-9.53, ss2=-9.08, ss3=18.61, ss4=0.01, ss5=0.04, st0=-0.22, st1=-0.28, st2=0.13, st3=0.07, st4=-3.13, st5=0, sts0=0, sts1=0, sts2=0.07, sts3=0, sts4=0, sts5=0, ss=1, tsf=1, tp=8, tm=0.37, tf0=12.33, tf1=9.66, tf2=-4.82, tf3=-1.35, tf4=1.9, tf5=-0.61 | co0=-0.08, co1=-1.69, co2=-1.77, co3=-0.32, co4=0.02, co5=-0.12, dib=0, dob=0, ec0=-0.07, ec1=-1.68, ec2=-1.78, ec3=-0.33, ec4=0.02, ec5=-0.12, etc0=-0.01, etc1=-1.71, etc2=-1.47, etc3=-0.28, etc4=0, etc5=0.02, e=0, fp0=33.89, fp1=-71.41, fp2=105.26, fp3=-124.22, fp4=-90.51, fp5=301.43, fs0=0, fs1=-9.52, fs2=-9.14, fs3=18.51, fs4=0, fs5=0, ft0=-0.22, ft1=-0.28, ft2=0.13, ft3=0.07, ft4=-3.13, ft5=0, fts0=0, fts1=0, fts2=0.07, fts3=0, fts4=0, fts5=0, gc=-3, jm0=253, jm1=253, jm2=253, jm3=253, jm4=253, jm5=253, jt0=33.53, jt1=35.7, jt2=38.9, jt3=40.07, jt4=43, jt5=40.82, mv=48.19, rc=0.86, rm=7, rv=48.19, rs=2, sm=1, sp0=33.88, sp1=-71.43, sp2=105.24, sp3=-124.19, sp4=-90.5, sp5=301.43, ss0=-0.04, ss1=-9.53, ss2=-9.08, ss3=18.61, ss4=0.01, ss5=0.04, st0=-0.22, st1=-0.28, st2=0.13, st3=0.07, st4=-3.13, st5=0, sts0=0, sts1=0, sts2=0.07, sts3=0, sts4=0, sts5=0, ss=1, tsf=1, tp=8, tm=0.37, tf0=12.33, tf1=9.66, tf2=-4.82, tf3=-1.35, tf4=1.9, tf5=-0.61 | co0=-0.2, co1=-1.7, co2=-1.72, co3=-0.32, co4=0.08, co5=0, dib=0, dob=0, ec0=-0.19, ec1=-1.69, ec2=-1.72, ec3=-0.31, ec4=0.07, ec5=0, etc0=-0.02, etc1=-1.71, etc2=-1.54, etc3=-0.18, etc4=0, etc5=0.03, e=0, fp0=33.88, fp1=-72.94, fp2=103.66, fp3=-121.06, fp4=-90.51, fp5=301.43, fs0=-0.05, fs1=-14.05, fs2=-16.59, fs3=30.88, fs4=0, fs5=0, ft0=-0.22, ft1=-0.28, ft2=0.14, ft3=0.07, ft4=-3.13, ft5=0, fts0=0, fts1=0, fts2=0.12, fts3=0, fts4=0, fts5=0, gc=-3, jm0=253, jm1=253, jm2=253, jm3=253, jm4=253, jm5=253, jt0=33.53, jt1=35.7, jt2=38.9, jt3=40.07, jt4=43, jt5=40.82, mv=48.19, rc=1, rm=7, rv=48.19, rs=2, sm=1, sp0=33.88, sp1=-72.97, sp2=103.63, sp3=-121.04, sp4=-90.5, sp5=301.44, ss0=-0.06, ss1=-14.22, ss2=-16.34, ss3=30.56, ss4=0.01, ss5=0.07, st0=-0.22, st1=-0.28, st2=0.14, st3=0.07, st4=-3.13, st5=0, sts0=0, sts1=0, sts2=0.12, sts3=0, sts4=0, sts5=0, ss=1, tsf=1, tp=8, tm=0.61, tf0=9.49, tf1=1.72, tf2=-0.56, tf3=0.35, tf4=1.02, tf5=-0.13 | co0=-0.22, co1=-1.71, co2=-1.78, co3=-0.22, co4=0.12, co5=0.04, dib=0, dob=0, ec0=-0.22, ec1=-1.72, ec2=-1.78, ec3=-0.22, ec4=0.12, ec5=0.04, etc0=-0.03, etc1=-1.52, etc2=-1.45, etc3=-0.2, etc4=0, etc5=0.02, e=0, fp0=33.88, fp1=-74.77, fp2=101.28, fp3=-116.83, fp4=-90.51, fp5=301.44, fs0=-0.05, fs1=-11.75, fs2=-17.33, fs3=29.35, fs4=0, fs5=0.05, ft0=-0.22, ft1=-0.28, ft2=0.16, ft3=0.07, ft4=-3.13, ft5=0, fts0=0, fts1=0, fts2=0.11, fts3=0, fts4=0, fts5=0, gc=-3, jm0=253, jm1=253, jm2=253, jm3=253, jm4=253, jm5=253, jt0=33.53, jt1=35.7, jt2=38.9, jt3=40.07, jt4=43, jt5=40.82, mv=48.19, rc=1, rm=7, rv=48.19, rs=2, sm=1, sp0=33.87, sp1=-74.79, sp2=101.26, sp3=-116.85, sp4=-90.5, sp5=301.45, ss0=-0.06, ss1=-11.67, ss2=-17.29, ss3=28.97, ss4=0, ss5=0.06, st0=-0.22, st1=-0.28, st2=0.16, st3=0.07, st4=-3.13, st5=0, sts0=0, sts1=0, sts2=0.11, sts3=0, sts4=0, sts5=0, ss=1, tsf=1, tp=8, tm=0.57, tf0=7.5, tf1=-1.52, tf2=-12.85, tf3=0.08, tf4=2.2, tf5=0.05
D. co0=-0.05, co1=-1.34, co2=-1.31, co3=-0.59, co4=-0.02, co5=-0.15, dib=0, dob=0, ec0=-0.05, ec1=-1.36, ec2=-1.32, ec3=-0.59, ec4=-0.02, ec5=-0.15, etc0=0, etc1=-1.31, etc2=-1.17, etc3=-0.56, etc4=0, etc5=0, e=0, fp0=33.89, fp1=-70.45, fp2=106.12, fp3=-126.05, fp4=-90.51, fp5=301.43, fs0=0, fs1=0, fs2=0, fs3=0, fs4=0, fs5=0, ft0=-0.22, ft1=-0.28, ft2=0.12, ft3=0.07, ft4=-3.13, ft5=0, fts0=0, fts1=0, fts2=0, fts3=0, fts4=0, fts5=0, gc=0, jm0=253, jm1=253, jm2=253, jm3=253, jm4=253, jm5=253, jt0=33.53, jt1=35.7, jt2=38.9, jt3=40.07, jt4=43, jt5=40.82, mv=48.19, rc=0.64, rm=7, rv=48.19, rs=2, sm=1, sp0=33.89, sp1=-70.45, sp2=106.12, sp3=-126.04, sp4=-90.5, sp5=301.43, ss0=0, ss1=0, ss2=0, ss3=0, ss4=0, ss5=0, st0=-0.22, st1=-0.28, st2=0.12, st3=0.07, st4=-3.13, st5=0, sts0=0, sts1=0, sts2=0, sts3=0, sts4=0, sts5=0, ss=1, tsf=1, tp=7, tm=0, tf0=4.99, tf1=0.41, tf2=-4.18, tf3=-0.25, tf4=0.82, tf5=-0.69 | co0=-0.05, co1=-1.34, co2=-1.31, co3=-0.59, co4=-0.02, co5=-0.15, dib=0, dob=0, ec0=-0.05, ec1=-1.36, ec2=-1.32, ec3=-0.59, ec4=-0.02, ec5=-0.15, etc0=0, etc1=-1.31, etc2=-1.17, etc3=-0.56, etc4=0, etc5=0, e=0, fp0=33.89, fp1=-70.45, fp2=106.12, fp3=-126.05, fp4=-90.51, fp5=301.43, fs0=0, fs1=0, fs2=0, fs3=0, fs4=0, fs5=0, ft0=-0.22, ft1=-0.28, ft2=0.12, ft3=0.07, ft4=-3.13, ft5=0, fts0=0, fts1=0, fts2=0, fts3=0, fts4=0, fts5=0, gc=0, jm0=253, jm1=253, jm2=253, jm3=253, jm4=253, jm5=253, jt0=33.53, jt1=35.7, jt2=38.9, jt3=40.07, jt4=43, jt5=40.82, mv=48.19, rc=0.64, rm=7, rv=48.19, rs=2, sm=1, sp0=33.89, sp1=-70.45, sp2=106.12, sp3=-126.04, sp4=-90.5, sp5=301.43, ss0=0, ss1=0, ss2=0, ss3=0, ss4=0, ss5=0, st0=-0.22, st1=-0.28, st2=0.12, st3=0.07, st4=-3.13, st5=0, sts0=0, sts1=0, sts2=0, sts3=0, sts4=0, sts5=0, ss=1, tsf=1, tp=7, tm=0, tf0=4.99, tf1=0.41, tf2=-4.18, tf3=-0.25, tf4=0.82, tf5=-0.69 | co0=-0.05, co1=-1.34, co2=-1.31, co3=-0.6, co4=-0.02, co5=-0.15, dib=0, dob=0, ec0=-0.05, ec1=-1.34, ec2=-1.31, ec3=-0.6, ec4=-0.02, ec5=-0.15, etc0=0, etc1=-1.31, etc2=-1.17, etc3=-0.56, etc4=0, etc5=0, e=0, fp0=33.89, fp1=-70.45, fp2=106.12, fp3=-126.05, fp4=-90.51, fp5=301.43, fs0=0, fs1=0, fs2=0, fs3=0, fs4=0, fs5=0, ft0=-0.22, ft1=-0.28, ft2=0.12, ft3=0.07, ft4=-3.13, ft5=0, fts0=0, fts1=0, fts2=0, fts3=0, fts4=0, fts5=0, gc=0, jm0=253, jm1=253, jm2=253, jm3=253, jm4=253, jm5=253, jt0=33.53, jt1=35.7, jt2=38.9, jt3=40.07, jt4=43, jt5=40.82, mv=48.19, rc=0.86, rm=7, rv=48.19, rs=2, sm=1, sp0=33.89, sp1=-70.45, sp2=106.12, sp3=-126.04, sp4=-90.5, sp5=301.43, ss0=0, ss1=0, ss2=0, ss3=0, ss4=0, ss5=0, st0=-0.22, st1=-0.28, st2=0.12, st3=0.07, st4=-3.13, st5=0, sts0=0, sts1=0, sts2=0, sts3=0, sts4=0, sts5=0, ss=1, tsf=1, tp=7, tm=0, tf0=5.46, tf1=1.03, tf2=-3.28, tf3=-0.28, tf4=0.8, tf5=-0.69 | co0=-0.05, co1=-1.34, co2=-1.31, co3=-0.6, co4=-0.02, co5=-0.15, dib=0, dob=0, ec0=-0.05, ec1=-1.37, ec2=-1.29, ec3=-0.6, ec4=-0.02, ec5=-0.15, etc0=0, etc1=-1.31, etc2=-1.17, etc3=-0.56, etc4=0, etc5=0, e=0, fp0=33.89, fp1=-70.45, fp2=106.12, fp3=-126.05, fp4=-90.51, fp5=301.43, fs0=0, fs1=0, fs2=0, fs3=0, fs4=0, fs5=0, ft0=-0.22, ft1=-0.28, ft2=0.12, ft3=0.07, ft4=-3.13, ft5=0, fts0=0, fts1=0, fts2=0, fts3=0, fts4=0, fts5=0, gc=-1, jm0=253, jm1=253, jm2=253, jm3=253, jm4=253, jm5=253, jt0=33.53, jt1=35.7, jt2=38.9, jt3=40.07, jt4=43, jt5=40.82, mv=48.19, rc=0.68, rm=7, rv=48.19, rs=2, sm=1, sp0=33.89, sp1=-70.45, sp2=106.12, sp3=-126.04, sp4=-90.5, sp5=301.43, ss0=0, ss1=0, ss2=0, ss3=0, ss4=0, ss5=0, st0=-0.22, st1=-0.28, st2=0.12, st3=0.07, st4=-3.13, st5=0, sts0=0, sts1=0, sts2=0, sts3=0, sts4=0, sts5=0, ss=1, tsf=1, tp=7, tm=0, tf0=3.88, tf1=-0.95, tf2=-3.66, tf3=-0.02, tf4=0.63, tf5=-0.7 | co0=-0.05, co1=-1.34, co2=-1.31, co3=-0.6, co4=-0.02, co5=-0.15, dib=0, dob=0, ec0=-0.05, ec1=-1.31, ec2=-1.32, ec3=-0.59, ec4=-0.01, ec5=-0.15, etc0=0, etc1=-1.31, etc2=-1.17, etc3=-0.56, etc4=0, etc5=0, e=0, fp0=33.89, fp1=-70.46, fp2=106.13, fp3=-126.05, fp4=-90.51, fp5=301.43, fs0=0, fs1=0, fs2=0, fs3=0, fs4=0, fs5=0, ft0=-0.22, ft1=-0.28, ft2=0.12, ft3=0.07, ft4=-3.13, ft5=0, fts0=0, fts1=0, fts2=0, fts3=0, fts4=0, fts5=0, gc=-2, jm0=253, jm1=253, jm2=253, jm3=253, jm4=253, jm5=253, jt0=33.53, jt1=35.7, jt2=38.9, jt3=40.07, jt4=43, jt5=40.82, mv=48.19, rc=0.64, rm=7, rv=48.13, rs=2, sm=1, sp0=33.89, sp1=-70.45, sp2=106.12, sp3=-126.04, sp4=-90.5, sp5=301.43, ss0=0, ss1=0, ss2=0, ss3=0, ss4=0, ss5=0, st0=-0.22, st1=-0.28, st2=0.12, st3=0.07, st4=-3.13, st5=0, sts0=0, sts1=0, sts2=0, sts3=0, sts4=0, sts5=0, ss=1, tsf=1, tp=7, tm=0, tf0=6.5, tf1=2.46, tf2=-2.7, tf3=-0.41, tf4=0.95, tf5=-0.7 | co0=-0.05, co1=-1.34, co2=-1.31, co3=-0.6, co4=-0.02, co5=-0.15, dib=0, dob=0, ec0=-0.06, ec1=-1.3, ec2=-1.31, ec3=-0.59, ec4=-0.02, ec5=-0.15, etc0=0, etc1=-1.31, etc2=-1.17, etc3=-0.56, etc4=0, etc5=0, e=0, fp0=33.89, fp1=-70.45, fp2=106.13, fp3=-126.05, fp4=-90.51, fp5=301.43, fs0=0, fs1=0, fs2=0, fs3=0, fs4=0, fs5=0, ft0=-0.22, ft1=-0.28, ft2=0.12, ft3=0.07, ft4=-3.13, ft5=0, fts0=0, fts1=0, fts2=0, fts3=0, fts4=0, fts5=0, gc=-3, jm0=253, jm1=253, jm2=253, jm3=253, jm4=253, jm5=253, jt0=33.53, jt1=35.7, jt2=38.9, jt3=40.07, jt4=43, jt5=40.82, mv=48.19, rc=0.72, rm=7, rv=48.19, rs=2, sm=1, sp0=33.89, sp1=-70.45, sp2=106.12, sp3=-126.04, sp4=-90.5, sp5=301.43, ss0=0, ss1=0, ss2=0, ss3=0, ss4=0, ss5=0, st0=-0.22, st1=-0.28, st2=0.12, st3=0.07, st4=-3.13, st5=0, sts0=0, sts1=0, sts2=0, sts3=0, sts4=0, sts5=0, ss=1, tsf=1, tp=7, tm=0, tf0=6.64, tf1=2.11, tf2=-1.74, tf3=-0.35, tf4=0.87, tf5=-0.7 | co0=-0.05, co1=-1.34, co2=-1.31, co3=-0.6, co4=-0.02, co5=-0.15, dib=0, dob=0, ec0=-0.06, ec1=-1.3, ec2=-1.31, ec3=-0.59, ec4=-0.02, ec5=-0.15, etc0=0, etc1=-1.31, etc2=-1.17, etc3=-0.56, etc4=0, etc5=0, e=0, fp0=33.89, fp1=-70.45, fp2=106.13, fp3=-126.05, fp4=-90.51, fp5=301.43, fs0=0, fs1=0, fs2=0, fs3=0, fs4=0, fs5=0, ft0=-0.22, ft1=-0.28, ft2=0.12, ft3=0.07, ft4=-3.13, ft5=0, fts0=0, fts1=0, fts2=0, fts3=0, fts4=0, fts5=0, gc=-3, jm0=253, jm1=253, jm2=253, jm3=253, jm4=253, jm5=253, jt0=33.53, jt1=35.7, jt2=38.9, jt3=40.07, jt4=43, jt5=40.82, mv=48.19, rc=0.72, rm=7, rv=48.19, rs=2, sm=1, sp0=33.89, sp1=-70.45, sp2=106.12, sp3=-126.04, sp4=-90.5, sp5=301.43, ss0=0, ss1=0, ss2=0, ss3=0, ss4=0, ss5=0, st0=-0.22, st1=-0.28, st2=0.12, st3=0.07, st4=-3.13, st5=0, sts0=0, sts1=0, sts2=0, sts3=0, sts4=0, sts5=0, ss=1, tsf=1, tp=7, tm=0, tf0=6.64, tf1=2.11, tf2=-1.74, tf3=-0.35, tf4=0.87, tf5=-0.7

Answer: ABDC


Question: Given the counterfactual scenario where a collision cardboard object occurs at timestep 8769 ms, what would most likely happen next? Answer only with a 4 letter string using F and T to indicate your answers (ie. TFFT to indicate True, False, False, True). Do not output anything else.

Choices:
A. Following the event, tracking error increases noticeably (>=28% above pre-event mean).
B. No significant effect: safety stays normal and aggregate error (mean of tracking, TCP-tracking, force, and robot-current deviation terms) increases by <=12%.
C. Following the event, contact-force magnitude remains low (<=20% above pre-event baseline for at least 91% of timesteps).
D. Following the event, robot current increases markedly (>=18% above pre-event mean).

Answer: FTFF

Each row in time_series is one timestep encoded as 't=<timestamp>: acronym=value, ...'. Feature names use acronyms defined in provenance.feature_mapping.


Question: Given the counterfactual scenario where a collision foam object occurs at timestep 4649 ms, what would most likely happen next? Answer only with a 4 letter string using F and T to indicate your answers (ie. TFFT to indicate True, False, False, True). Do not output anything else.

Choices:
A. Following the event, tracking error increases noticeably (>=29% above pre-event mean).
B. No significant effect: safety stays normal and aggregate error (mean of tracking, TCP-tracking, force, and robot-current deviation terms) increases by <=10%.
C. Following the event, temperatures rise across multiple joints (>=1 joints with slope >0.56% of baseline per horizon).
D. Following the event, command and measured TCP motion become misaligned (TCP tracking error increase >=27%).

Answer: TFFT


Question: Given the counterfactual scenario where a collision hanging cable occurs at timestep 6754 ms, what would most likely happen next? Answer only with a 4 letter string using F and T to indicate your answers (ie. TFFT to indicate True, False, False, True). Do not output anything else.

Choices:
A. Following the event, tracking error increases noticeably (>=25% above pre-event mean).
B. Following the event, robot current increases markedly (>=17% above pre-event mean).
C. Following the event, motor current rises by >=20% while speed magnitude stays <=10% of pre-event baseline (stall-like behavior).
D. No significant effect: safety stays normal and aggregate error (mean of tracking, TCP-tracking, force, and robot-current deviation terms) increases by <=8%.

Answer: FFFF


Question: Given the counterfactual scenario where a collision cardboard object occurs at timestep 7763 ms, what would most likely happen next? Answer only with a 4 letter string using F and T to indicate your answers (ie. TFFT to indicate True, False, False, True). Do not output anything else.

Choices:
A. Following the event, robot current remains approximately constant (peak-to-peak range <=9% of pre-event baseline).
B. Following the event, temperatures rise across multiple joints (>=2 joints with slope >0.45% of baseline per horizon).
C. Following the event, robot current increases markedly (>=17% above pre-event mean).
D. No significant effect: safety stays normal and aggregate error (mean of tracking, TCP-tracking, force, and robot-current deviation terms) increases by <=14%.

Answer: FFFF


Question: Given the counterfactual scenario where a collision hanging cable occurs at timestep 6660 ms, what would most likely happen next? Answer only with a 4 letter string using F and T to indicate your answers (ie. TFFT to indicate True, False, False, True). Do not output anything else.

Choices:
A. Following the event, joint speeds stay close to baseline (within ±10% of pre-event values).
B. Following the event, robot current remains approximately constant (peak-to-peak range <=11% of pre-event baseline).
C. No significant effect: safety stays normal and aggregate error (mean of tracking, TCP-tracking, force, and robot-current deviation terms) increases by <=11%.
D. Following the event, robot current increases markedly (>=19% above pre-event mean).

Answer: FFTF


Question: Given the counterfactual scenario where a collision foam object occurs at timestep 8776 ms, what would most likely happen next? Answer only with a 4 letter string using F and T to indicate your answers (ie. TFFT to indicate True, False, False, True). Do not output anything else.

Choices:
A. Following the event, command and measured TCP motion become misaligned (TCP tracking error increase >=27%).
B. No significant effect: safety stays normal and aggregate error (mean of tracking, TCP-tracking, force, and robot-current deviation terms) increases by <=7%.
C. Following the event, at least one joint speed drops sharply (>=35% below pre-event baseline).
D. Following the event, command and measured TCP motion remain aligned (TCP tracking error increase <=11%).

Answer: FFTT


Question: Given the counterfactual scenario where a collision hanging cable occurs at timestep 8770 ms, what would most likely happen next? Answer only with a 4 letter string using F and T to indicate your answers (ie. TFFT to indicate True, False, False, True). Do not output anything else.

Choices:
A. Following the event, command and measured TCP motion remain aligned (TCP tracking error increase <=10%).
B. No significant effect: safety stays normal and aggregate error (mean of tracking, TCP-tracking, force, and robot-current deviation terms) increases by <=7%.
C. Following the event, tracking error increases noticeably (>=30% above pre-event mean).
D. Following the event, robot current increases markedly (>=19% above pre-event mean).

Answer: TFFF


Question: Given the counterfactual scenario where a collision cardboard object occurs at timestep 7868 ms, what would most likely happen next? Answer only with a 4 letter string using F and T to indicate your answers (ie. TFFT to indicate True, False, False, True). Do not output anything else.

Choices:
A. Following the event, contact-force magnitude remains low (<=16% above pre-event baseline for at least 82% of timesteps).
B. Following the event, command and measured TCP motion remain aligned (TCP tracking error increase <=11%).
C. Following the event, temperatures rise across multiple joints (>=3 joints with slope >0.53% of baseline per horizon).
D. No significant effect: safety stays normal and aggregate error (mean of tracking, TCP-tracking, force, and robot-current deviation terms) increases by <=7%.

Answer: FTFF


Question: Given the counterfactual scenario where a collision foam object occurs at timestep 6660 ms, what would most likely happen next? Answer only with a 4 letter string using F and T to indicate your answers (ie. TFFT to indicate True, False, False, True). Do not output anything else.

Choices:
A. Following the event, robot current increases markedly (>=24% above pre-event mean).
B. Following the event, joint speeds stay close to baseline (within ±11% of pre-event values).
C. No significant effect: safety stays normal and aggregate error (mean of tracking, TCP-tracking, force, and robot-current deviation terms) increases by <=8%.
D. Following the event, motor current rises by >=21% while speed magnitude stays <=10% of pre-event baseline (stall-like behavior).

Answer: FFFF


Question: Given the counterfactual scenario where a collision foam object occurs at timestep 7168 ms, what would most likely happen next? Answer only with a 4 letter string using F and T to indicate your answers (ie. TFFT to indicate True, False, False, True). Do not output anything else.

Choices:
A. Following the event, motor current rises by >=38% while speed magnitude stays <=10% of pre-event baseline (stall-like behavior).
B. Following the event, contact-force magnitude remains low (<=17% above pre-event baseline for at least 86% of timesteps).
C. Following the event, temperatures rise across multiple joints (>=2 joints with slope >0.55% of baseline per horizon).
D. No significant effect: safety stays normal and aggregate error (mean of tracking, TCP-tracking, force, and robot-current deviation terms) increases by <=8%.

Answer: TFFT


Question: Given the counterfactual scenario where a collision foam object occurs at timestep 7357 ms, what would most likely happen next? Answer only with a 4 letter string using F and T to indicate your answers (ie. TFFT to indicate True, False, False, True). Do not output anything else.

Choices:
A. Following the event, command and measured TCP motion become misaligned (TCP tracking error increase >=17%).
B. Following the event, at least one joint speed drops sharply (>=27% below pre-event baseline).
C. Following the event, joint speeds stay close to baseline (within ±14% of pre-event values).
D. No significant effect: safety stays normal and aggregate error (mean of tracking, TCP-tracking, force, and robot-current deviation terms) increases by <=14%.

Answer: FTFF


Question: Given the counterfactual scenario where a collision foam object occurs at timestep 4984 ms, what would most likely happen next? Answer only with a 4 letter string using F and T to indicate your answers (ie. TFFT to indicate True, False, False, True). Do not output anything else.

Choices:
A. Following the event, at least one joint speed drops sharply (>=24% below pre-event baseline).
B. No significant effect: safety stays normal and aggregate error (mean of tracking, TCP-tracking, force, and robot-current deviation terms) increases by <=7%.
C. Following the event, contact force shows a significant spike (>=35% above baseline norm).
D. Following the event, tracking error increases noticeably (>=20% above pre-event mean).

Answer: TTFF


Question: Given the counterfactual scenario where a collision foam object occurs at timestep 6256 ms, what would most likely happen next? Answer only with a 4 letter string using F and T to indicate your answers (ie. TFFT to indicate True, False, False, True). Do not output anything else.

Choices:
A. No significant effect: safety stays normal and aggregate error (mean of tracking, TCP-tracking, force, and robot-current deviation terms) increases by <=10%.
B. Following the event, robot current increases markedly (>=20% above pre-event mean).
C. Following the event, temperatures rise across multiple joints (>=2 joints with slope >0.63% of baseline per horizon).
D. Following the event, contact-force magnitude remains low (<=19% above pre-event baseline for at least 89% of timesteps).

Answer: TFFF


Question: Given the counterfactual scenario where a collision hanging cable occurs at timestep 7469 ms, what would most likely happen next? Answer only with a 4 letter string using F and T to indicate your answers (ie. TFFT to indicate True, False, False, True). Do not output anything else.

Choices:
A. No significant effect: safety stays normal and aggregate error (mean of tracking, TCP-tracking, force, and robot-current deviation terms) increases by <=7%.
B. Following the event, command and measured TCP motion become misaligned (TCP tracking error increase >=15%).
C. Following the event, joint speeds stay close to baseline (within ±5% of pre-event values).
D. Following the event, temperatures rise across multiple joints (>=2 joints with slope >0.29% of baseline per horizon).

Answer: TTFF


Question: Given the counterfactual scenario where a collision cardboard object occurs at timestep 7662 ms, what would most likely happen next? Answer only with a 4 letter string using F and T to indicate your answers (ie. TFFT to indicate True, False, False, True). Do not output anything else.

Choices:
A. No significant effect: safety stays normal and aggregate error (mean of tracking, TCP-tracking, force, and robot-current deviation terms) increases by <=10%.
B. Following the event, contact force shows a significant spike (>=42% above baseline norm).
C. Following the event, tracking error increases noticeably (>=30% above pre-event mean).
D. Following the event, joint speeds stay close to baseline (within ±9% of pre-event values).

Answer: TFFF


Question: Given the counterfactual scenario where a collision foam object occurs at timestep 6561 ms, what would most likely happen next? Answer only with a 4 letter string using F and T to indicate your answers (ie. TFFT to indicate True, False, False, True). Do not output anything else.

Choices:
A. Following the event, contact-force magnitude remains low (<=24% above pre-event baseline for at least 85% of timesteps).
B. No significant effect: safety stays normal and aggregate error (mean of tracking, TCP-tracking, force, and robot-current deviation terms) increases by <=11%.
C. Following the event, robot current remains approximately constant (peak-to-peak range <=9% of pre-event baseline).
D. Following the event, contact force shows a significant spike (>=35% above baseline norm).

Answer: FTFF


Question: Given the counterfactual scenario where a collision cardboard object occurs at timestep 5340 ms, what would most likely happen next? Answer only with a 4 letter string using F and T to indicate your answers (ie. TFFT to indicate True, False, False, True). Do not output anything else.

Choices:
A. No significant effect: safety stays normal and aggregate error (mean of tracking, TCP-tracking, force, and robot-current deviation terms) increases by <=9%.
B. Following the event, motor current rises by >=23% while speed magnitude stays <=9% of pre-event baseline (stall-like behavior).
C. Following the event, command and measured TCP motion remain aligned (TCP tracking error increase <=6%).
D. Following the event, command and measured TCP motion become misaligned (TCP tracking error increase >=28%).

Answer: TFTF


Question: Given the counterfactual scenario where a collision foam object occurs at timestep 6557 ms, what would most likely happen next? Answer only with a 4 letter string using F and T to indicate your answers (ie. TFFT to indicate True, False, False, True). Do not output anything else.

Choices:
A. Following the event, command and measured TCP motion remain aligned (TCP tracking error increase <=9%).
B. Following the event, contact-force magnitude remains low (<=11% above pre-event baseline for at least 85% of timesteps).
C. No significant effect: safety stays normal and aggregate error (mean of tracking, TCP-tracking, force, and robot-current deviation terms) increases by <=12%.
D. Following the event, robot current remains approximately constant (peak-to-peak range <=8% of pre-event baseline).

Answer: TFFF


Question: Given the counterfactual scenario where a collision cardboard object occurs at timestep 7566 ms, what would most likely happen next? Answer only with a 4 letter string using F and T to indicate your answers (ie. TFFT to indicate True, False, False, True). Do not output anything else.

Choices:
A. Following the event, contact-force magnitude remains low (<=20% above pre-event baseline for at least 83% of timesteps).
B. Following the event, motor current rises by >=15% while speed magnitude stays <=8% of pre-event baseline (stall-like behavior).
C. No significant effect: safety stays normal and aggregate error (mean of tracking, TCP-tracking, force, and robot-current deviation terms) increases by <=7%.
D. Following the event, tracking error increases noticeably (>=26% above pre-event mean).

Answer: FFFF


Question: Given the counterfactual scenario where a collision cardboard object occurs at timestep 8666 ms, what would most likely happen next? Answer only with a 4 letter string using F and T to indicate your answers (ie. TFFT to indicate True, False, False, True). Do not output anything else.

Choices:
A. Following the event, at least one joint speed drops sharply (>=20% below pre-event baseline).
B. No significant effect: safety stays normal and aggregate error (mean of tracking, TCP-tracking, force, and robot-current deviation terms) increases by <=11%.
C. Following the event, contact-force magnitude remains low (<=24% above pre-event baseline for at least 78% of timesteps).
D. Following the event, robot current increases markedly (>=17% above pre-event mean).

Answer: TFFF


Question: Given the counterfactual scenario where a collision hanging cable occurs at timestep 8780 ms, what would most likely happen next? Answer only with a 4 letter string using F and T to indicate your answers (ie. TFFT to indicate True, False, False, True). Do not output anything else.

Choices:
A. Following the event, at least one joint speed drops sharply (>=38% below pre-event baseline).
B. Following the event, command and measured TCP motion become misaligned (TCP tracking error increase >=29%).
C. Following the event, tracking error increases noticeably (>=27% above pre-event mean).
D. No significant effect: safety stays normal and aggregate error (mean of tracking, TCP-tracking, force, and robot-current deviation terms) increases by <=11%.

Answer: TFFF


Question: Given the counterfactual scenario where a collision foam object occurs at timestep 7658 ms, what would most likely happen next? Answer only with a 4 letter string using F and T to indicate your answers (ie. TFFT to indicate True, False, False, True). Do not output anything else.

Choices:
A. Following the event, joint speeds stay close to baseline (within ±13% of pre-event values).
B. Following the event, robot current remains approximately constant (peak-to-peak range <=13% of pre-event baseline).
C. No significant effect: safety stays normal and aggregate error (mean of tracking, TCP-tracking, force, and robot-current deviation terms) increases by <=10%.
D. Following the event, temperatures rise across multiple joints (>=2 joints with slope >0.41% of baseline per horizon).

Answer: FFTF


Question: Given the counterfactual scenario where a collision cardboard object occurs at timestep 7260 ms, what would most likely happen next? Answer only with a 4 letter string using F and T to indicate your answers (ie. TFFT to indicate True, False, False, True). Do not output anything else.

Choices:
A. Following the event, temperatures rise across multiple joints (>=2 joints with slope >0.64% of baseline per horizon).
B. Following the event, contact force shows a significant spike (>=36% above baseline norm).
C. No significant effect: safety stays normal and aggregate error (mean of tracking, TCP-tracking, force, and robot-current deviation terms) increases by <=9%.
D. Following the event, command and measured TCP motion become misaligned (TCP tracking error increase >=20%).

Answer: FFTF


Question: Given the counterfactual scenario where a collision foam object occurs at timestep 7665 ms, what would most likely happen next? Answer only with a 4 letter string using F and T to indicate your answers (ie. TFFT to indicate True, False, False, True). Do not output anything else.

Choices:
A. Following the event, joint speeds stay close to baseline (within ±12% of pre-event values).
B. Following the event, tracking error increases noticeably (>=21% above pre-event mean).
C. Following the event, temperatures rise across multiple joints (>=3 joints with slope >0.46% of baseline per horizon).
D. No significant effect: safety stays normal and aggregate error (mean of tracking, TCP-tracking, force, and robot-current deviation terms) increases by <=9%.

Answer: FFFF


Question: Given the counterfactual scenario where a collision cardboard object occurs at timestep 7857 ms, what would most likely happen next? Answer only with a 4 letter string using F and T to indicate your answers (ie. TFFT to indicate True, False, False, True). Do not output anything else.

Choices:
A. Following the event, motor current rises by >=20% while speed magnitude stays <=11% of pre-event baseline (stall-like behavior).
B. Following the event, joint speeds stay close to baseline (within ±11% of pre-event values).
C. No significant effect: safety stays normal and aggregate error (mean of tracking, TCP-tracking, force, and robot-current deviation terms) increases by <=12%.
D. Following the event, at least one joint speed drops sharply (>=32% below pre-event baseline).

Answer: TFTT


Question: Given the counterfactual scenario where a collision foam object occurs at timestep 7666 ms, what would most likely happen next? Answer only with a 4 letter string using F and T to indicate your answers (ie. TFFT to indicate True, False, False, True). Do not output anything else.

Choices:
A. Following the event, command and measured TCP motion become misaligned (TCP tracking error increase >=31%).
B. No significant effect: safety stays normal and aggregate error (mean of tracking, TCP-tracking, force, and robot-current deviation terms) increases by <=9%.
C. Following the event, contact-force magnitude remains low (<=20% above pre-event baseline for at least 72% of timesteps).
D. Following the event, motor current rises by >=28% while speed magnitude stays <=7% of pre-event baseline (stall-like behavior).

Answer: TTFF


Question: Given the counterfactual scenario where a collision foam object occurs at timestep 8069 ms, what would most likely happen next? Answer only with a 4 letter string using F and T to indicate your answers (ie. TFFT to indicate True, False, False, True). Do not output anything else.

Choices:
A. Following the event, temperatures rise across multiple joints (>=1 joints with slope >0.57% of baseline per horizon).
B. Following the event, command and measured TCP motion become misaligned (TCP tracking error increase >=23%).
C. No significant effect: safety stays normal and aggregate error (mean of tracking, TCP-tracking, force, and robot-current deviation terms) increases by <=8%.
D. Following the event, joint speeds stay close to baseline (within ±12% of pre-event values).

Answer: FFTF


Question: Given the counterfactual scenario where a collision cardboard object occurs at timestep 7971 ms, what would most likely happen next? Answer only with a 4 letter string using F and T to indicate your answers (ie. TFFT to indicate True, False, False, True). Do not output anything else.

Choices:
A. Following the event, robot current remains approximately constant (peak-to-peak range <=8% of pre-event baseline).
B. Following the event, tracking error increases noticeably (>=29% above pre-event mean).
C. Following the event, motor current rises by >=22% while speed magnitude stays <=10% of pre-event baseline (stall-like behavior).
D. No significant effect: safety stays normal and aggregate error (mean of tracking, TCP-tracking, force, and robot-current deviation terms) increases by <=10%.

Answer: FFFF


Question: Given the counterfactual scenario where a collision cardboard object occurs at timestep 7262 ms, what would most likely happen next? Answer only with a 4 letter string using F and T to indicate your answers (ie. TFFT to indicate True, False, False, True). Do not output anything else.

Choices:
A. Following the event, command and measured TCP motion become misaligned (TCP tracking error increase >=24%).
B. Following the event, contact-force magnitude remains low (<=21% above pre-event baseline for at least 78% of timesteps).
C. No significant effect: safety stays normal and aggregate error (mean of tracking, TCP-tracking, force, and robot-current deviation terms) increases by <=10%.
D. Following the event, joint speeds stay close to baseline (within ±9% of pre-event values).

Answer: FFFF


Question: Given the counterfactual scenario where a collision cardboard object occurs at timestep 7261 ms, what would most likely happen next? Answer only with a 4 letter string using F and T to indicate your answers (ie. TFFT to indicate True, False, False, True). Do not output anything else.

Choices:
A. Following the event, contact force shows a significant spike (>=39% above baseline norm).
B. Following the event, at least one joint speed drops sharply (>=24% below pre-event baseline).
C. No significant effect: safety stays normal and aggregate error (mean of tracking, TCP-tracking, force, and robot-current deviation terms) increases by <=8%.
D. Following the event, temperatures rise across multiple joints (>=2 joints with slope >0.55% of baseline per horizon).

Answer: FTTF


Question: Given the counterfactual scenario where a collision foam object occurs at timestep 7765 ms, what would most likely happen next? Answer only with a 4 letter string using F and T to indicate your answers (ie. TFFT to indicate True, False, False, True). Do not output anything else.

Choices:
A. Following the event, contact-force magnitude remains low (<=21% above pre-event baseline for at least 80% of timesteps).
B. No significant effect: safety stays normal and aggregate error (mean of tracking, TCP-tracking, force, and robot-current deviation terms) increases by <=10%.
C. Following the event, command and measured TCP motion remain aligned (TCP tracking error increase <=13%).
D. Following the event, joint speeds stay close to baseline (within ±11% of pre-event values).

Answer: FFTF


Question: Given the counterfactual scenario where a collision cardboard object occurs at timestep 6256 ms, what would most likely happen next? Answer only with a 4 letter string using F and T to indicate your answers (ie. TFFT to indicate True, False, False, True). Do not output anything else.

Choices:
A. Following the event, contact-force magnitude remains low (<=25% above pre-event baseline for at least 84% of timesteps).
B. Following the event, motor current rises by >=25% while speed magnitude stays <=12% of pre-event baseline (stall-like behavior).
C. No significant effect: safety stays normal and aggregate error (mean of tracking, TCP-tracking, force, and robot-current deviation terms) increases by <=12%.
D. Following the event, command and measured TCP motion remain aligned (TCP tracking error increase <=10%).

Answer: FFFT


Question: Given the counterfactual scenario where a collision hanging cable occurs at timestep 6650 ms, what would most likely happen next? Answer only with a 4 letter string using F and T to indicate your answers (ie. TFFT to indicate True, False, False, True). Do not output anything else.

Choices:
A. Following the event, temperatures rise across multiple joints (>=2 joints with slope >0.48% of baseline per horizon).
B. No significant effect: safety stays normal and aggregate error (mean of tracking, TCP-tracking, force, and robot-current deviation terms) increases by <=9%.
C. Following the event, at least one joint speed drops sharply (>=32% below pre-event baseline).
D. Following the event, motor current rises by >=29% while speed magnitude stays <=8% of pre-event baseline (stall-like behavior).

Answer: FTTF


Question: Given the counterfactual scenario where a collision hanging cable occurs at timestep 7665 ms, what would most likely happen next? Answer only with a 4 letter string using F and T to indicate your answers (ie. TFFT to indicate True, False, False, True). Do not output anything else.

Choices:
A. Following the event, contact-force magnitude remains low (<=25% above pre-event baseline for at least 79% of timesteps).
B. Following the event, command and measured TCP motion remain aligned (TCP tracking error increase <=8%).
C. No significant effect: safety stays normal and aggregate error (mean of tracking, TCP-tracking, force, and robot-current deviation terms) increases by <=13%.
D. Following the event, command and measured TCP motion become misaligned (TCP tracking error increase >=22%).

Answer: FTTF


Question: Given the counterfactual scenario where a collision cardboard object occurs at timestep 8162 ms, what would most likely happen next? Answer only with a 4 letter string using F and T to indicate your answers (ie. TFFT to indicate True, False, False, True). Do not output anything else.

Choices:
A. Following the event, robot current increases markedly (>=16% above pre-event mean).
B. No significant effect: safety stays normal and aggregate error (mean of tracking, TCP-tracking, force, and robot-current deviation terms) increases by <=15%.
C. Following the event, contact force shows a significant spike (>=49% above baseline norm).
D. Following the event, motor current rises by >=24% while speed magnitude stays <=13% of pre-event baseline (stall-like behavior).

Answer: FFFT


Question: Given the counterfactual scenario where a collision foam object occurs at timestep 3773 ms, what would most likely happen next? Answer only with a 4 letter string using F and T to indicate your answers (ie. TFFT to indicate True, False, False, True). Do not output anything else.

Choices:
A. Following the event, motor current rises by >=25% while speed magnitude stays <=7% of pre-event baseline (stall-like behavior).
B. No significant effect: safety stays normal and aggregate error (mean of tracking, TCP-tracking, force, and robot-current deviation terms) increases by <=9%.
C. Following the event, command and measured TCP motion become misaligned (TCP tracking error increase >=22%).
D. Following the event, robot current remains approximately constant (peak-to-peak range <=11% of pre-event baseline).

Answer: FTTF


Question: Given the counterfactual scenario where a collision cardboard object occurs at timestep 7460 ms, what would most likely happen next? Answer only with a 4 letter string using F and T to indicate your answers (ie. TFFT to indicate True, False, False, True). Do not output anything else.

Choices:
A. Following the event, command and measured TCP motion become misaligned (TCP tracking error increase >=27%).
B. Following the event, motor current rises by >=35% while speed magnitude stays <=8% of pre-event baseline (stall-like behavior).
C. No significant effect: safety stays normal and aggregate error (mean of tracking, TCP-tracking, force, and robot-current deviation terms) increases by <=12%.
D. Following the event, temperatures rise across multiple joints (>=1 joints with slope >0.66% of baseline per horizon).

Answer: FFFF


Question: Given the counterfactual scenario where a collision cardboard object occurs at timestep 9374 ms, what would most likely happen next? Answer only with a 4 letter string using F and T to indicate your answers (ie. TFFT to indicate True, False, False, True). Do not output anything else.

Choices:
A. Following the event, contact force shows a significant spike (>=34% above baseline norm).
B. Following the event, tracking error increases noticeably (>=28% above pre-event mean).
C. No significant effect: safety stays normal and aggregate error (mean of tracking, TCP-tracking, force, and robot-current deviation terms) increases by <=9%.
D. Following the event, contact-force magnitude remains low (<=22% above pre-event baseline for at least 84% of timesteps).

Answer: FFFF


Question: Given the counterfactual scenario where a collision foam object occurs at timestep 7765 ms, what would most likely happen next? Answer only with a 4 letter string using F and T to indicate your answers (ie. TFFT to indicate True, False, False, True). Do not output anything else.

Choices:
A. No significant effect: safety stays normal and aggregate error (mean of tracking, TCP-tracking, force, and robot-current deviation terms) increases by <=14%.
B. Following the event, at least one joint speed drops sharply (>=42% below pre-event baseline).
C. Following the event, contact force shows a significant spike (>=47% above baseline norm).
D. Following the event, tracking error increases noticeably (>=27% above pre-event mean).

Answer: FTFF


Question: Given the counterfactual scenario where a collision foam object occurs at timestep 7364 ms, what would most likely happen next? Answer only with a 4 letter string using F and T to indicate your answers (ie. TFFT to indicate True, False, False, True). Do not output anything else.

Choices:
A. Following the event, contact-force magnitude remains low (<=25% above pre-event baseline for at least 81% of timesteps).
B. Following the event, robot current remains approximately constant (peak-to-peak range <=9% of pre-event baseline).
C. Following the event, robot current increases markedly (>=27% above pre-event mean).
D. No significant effect: safety stays normal and aggregate error (mean of tracking, TCP-tracking, force, and robot-current deviation terms) increases by <=10%.

Answer: FFFT


Question: Given the counterfactual scenario where a collision cardboard object occurs at timestep 6955 ms, what would most likely happen next? Answer only with a 4 letter string using F and T to indicate your answers (ie. TFFT to indicate True, False, False, True). Do not output anything else.

Choices:
A. Following the event, at least one joint speed drops sharply (>=31% below pre-event baseline).
B. Following the event, command and measured TCP motion remain aligned (TCP tracking error increase <=11%).
C. No significant effect: safety stays normal and aggregate error (mean of tracking, TCP-tracking, force, and robot-current deviation terms) increases by <=10%.
D. Following the event, robot current increases markedly (>=18% above pre-event mean).

Answer: TTFF


Question: Given the counterfactual scenario where a collision foam object occurs at timestep 6757 ms, what would most likely happen next? Answer only with a 4 letter string using F and T to indicate your answers (ie. TFFT to indicate True, False, False, True). Do not output anything else.

Choices:
A. Following the event, robot current increases markedly (>=21% above pre-event mean).
B. Following the event, temperatures rise across multiple joints (>=2 joints with slope >0.57% of baseline per horizon).
C. No significant effect: safety stays normal and aggregate error (mean of tracking, TCP-tracking, force, and robot-current deviation terms) increases by <=11%.
D. Following the event, at least one joint speed drops sharply (>=31% below pre-event baseline).

Answer: FFTT


Question: Given the counterfactual scenario where a collision cardboard object occurs at timestep 7871 ms, what would most likely happen next? Answer only with a 4 letter string using F and T to indicate your answers (ie. TFFT to indicate True, False, False, True). Do not output anything else.

Choices:
A. Following the event, contact-force magnitude remains low (<=20% above pre-event baseline for at least 84% of timesteps).
B. Following the event, command and measured TCP motion remain aligned (TCP tracking error increase <=11%).
C. No significant effect: safety stays normal and aggregate error (mean of tracking, TCP-tracking, force, and robot-current deviation terms) increases by <=12%.
D. Following the event, joint speeds stay close to baseline (within ±8% of pre-event values).

Answer: FTTF


Question: Given the counterfactual scenario where a collision cardboard object occurs at timestep 7466 ms, what would most likely happen next? Answer only with a 4 letter string using F and T to indicate your answers (ie. TFFT to indicate True, False, False, True). Do not output anything else.

Choices:
A. Following the event, command and measured TCP motion become misaligned (TCP tracking error increase >=27%).
B. Following the event, robot current remains approximately constant (peak-to-peak range <=9% of pre-event baseline).
C. Following the event, joint speeds stay close to baseline (within ±9% of pre-event values).
D. No significant effect: safety stays normal and aggregate error (mean of tracking, TCP-tracking, force, and robot-current deviation terms) increases by <=8%.

Answer: FFFT


Question: Given the counterfactual scenario where a collision cardboard object occurs at timestep 7063 ms, what would most likely happen next? Answer only with a 4 letter string using F and T to indicate your answers (ie. TFFT to indicate True, False, False, True). Do not output anything else.

Choices:
A. Following the event, contact-force magnitude remains low (<=15% above pre-event baseline for at least 77% of timesteps).
B. Following the event, command and measured TCP motion remain aligned (TCP tracking error increase <=12%).
C. No significant effect: safety stays normal and aggregate error (mean of tracking, TCP-tracking, force, and robot-current deviation terms) increases by <=8%.
D. Following the event, contact force shows a significant spike (>=46% above baseline norm).

Answer: FTTF


Question: Given the counterfactual scenario where a collision foam object occurs at timestep 7553 ms, what would most likely happen next? Answer only with a 4 letter string using F and T to indicate your answers (ie. TFFT to indicate True, False, False, True). Do not output anything else.

Choices:
A. No significant effect: safety stays normal and aggregate error (mean of tracking, TCP-tracking, force, and robot-current deviation terms) increases by <=11%.
B. Following the event, contact force shows a significant spike (>=32% above baseline norm).
C. Following the event, robot current remains approximately constant (peak-to-peak range <=14% of pre-event baseline).
D. Following the event, at least one joint speed drops sharply (>=27% below pre-event baseline).

Answer: TFFT


Question: Given the counterfactual scenario where a collision cardboard object occurs at timestep 6354 ms, what would most likely happen next? Answer only with a 4 letter string using F and T to indicate your answers (ie. TFFT to indicate True, False, False, True). Do not output anything else.

Choices:
A. Following the event, robot current increases markedly (>=17% above pre-event mean).
B. Following the event, at least one joint speed drops sharply (>=34% below pre-event baseline).
C. Following the event, command and measured TCP motion remain aligned (TCP tracking error increase <=10%).
D. No significant effect: safety stays normal and aggregate error (mean of tracking, TCP-tracking, force, and robot-current deviation terms) increases by <=10%.

Answer: FTFT


Question: Given the counterfactual scenario where a collision cardboard object occurs at timestep 5403 ms, what would most likely happen next? Answer only with a 4 letter string using F and T to indicate your answers (ie. TFFT to indicate True, False, False, True). Do not output anything else.

Choices:
A. Following the event, at least one joint speed drops sharply (>=20% below pre-event baseline).
B. No significant effect: safety stays normal and aggregate error (mean of tracking, TCP-tracking, force, and robot-current deviation terms) increases by <=10%.
C. Following the event, joint speeds stay close to baseline (within ±12% of pre-event values).
D. Following the event, tracking error increases noticeably (>=24% above pre-event mean).

Answer: TFFF


Question: Given the counterfactual scenario where a collision cardboard object occurs at timestep 7663 ms, what would most likely happen next? Answer only with a 4 letter string using F and T to indicate your answers (ie. TFFT to indicate True, False, False, True). Do not output anything else.

Choices:
A. Following the event, motor current rises by >=30% while speed magnitude stays <=12% of pre-event baseline (stall-like behavior).
B. No significant effect: safety stays normal and aggregate error (mean of tracking, TCP-tracking, force, and robot-current deviation terms) increases by <=10%.
C. Following the event, contact-force magnitude remains low (<=19% above pre-event baseline for at least 76% of timesteps).
D. Following the event, tracking error increases noticeably (>=22% above pre-event mean).

Answer: FFFF


Question: Given the counterfactual scenario where a collision hanging cable occurs at timestep 9378 ms, what would most likely happen next? Answer only with a 4 letter string using F and T to indicate your answers (ie. TFFT to indicate True, False, False, True). Do not output anything else.

Choices:
A. Following the event, robot current increases markedly (>=22% above pre-event mean).
B. Following the event, contact force shows a significant spike (>=51% above baseline norm).
C. Following the event, command and measured TCP motion become misaligned (TCP tracking error increase >=29%).
D. No significant effect: safety stays normal and aggregate error (mean of tracking, TCP-tracking, force, and robot-current deviation terms) increases by <=8%.

Answer: FFFF


Question: Given the counterfactual scenario where a collision cardboard object occurs at timestep 8769 ms, select all statements that would apply. Answer only with a 4 letter string using F and T to indicate your answers (ie. TFFT to indicate True, False, False, True). Do not output anything else.

Choices:
A. Following the event, robot current remains approximately constant (peak-to-peak range <=5% of pre-event baseline).
B. Following the event, command and measured TCP motion become misaligned (TCP tracking error increase >=22%).
C. Following the event, temperatures rise across multiple joints (>=3 joints with slope >0.57% of baseline per horizon).
D. Following the event, robot current increases markedly (>=27% above pre-event mean).

Answer: FFFF


Question: Given the counterfactual scenario where a collision hanging cable occurs at timestep 6754 ms, select all statements that would apply. Answer only with a 4 letter string using F and T to indicate your answers (ie. TFFT to indicate True, False, False, True). Do not output anything else.

Choices:
A. Following the event, command and measured TCP motion remain aligned (TCP tracking error increase <=13%).
B. Following the event, robot current remains approximately constant (peak-to-peak range <=13% of pre-event baseline).
C. Following the event, motor current rises by >=19% while speed magnitude stays <=6% of pre-event baseline (stall-like behavior).
D. Following the event, contact force shows a significant spike (>=47% above baseline norm).

Answer: TFFF


Question: Given the counterfactual scenario where a collision cardboard object occurs at timestep 7763 ms, select all statements that would apply. Answer only with a 4 letter string using F and T to indicate your answers (ie. TFFT to indicate True, False, False, True). Do not output anything else.

Choices:
A. Following the event, command and measured TCP motion become misaligned (TCP tracking error increase >=33%).
B. Following the event, robot current increases markedly (>=22% above pre-event mean).
C. Following the event, joint speeds stay close to baseline (within ±8% of pre-event values).
D. Following the event, motor current rises by >=24% while speed magnitude stays <=15% of pre-event baseline (stall-like behavior).

Answer: FFFT


Question: Given the counterfactual scenario where a collision hanging cable occurs at timestep 6660 ms, select all statements that would apply. Answer only with a 4 letter string using F and T to indicate your answers (ie. TFFT to indicate True, False, False, True). Do not output anything else.

Choices:
A. Following the event, command and measured TCP motion remain aligned (TCP tracking error increase <=11%).
B. Following the event, temperatures rise across multiple joints (>=2 joints with slope >0.71% of baseline per horizon).
C. Following the event, command and measured TCP motion become misaligned (TCP tracking error increase >=21%).
D. No significant effect: safety stays normal and aggregate error (mean of tracking, TCP-tracking, force, and robot-current deviation terms) increases by <=15%.

Answer: TFFT


Question: Given the counterfactual scenario where a collision foam object occurs at timestep 8776 ms, select all statements that would apply. Answer only with a 4 letter string using F and T to indicate your answers (ie. TFFT to indicate True, False, False, True). Do not output anything else.

Choices:
A. Following the event, tracking error increases noticeably (>=27% above pre-event mean).
B. Following the event, at least one joint speed drops sharply (>=31% below pre-event baseline).
C. No significant effect: safety stays normal and aggregate error (mean of tracking, TCP-tracking, force, and robot-current deviation terms) increases by <=7%.
D. Following the event, command and measured TCP motion remain aligned (TCP tracking error increase <=11%).

Answer: FTFT


Question: Given the counterfactual scenario where a collision hanging cable occurs at timestep 8770 ms, select all statements that would apply. Answer only with a 4 letter string using F and T to indicate your answers (ie. TFFT to indicate True, False, False, True). Do not output anything else.

Choices:
A. No significant effect: safety stays normal and aggregate error (mean of tracking, TCP-tracking, force, and robot-current deviation terms) increases by <=12%.
B. Following the event, contact force shows a significant spike (>=38% above baseline norm).
C. Following the event, command and measured TCP motion remain aligned (TCP tracking error increase <=11%).
D. Following the event, robot current increases markedly (>=18% above pre-event mean).

Answer: FFTF


Question: Given the counterfactual scenario where a collision cardboard object occurs at timestep 7868 ms, select all statements that would apply. Answer only with a 4 letter string using F and T to indicate your answers (ie. TFFT to indicate True, False, False, True). Do not output anything else.

Choices:
A. Following the event, temperatures rise across multiple joints (>=2 joints with slope >0.42% of baseline per horizon).
B. Following the event, joint speeds stay close to baseline (within ±12% of pre-event values).
C. No significant effect: safety stays normal and aggregate error (mean of tracking, TCP-tracking, force, and robot-current deviation terms) increases by <=13%.
D. Following the event, at least one joint speed drops sharply (>=30% below pre-event baseline).

Answer: FFFT


Question: Given the counterfactual scenario where a collision foam object occurs at timestep 6660 ms, select all statements that would apply. Answer only with a 4 letter string using F and T to indicate your answers (ie. TFFT to indicate True, False, False, True). Do not output anything else.

Choices:
A. Following the event, contact force shows a significant spike (>=39% above baseline norm).
B. Following the event, at least one joint speed drops sharply (>=25% below pre-event baseline).
C. Following the event, tracking error increases noticeably (>=23% above pre-event mean).
D. Following the event, robot current remains approximately constant (peak-to-peak range <=5% of pre-event baseline).

Answer: FTFF


Question: Given the counterfactual scenario where a collision foam object occurs at timestep 7168 ms, select all statements that would apply. Answer only with a 4 letter string using F and T to indicate your answers (ie. TFFT to indicate True, False, False, True). Do not output anything else.

Choices:
A. Following the event, joint speeds stay close to baseline (within ±7% of pre-event values).
B. Following the event, command and measured TCP motion remain aligned (TCP tracking error increase <=6%).
C. Following the event, at least one joint speed drops sharply (>=29% below pre-event baseline).
D. Following the event, contact-force magnitude remains low (<=22% above pre-event baseline for at least 75% of timesteps).

Answer: FFTF


Question: Given the counterfactual scenario where a collision foam object occurs at timestep 7357 ms, select all statements that would apply. Answer only with a 4 letter string using F and T to indicate your answers (ie. TFFT to indicate True, False, False, True). Do not output anything else.

Choices:
A. Following the event, robot current remains approximately constant (peak-to-peak range <=7% of pre-event baseline).
B. Following the event, temperatures rise across multiple joints (>=2 joints with slope >0.29% of baseline per horizon).
C. Following the event, motor current rises by >=24% while speed magnitude stays <=12% of pre-event baseline (stall-like behavior).
D. No significant effect: safety stays normal and aggregate error (mean of tracking, TCP-tracking, force, and robot-current deviation terms) increases by <=11%.

Answer: FFFF


Question: Given the counterfactual scenario where a collision foam object occurs at timestep 6256 ms, select all statements that would apply. Answer only with a 4 letter string using F and T to indicate your answers (ie. TFFT to indicate True, False, False, True). Do not output anything else.

Choices:
A. Following the event, command and measured TCP motion remain aligned (TCP tracking error increase <=10%).
B. Following the event, robot current increases markedly (>=15% above pre-event mean).
C. Following the event, contact-force magnitude remains low (<=19% above pre-event baseline for at least 81% of timesteps).
D. Following the event, at least one joint speed drops sharply (>=38% below pre-event baseline).

Answer: TFFT


Question: Given the counterfactual scenario where a collision hanging cable occurs at timestep 7469 ms, select all statements that would apply. Answer only with a 4 letter string using F and T to indicate your answers (ie. TFFT to indicate True, False, False, True). Do not output anything else.

Choices:
A. No significant effect: safety stays normal and aggregate error (mean of tracking, TCP-tracking, force, and robot-current deviation terms) increases by <=9%.
B. Following the event, contact force shows a significant spike (>=41% above baseline norm).
C. Following the event, joint speeds stay close to baseline (within ±11% of pre-event values).
D. Following the event, command and measured TCP motion remain aligned (TCP tracking error increase <=9%).

Answer: TFFF


Question: Given the counterfactual scenario where a collision cardboard object occurs at timestep 7662 ms, select all statements that would apply. Answer only with a 4 letter string using F and T to indicate your answers (ie. TFFT to indicate True, False, False, True). Do not output anything else.

Choices:
A. Following the event, temperatures rise across multiple joints (>=2 joints with slope >0.35% of baseline per horizon).
B. Following the event, at least one joint speed drops sharply (>=14% below pre-event baseline).
C. Following the event, contact force shows a significant spike (>=54% above baseline norm).
D. Following the event, command and measured TCP motion remain aligned (TCP tracking error increase <=15%).

Answer: FTFT


Question: Given the counterfactual scenario where a collision foam object occurs at timestep 6561 ms, select all statements that would apply. Answer only with a 4 letter string using F and T to indicate your answers (ie. TFFT to indicate True, False, False, True). Do not output anything else.

Choices:
A. Following the event, robot current remains approximately constant (peak-to-peak range <=8% of pre-event baseline).
B. No significant effect: safety stays normal and aggregate error (mean of tracking, TCP-tracking, force, and robot-current deviation terms) increases by <=9%.
C. Following the event, contact-force magnitude remains low (<=16% above pre-event baseline for at least 83% of timesteps).
D. Following the event, contact force shows a significant spike (>=48% above baseline norm).

Answer: FTFF


Question: Given the counterfactual scenario where a collision cardboard object occurs at timestep 5340 ms, select all statements that would apply. Answer only with a 4 letter string using F and T to indicate your answers (ie. TFFT to indicate True, False, False, True). Do not output anything else.

Choices:
A. Following the event, contact-force magnitude remains low (<=24% above pre-event baseline for at least 80% of timesteps).
B. Following the event, temperatures rise across multiple joints (>=3 joints with slope >0.42% of baseline per horizon).
C. Following the event, tracking error increases noticeably (>=23% above pre-event mean).
D. Following the event, at least one joint speed drops sharply (>=29% below pre-event baseline).

Answer: FFFT


Question: Given the counterfactual scenario where a collision foam object occurs at timestep 6557 ms, select all statements that would apply. Answer only with a 4 letter string using F and T to indicate your answers (ie. TFFT to indicate True, False, False, True). Do not output anything else.

Choices:
A. Following the event, contact force shows a significant spike (>=31% above baseline norm).
B. Following the event, temperatures rise across multiple joints (>=3 joints with slope >0.44% of baseline per horizon).
C. Following the event, robot current remains approximately constant (peak-to-peak range <=6% of pre-event baseline).
D. Following the event, contact-force magnitude remains low (<=21% above pre-event baseline for at least 80% of timesteps).

Answer: FFFF


Question: Given the counterfactual scenario where a collision cardboard object occurs at timestep 7566 ms, select all statements that would apply. Answer only with a 4 letter string using F and T to indicate your answers (ie. TFFT to indicate True, False, False, True). Do not output anything else.

Choices:
A. Following the event, contact-force magnitude remains low (<=18% above pre-event baseline for at least 73% of timesteps).
B. Following the event, command and measured TCP motion become misaligned (TCP tracking error increase >=29%).
C. Following the event, motor current rises by >=17% while speed magnitude stays <=9% of pre-event baseline (stall-like behavior).
D. Following the event, contact force shows a significant spike (>=40% above baseline norm).

Answer: FFFF


Question: Given the counterfactual scenario where a collision cardboard object occurs at timestep 8666 ms, select all statements that would apply. Answer only with a 4 letter string using F and T to indicate your answers (ie. TFFT to indicate True, False, False, True). Do not output anything else.

Choices:
A. No significant effect: safety stays normal and aggregate error (mean of tracking, TCP-tracking, force, and robot-current deviation terms) increases by <=11%.
B. Following the event, at least one joint speed drops sharply (>=27% below pre-event baseline).
C. Following the event, tracking error increases noticeably (>=23% above pre-event mean).
D. Following the event, robot current remains approximately constant (peak-to-peak range <=10% of pre-event baseline).

Answer: FTFF


Question: Given the counterfactual scenario where a collision hanging cable occurs at timestep 8780 ms, select all statements that would apply. Answer only with a 4 letter string using F and T to indicate your answers (ie. TFFT to indicate True, False, False, True). Do not output anything else.

Choices:
A. Following the event, motor current rises by >=34% while speed magnitude stays <=9% of pre-event baseline (stall-like behavior).
B. Following the event, command and measured TCP motion remain aligned (TCP tracking error increase <=8%).
C. Following the event, joint speeds stay close to baseline (within ±10% of pre-event values).
D. Following the event, temperatures rise across multiple joints (>=2 joints with slope >0.35% of baseline per horizon).

Answer: FTFF


Question: Given the counterfactual scenario where a collision foam object occurs at timestep 7658 ms, select all statements that would apply. Answer only with a 4 letter string using F and T to indicate your answers (ie. TFFT to indicate True, False, False, True). Do not output anything else.

Choices:
A. Following the event, contact force shows a significant spike (>=52% above baseline norm).
B. Following the event, tracking error increases noticeably (>=22% above pre-event mean).
C. Following the event, joint speeds stay close to baseline (within ±13% of pre-event values).
D. Following the event, temperatures rise across multiple joints (>=2 joints with slope >0.45% of baseline per horizon).

Answer: FFFF


Question: Given the counterfactual scenario where a collision cardboard object occurs at timestep 7260 ms, select all statements that would apply. Answer only with a 4 letter string using F and T to indicate your answers (ie. TFFT to indicate True, False, False, True). Do not output anything else.

Choices:
A. Following the event, motor current rises by >=26% while speed magnitude stays <=11% of pre-event baseline (stall-like behavior).
B. Following the event, robot current increases markedly (>=21% above pre-event mean).
C. Following the event, joint speeds stay close to baseline (within ±9% of pre-event values).
D. Following the event, temperatures rise across multiple joints (>=2 joints with slope >0.42% of baseline per horizon).

Answer: TFFF


Question: Given the counterfactual scenario where a collision foam object occurs at timestep 7665 ms, select all statements that would apply. Answer only with a 4 letter string using F and T to indicate your answers (ie. TFFT to indicate True, False, False, True). Do not output anything else.

Choices:
A. Following the event, contact-force magnitude remains low (<=22% above pre-event baseline for at least 84% of timesteps).
B. Following the event, temperatures rise across multiple joints (>=2 joints with slope >0.62% of baseline per horizon).
C. Following the event, command and measured TCP motion remain aligned (TCP tracking error increase <=14%).
D. Following the event, at least one joint speed drops sharply (>=29% below pre-event baseline).

Answer: FFTT


Question: Given the counterfactual scenario where a collision cardboard object occurs at timestep 7857 ms, select all statements that would apply. Answer only with a 4 letter string using F and T to indicate your answers (ie. TFFT to indicate True, False, False, True). Do not output anything else.

Choices:
A. Following the event, joint speeds stay close to baseline (within ±9% of pre-event values).
B. Following the event, motor current rises by >=23% while speed magnitude stays <=10% of pre-event baseline (stall-like behavior).
C. No significant effect: safety stays normal and aggregate error (mean of tracking, TCP-tracking, force, and robot-current deviation terms) increases by <=14%.
D. Following the event, command and measured TCP motion remain aligned (TCP tracking error increase <=11%).

Answer: FFTT


Question: Given the counterfactual scenario where a collision foam object occurs at timestep 7666 ms, select all statements that would apply. Answer only with a 4 letter string using F and T to indicate your answers (ie. TFFT to indicate True, False, False, True). Do not output anything else.

Choices:
A. Following the event, at least one joint speed drops sharply (>=41% below pre-event baseline).
B. Following the event, tracking error increases noticeably (>=25% above pre-event mean).
C. Following the event, contact force shows a significant spike (>=27% above baseline norm).
D. Following the event, robot current remains approximately constant (peak-to-peak range <=10% of pre-event baseline).

Answer: TFFF


Question: Given the counterfactual scenario where a collision foam object occurs at timestep 8069 ms, select all statements that would apply. Answer only with a 4 letter string using F and T to indicate your answers (ie. TFFT to indicate True, False, False, True). Do not output anything else.

Choices:
A. Following the event, tracking error increases noticeably (>=31% above pre-event mean).
B. Following the event, command and measured TCP motion become misaligned (TCP tracking error increase >=16%).
C. Following the event, robot current increases markedly (>=17% above pre-event mean).
D. Following the event, at least one joint speed drops sharply (>=26% below pre-event baseline).

Answer: FFFT


Question: Given the counterfactual scenario where a collision cardboard object occurs at timestep 7971 ms, select all statements that would apply. Answer only with a 4 letter string using F and T to indicate your answers (ie. TFFT to indicate True, False, False, True). Do not output anything else.

Choices:
A. Following the event, tracking error increases noticeably (>=25% above pre-event mean).
B. Following the event, robot current increases markedly (>=23% above pre-event mean).
C. Following the event, temperatures rise across multiple joints (>=2 joints with slope >0.64% of baseline per horizon).
D. Following the event, command and measured TCP motion become misaligned (TCP tracking error increase >=27%).

Answer: FFFT


Question: Given the counterfactual scenario where a collision cardboard object occurs at timestep 7262 ms, select all statements that would apply. Answer only with a 4 letter string using F and T to indicate your answers (ie. TFFT to indicate True, False, False, True). Do not output anything else.

Choices:
A. Following the event, contact-force magnitude remains low (<=18% above pre-event baseline for at least 75% of timesteps).
B. Following the event, command and measured TCP motion remain aligned (TCP tracking error increase <=7%).
C. Following the event, temperatures rise across multiple joints (>=2 joints with slope >0.46% of baseline per horizon).
D. Following the event, robot current increases markedly (>=30% above pre-event mean).

Answer: FTFF


Question: Given the counterfactual scenario where a collision cardboard object occurs at timestep 7261 ms, select all statements that would apply. Answer only with a 4 letter string using F and T to indicate your answers (ie. TFFT to indicate True, False, False, True). Do not output anything else.

Choices:
A. Following the event, joint speeds stay close to baseline (within ±12% of pre-event values).
B. Following the event, command and measured TCP motion become misaligned (TCP tracking error increase >=28%).
C. No significant effect: safety stays normal and aggregate error (mean of tracking, TCP-tracking, force, and robot-current deviation terms) increases by <=10%.
D. Following the event, at least one joint speed drops sharply (>=25% below pre-event baseline).

Answer: FFTT


Question: Given the counterfactual scenario where a collision foam object occurs at timestep 7765 ms, select all statements that would apply. Answer only with a 4 letter string using F and T to indicate your answers (ie. TFFT to indicate True, False, False, True). Do not output anything else.

Choices:
A. Following the event, temperatures rise across multiple joints (>=2 joints with slope >0.51% of baseline per horizon).
B. Following the event, tracking error increases noticeably (>=25% above pre-event mean).
C. Following the event, at least one joint speed drops sharply (>=22% below pre-event baseline).
D. No significant effect: safety stays normal and aggregate error (mean of tracking, TCP-tracking, force, and robot-current deviation terms) increases by <=9%.

Answer: FFTF


Question: Given the counterfactual scenario where a collision cardboard object occurs at timestep 6256 ms, select all statements that would apply. Answer only with a 4 letter string using F and T to indicate your answers (ie. TFFT to indicate True, False, False, True). Do not output anything else.

Choices:
A. Following the event, contact-force magnitude remains low (<=21% above pre-event baseline for at least 75% of timesteps).
B. Following the event, joint speeds stay close to baseline (within ±9% of pre-event values).
C. Following the event, robot current increases markedly (>=22% above pre-event mean).
D. Following the event, command and measured TCP motion remain aligned (TCP tracking error increase <=10%).

Answer: FFFT


Question: Given the counterfactual scenario where a collision hanging cable occurs at timestep 6650 ms, select all statements that would apply. Answer only with a 4 letter string using F and T to indicate your answers (ie. TFFT to indicate True, False, False, True). Do not output anything else.

Choices:
A. Following the event, motor current rises by >=21% while speed magnitude stays <=7% of pre-event baseline (stall-like behavior).
B. Following the event, temperatures rise across multiple joints (>=2 joints with slope >0.40% of baseline per horizon).
C. Following the event, at least one joint speed drops sharply (>=21% below pre-event baseline).
D. Following the event, tracking error increases noticeably (>=33% above pre-event mean).

Answer: FFTF


Question: Given the counterfactual scenario where a collision hanging cable occurs at timestep 7665 ms, select all statements that would apply. Answer only with a 4 letter string using F and T to indicate your answers (ie. TFFT to indicate True, False, False, True). Do not output anything else.

Choices:
A. Following the event, contact force shows a significant spike (>=39% above baseline norm).
B. Following the event, command and measured TCP motion become misaligned (TCP tracking error increase >=26%).
C. Following the event, robot current remains approximately constant (peak-to-peak range <=11% of pre-event baseline).
D. No significant effect: safety stays normal and aggregate error (mean of tracking, TCP-tracking, force, and robot-current deviation terms) increases by <=12%.

Answer: FFFT


Question: Given the counterfactual scenario where a collision cardboard object occurs at timestep 8162 ms, select all statements that would apply. Answer only with a 4 letter string using F and T to indicate your answers (ie. TFFT to indicate True, False, False, True). Do not output anything else.

Choices:
A. Following the event, temperatures rise across multiple joints (>=2 joints with slope >0.46% of baseline per horizon).
B. Following the event, joint speeds stay close to baseline (within ±12% of pre-event values).
C. Following the event, command and measured TCP motion remain aligned (TCP tracking error increase <=12%).
D. Following the event, tracking error increases noticeably (>=20% above pre-event mean).

Answer: FFTF


Question: Given the counterfactual scenario where a collision foam object occurs at timestep 3773 ms, select all statements that would apply. Answer only with a 4 letter string using F and T to indicate your answers (ie. TFFT to indicate True, False, False, True). Do not output anything else.

Choices:
A. Following the event, command and measured TCP motion become misaligned (TCP tracking error increase >=25%).
B. Following the event, temperatures rise across multiple joints (>=2 joints with slope >0.43% of baseline per horizon).
C. Following the event, tracking error increases noticeably (>=31% above pre-event mean).
D. Following the event, robot current increases markedly (>=13% above pre-event mean).

Answer: TFFF


Question: Given the counterfactual scenario where a collision cardboard object occurs at timestep 7460 ms, select all statements that would apply. Answer only with a 4 letter string using F and T to indicate your answers (ie. TFFT to indicate True, False, False, True). Do not output anything else.

Choices:
A. Following the event, tracking error increases noticeably (>=27% above pre-event mean).
B. Following the event, contact force shows a significant spike (>=47% above baseline norm).
C. Following the event, joint speeds stay close to baseline (within ±9% of pre-event values).
D. Following the event, command and measured TCP motion remain aligned (TCP tracking error increase <=9%).

Answer: FFFT


Question: Given the counterfactual scenario where a collision cardboard object occurs at timestep 9374 ms, select all statements that would apply. Answer only with a 4 letter string using F and T to indicate your answers (ie. TFFT to indicate True, False, False, True). Do not output anything else.

Choices:
A. No significant effect: safety stays normal and aggregate error (mean of tracking, TCP-tracking, force, and robot-current deviation terms) increases by <=10%.
B. Following the event, joint speeds stay close to baseline (within ±9% of pre-event values).
C. Following the event, at least one joint speed drops sharply (>=39% below pre-event baseline).
D. Following the event, tracking error increases noticeably (>=18% above pre-event mean).

Answer: FFTF


Question: Given the counterfactual scenario where a collision foam object occurs at timestep 7765 ms, select all statements that would apply. Answer only with a 4 letter string using F and T to indicate your answers (ie. TFFT to indicate True, False, False, True). Do not output anything else.

Choices:
A. Following the event, command and measured TCP motion become misaligned (TCP tracking error increase >=13%).
B. Following the event, motor current rises by >=27% while speed magnitude stays <=8% of pre-event baseline (stall-like behavior).
C. Following the event, robot current remains approximately constant (peak-to-peak range <=11% of pre-event baseline).
D. Following the event, contact force shows a significant spike (>=30% above baseline norm).

Answer: TFFF


Question: Given the counterfactual scenario where a collision foam object occurs at timestep 7364 ms, select all statements that would apply. Answer only with a 4 letter string using F and T to indicate your answers (ie. TFFT to indicate True, False, False, True). Do not output anything else.

Choices:
A. Following the event, robot current increases markedly (>=22% above pre-event mean).
B. Following the event, motor current rises by >=23% while speed magnitude stays <=10% of pre-event baseline (stall-like behavior).
C. Following the event, at least one joint speed drops sharply (>=20% below pre-event baseline).
D. Following the event, temperatures rise across multiple joints (>=2 joints with slope >0.66% of baseline per horizon).

Answer: FFTF


Question: Given the counterfactual scenario where a collision cardboard object occurs at timestep 6955 ms, select all statements that would apply. Answer only with a 4 letter string using F and T to indicate your answers (ie. TFFT to indicate True, False, False, True). Do not output anything else.

Choices:
A. Following the event, at least one joint speed drops sharply (>=35% below pre-event baseline).
B. Following the event, motor current rises by >=30% while speed magnitude stays <=11% of pre-event baseline (stall-like behavior).
C. No significant effect: safety stays normal and aggregate error (mean of tracking, TCP-tracking, force, and robot-current deviation terms) increases by <=11%.
D. Following the event, robot current remains approximately constant (peak-to-peak range <=12% of pre-event baseline).

Answer: TFFF


Question: Given the counterfactual scenario where a collision foam object occurs at timestep 6757 ms, select all statements that would apply. Answer only with a 4 letter string using F and T to indicate your answers (ie. TFFT to indicate True, False, False, True). Do not output anything else.

Choices:
A. Following the event, command and measured TCP motion become misaligned (TCP tracking error increase >=26%).
B. Following the event, joint speeds stay close to baseline (within ±9% of pre-event values).
C. Following the event, at least one joint speed drops sharply (>=39% below pre-event baseline).
D. Following the event, tracking error increases noticeably (>=26% above pre-event mean).

Answer: FFTF


Question: Given the counterfactual scenario where a collision foam object occurs at timestep 5331 ms, select all statements that would apply. Answer only with a 4 letter string using F and T to indicate your answers (ie. TFFT to indicate True, False, False, True). Do not output anything else.

Choices:
A. Following the event, motor current rises by >=27% while speed magnitude stays <=8% of pre-event baseline (stall-like behavior).
B. Following the event, at least one joint speed drops sharply (>=30% below pre-event baseline).
C. Following the event, robot current remains approximately constant (peak-to-peak range <=8% of pre-event baseline).
D. Following the event, temperatures rise across multiple joints (>=3 joints with slope >0.74% of baseline per horizon).

Answer: FTFF


Question: Given the counterfactual scenario where a collision cardboard object occurs at timestep 7871 ms, select all statements that would apply. Answer only with a 4 letter string using F and T to indicate your answers (ie. TFFT to indicate True, False, False, True). Do not output anything else.

Choices:
A. Following the event, tracking error increases noticeably (>=23% above pre-event mean).
B. Following the event, robot current remains approximately constant (peak-to-peak range <=10% of pre-event baseline).
C. Following the event, command and measured TCP motion become misaligned (TCP tracking error increase >=30%).
D. Following the event, joint speeds stay close to baseline (within ±9% of pre-event values).

Answer: FFFF


Question: Given the counterfactual scenario where a collision cardboard object occurs at timestep 7466 ms, select all statements that would apply. Answer only with a 4 letter string using F and T to indicate your answers (ie. TFFT to indicate True, False, False, True). Do not output anything else.

Choices:
A. Following the event, joint speeds stay close to baseline (within ±10% of pre-event values).
B. Following the event, contact force shows a significant spike (>=50% above baseline norm).
C. Following the event, command and measured TCP motion remain aligned (TCP tracking error increase <=9%).
D. Following the event, robot current increases markedly (>=24% above pre-event mean).

Answer: FFTF


Question: Given the counterfactual scenario where a collision cardboard object occurs at timestep 7063 ms, select all statements that would apply. Answer only with a 4 letter string using F and T to indicate your answers (ie. TFFT to indicate True, False, False, True). Do not output anything else.

Choices:
A. Following the event, robot current increases markedly (>=22% above pre-event mean).
B. Following the event, command and measured TCP motion remain aligned (TCP tracking error increase <=11%).
C. Following the event, joint speeds stay close to baseline (within ±10% of pre-event values).
D. No significant effect: safety stays normal and aggregate error (mean of tracking, TCP-tracking, force, and robot-current deviation terms) increases by <=11%.

Answer: FTFT