Question: Given the baseline sensor stream below and the counterfactual scenario where a collision hanging cable occurs at timestep 505 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 602 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 3521 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 2521 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 3531 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 3428 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 1916 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 5446 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 1311 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 1614 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 5048 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 3731 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 2038 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 4728 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 708 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 3731 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 2422 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 3414 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 3428 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 1916 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 2117 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 706 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 807 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 1109 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 1413 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 4735 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 3129 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 2018 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 1617 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 2620 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 5041 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 4036 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 1615 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 505 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 2520 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 1312 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 2085 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 2115 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 2213 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 2521 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 1515 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 1109 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 1818 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 2523 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 1310 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 1411 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 3022 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 2320 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 1956 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 4034 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 1412 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 2817 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 2622 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 2626 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 2421 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 3831 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 1915 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 3632 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 2825 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 1412 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 1110 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 2891 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 809 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 3529 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 705 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 1272 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 1714 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 2219 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 1815 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 2623 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 2824 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 2624 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 2724 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 2216 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 908 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 606 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 3635 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 1109 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 707 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 2724 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 3328 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 1007 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 2219 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 2219 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 1568 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 1913 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 3121 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 3328 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 2522 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 3328 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 607 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 2386 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 1312 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 806 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 505 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