Question: Given the baseline sensor stream below and the counterfactual scenario where a collision cardboard object occurs at timestep 7863 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=-0.08, co1=-1.12, co2=-0.91, co3=-0.59, co4=-0.01, co5=-0.1, dib=0, dob=0, ec0=-0.09, ec1=-1.13, ec2=-0.92, ec3=-0.6, ec4=-0.01, ec5=-0.11, etc0=0, etc1=-1.29, etc2=-1.17, etc3=-0.56, etc4=0, etc5=0, e=0, fp0=53.66, fp1=-71.16, fp2=107.15, fp3=-126.5, fp4=-90.28, fp5=271.37, fs0=0.16, fs1=0, fs2=0.18, fs3=0.16, fs4=0.01, fs5=-0.02, ft0=-0.11, ft1=-0.34, ft2=0.12, ft3=1.38, ft4=-2.81, ft5=0.01, 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=33.9, jt1=35.89, jt2=38.48, jt3=40.3, jt4=43.24, jt5=41.07, mv=48.19, rc=0.72, rm=7, rv=48.19, rs=2, sm=1, sp0=53.66, sp1=-71.15, sp2=107.17, sp3=-126.48, sp4=-90.28, sp5=271.37, ss0=0, ss1=0, ss2=0, ss3=0, ss4=0, ss5=0, st0=-0.11, st1=-0.34, st2=0.12, st3=1.38, st4=-2.81, st5=0, sts0=0, sts1=0, sts2=0, sts3=0, sts4=0, sts5=0, ss=1, tsf=1, tp=7, tm=0, tf0=2.29, tf1=-7.49, tf2=10.79, tf3=1.86, tf4=-0.36, tf5=-0.49 | co0=-0.07, co1=-1.12, co2=-0.79, co3=-0.47, co4=-0.03, co5=-0.1, dib=0, dob=0, ec0=-0.07, ec1=-1.16, ec2=-0.79, ec3=-0.48, ec4=-0.03, ec5=-0.11, etc0=0, etc1=-1.29, etc2=-1.17, etc3=-0.56, etc4=0, etc5=0, e=0, fp0=53.66, fp1=-71.15, fp2=107.15, fp3=-126.48, fp4=-90.28, fp5=271.37, fs0=0.01, fs1=0, fs2=-0.03, fs3=0.29, fs4=0.01, fs5=-0.01, ft0=-0.11, ft1=-0.34, ft2=0.12, ft3=1.38, ft4=-2.81, ft5=0.01, fts0=0, fts1=0, fts2=0, fts3=0, fts4=0, fts5=0, gc=-7, jm0=253, jm1=253, jm2=253, jm3=253, jm4=253, jm5=253, jt0=33.9, jt1=35.89, jt2=38.48, jt3=40.3, jt4=43.24, jt5=41.07, mv=48.19, rc=0.61, rm=7, rv=48.19, rs=2, sm=1, sp0=53.66, sp1=-71.15, sp2=107.17, sp3=-126.48, sp4=-90.28, sp5=271.37, ss0=0, ss1=0, ss2=0, ss3=0, ss4=0, ss5=0, st0=-0.11, st1=-0.34, st2=0.12, st3=1.38, st4=-2.81, st5=0, sts0=0, sts1=0, sts2=0, sts3=0, sts4=0, sts5=0, ss=1, tsf=1, tp=7, tm=0, tf0=-0.32, tf1=-14.08, tf2=9.76, tf3=2.21, tf4=-0.43, tf5=-0.49 | co0=-0.05, co1=-1.13, co2=-0.8, co3=-0.5, co4=-0.06, co5=-0.1, dib=0, dob=0, ec0=-0.06, ec1=-1.15, ec2=-0.8, ec3=-0.5, ec4=-0.06, ec5=-0.11, etc0=0, etc1=-1.29, etc2=-1.17, etc3=-0.56, etc4=0, etc5=0, e=0, fp0=53.65, fp1=-71.15, fp2=107.17, fp3=-126.48, fp4=-90.28, fp5=271.37, fs0=-0.01, fs1=0, fs2=0.1, fs3=0.03, fs4=0.01, fs5=-0.01, ft0=-0.11, ft1=-0.34, ft2=0.12, ft3=1.38, ft4=-2.81, 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=33.9, jt1=35.89, jt2=38.48, jt3=40.3, jt4=43.24, jt5=41.07, mv=48.19, rc=0.61, rm=7, rv=48.19, rs=2, sm=1, sp0=53.66, sp1=-71.15, sp2=107.17, sp3=-126.48, sp4=-90.28, sp5=271.37, ss0=0, ss1=0, ss2=0, ss3=0, ss4=0, ss5=0, st0=-0.11, st1=-0.34, st2=0.12, st3=1.38, st4=-2.81, st5=0, sts0=0, sts1=0, sts2=0, sts3=0, sts4=0, sts5=0, ss=1, tsf=1, tp=7, tm=0, tf0=-0.21, tf1=-12.85, tf2=10.51, tf3=2.09, tf4=-0.62, tf5=-0.51 | co0=-0.06, co1=-1.13, co2=-0.81, co3=-0.5, co4=-0.11, co5=-0.11, dib=0, dob=0, ec0=-0.06, ec1=-1.11, ec2=-0.82, ec3=-0.5, ec4=-0.11, ec5=-0.1, etc0=0, etc1=-1.29, etc2=-1.17, etc3=-0.56, etc4=0, etc5=0, e=0, fp0=53.66, fp1=-71.15, fp2=107.18, fp3=-126.47, fp4=-90.28, fp5=271.37, fs0=-0.01, fs1=0, fs2=0.04, fs3=0.03, fs4=0.01, fs5=-0.01, ft0=-0.11, ft1=-0.34, ft2=0.12, ft3=1.38, ft4=-2.81, 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=33.9, jt1=35.89, jt2=38.48, jt3=40.3, jt4=43.24, jt5=41.07, mv=48.19, rc=0.79, rm=7, rv=48.19, rs=2, sm=1, sp0=53.66, sp1=-71.15, sp2=107.17, sp3=-126.48, sp4=-90.28, sp5=271.37, ss0=0, ss1=0, ss2=0, ss3=0, ss4=0, ss5=0, st0=-0.11, st1=-0.34, st2=0.12, st3=1.38, st4=-2.81, st5=0, sts0=0, sts1=0, sts2=0, sts3=0, sts4=0, sts5=0, ss=1, tsf=1, tp=7, tm=0, tf0=0.28, tf1=-10.48, tf2=11.35, tf3=1.69, tf4=-0.76, tf5=-0.48 | co0=-0.06, co1=-1.13, co2=-0.81, co3=-0.5, co4=-0.11, co5=-0.11, dib=0, dob=0, ec0=-0.06, ec1=-1.11, ec2=-0.82, ec3=-0.5, ec4=-0.11, ec5=-0.1, etc0=0, etc1=-1.29, etc2=-1.17, etc3=-0.56, etc4=0, etc5=0, e=0, fp0=53.66, fp1=-71.15, fp2=107.18, fp3=-126.47, fp4=-90.28, fp5=271.37, fs0=-0.01, fs1=0, fs2=0.04, fs3=0.03, fs4=0.01, fs5=-0.01, ft0=-0.11, ft1=-0.34, ft2=0.12, ft3=1.38, ft4=-2.81, 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=33.9, jt1=35.89, jt2=38.48, jt3=40.3, jt4=43.24, jt5=41.07, mv=48.19, rc=0.79, rm=7, rv=48.19, rs=2, sm=1, sp0=53.66, sp1=-71.15, sp2=107.17, sp3=-126.48, sp4=-90.28, sp5=271.37, ss0=0, ss1=0, ss2=0, ss3=0, ss4=0, ss5=0, st0=-0.11, st1=-0.34, st2=0.12, st3=1.38, st4=-2.81, st5=0, sts0=0, sts1=0, sts2=0, sts3=0, sts4=0, sts5=0, ss=1, tsf=1, tp=7, tm=0, tf0=0.28, tf1=-10.48, tf2=11.35, tf3=1.69, tf4=-0.76, tf5=-0.48
B. co0=-0.06, co1=-1.13, co2=-0.82, co3=-0.5, co4=-0.16, co5=-0.11, dib=0, dob=0, ec0=-0.06, ec1=-1.13, ec2=-0.82, ec3=-0.51, ec4=-0.18, ec5=-0.11, etc0=0, etc1=-1.29, etc2=-1.17, etc3=-0.56, etc4=0, etc5=0, e=0, fp0=53.66, fp1=-71.15, fp2=107.18, fp3=-126.47, fp4=-90.28, fp5=271.37, fs0=-0.01, fs1=0, fs2=0.03, fs3=0.02, fs4=0, fs5=-0.01, ft0=-0.11, ft1=-0.34, ft2=0.12, ft3=1.38, ft4=-2.81, 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=33.9, jt1=35.89, jt2=38.48, jt3=40.3, jt4=43.24, jt5=41.07, mv=48.19, rc=0.61, rm=7, rv=48.19, rs=2, sm=1, sp0=53.66, sp1=-71.15, sp2=107.17, sp3=-126.48, sp4=-90.28, sp5=271.37, ss0=0, ss1=0, ss2=0, ss3=0, ss4=0, ss5=0, st0=-0.11, st1=-0.34, st2=0.12, st3=1.38, st4=-2.81, st5=0, sts0=0, sts1=0, sts2=0, sts3=0, sts4=0, sts5=0, ss=1, tsf=1, tp=7, tm=0, tf0=0.16, tf1=-11.03, tf2=10.89, tf3=1.58, tf4=-1.02, tf5=-0.5 | co0=-0.05, co1=-1.13, co2=-0.86, co3=-0.51, co4=-0.16, co5=-0.11, dib=0, dob=0, ec0=-0.05, ec1=-1.12, ec2=-0.86, ec3=-0.51, ec4=-0.16, ec5=-0.1, etc0=0, etc1=-1.29, etc2=-1.17, etc3=-0.56, etc4=0, etc5=0, e=0, fp0=53.65, fp1=-71.15, fp2=107.18, fp3=-126.47, fp4=-90.28, fp5=271.37, fs0=-0.01, fs1=0, fs2=0.02, fs3=0.01, fs4=0, fs5=-0.01, ft0=-0.11, ft1=-0.34, ft2=0.12, ft3=1.38, ft4=-2.81, 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=33.9, jt1=35.89, jt2=38.48, jt3=40.3, jt4=43.24, jt5=41.07, mv=48.19, rc=0.61, rm=7, rv=48.19, rs=2, sm=1, sp0=53.66, sp1=-71.15, sp2=107.17, sp3=-126.48, sp4=-90.28, sp5=271.37, ss0=0, ss1=0, ss2=0, ss3=0, ss4=0, ss5=0, st0=-0.11, st1=-0.34, st2=0.12, st3=1.38, st4=-2.81, st5=0, sts0=0, sts1=0, sts2=0, sts3=0, sts4=0, sts5=0, ss=1, tsf=1, tp=7, tm=0, tf0=0.68, tf1=-8.66, tf2=10.56, tf3=1.31, tf4=-0.89, tf5=-0.48 | co0=-0.06, co1=-1.13, co2=-0.92, co3=-0.55, co4=-0.16, co5=-0.11, dib=0, dob=0, ec0=-0.06, ec1=-1.13, ec2=-0.92, ec3=-0.55, ec4=-0.15, ec5=-0.11, etc0=0, etc1=-1.29, etc2=-1.17, etc3=-0.56, etc4=0, etc5=0, e=0, fp0=53.65, fp1=-71.15, fp2=107.18, fp3=-126.47, fp4=-90.28, fp5=271.37, fs0=-0.01, fs1=0, fs2=0.01, fs3=0.01, fs4=0, fs5=-0.01, ft0=-0.11, ft1=-0.34, ft2=0.12, ft3=1.38, ft4=-2.81, 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=33.9, jt1=35.89, jt2=38.48, jt3=40.3, jt4=43.24, jt5=41.07, mv=48.19, rc=0.64, rm=7, rv=48.19, rs=2, sm=1, sp0=53.66, sp1=-71.15, sp2=107.17, sp3=-126.48, sp4=-90.28, sp5=271.37, ss0=0, ss1=0, ss2=0, ss3=0, ss4=0, ss5=0, st0=-0.11, st1=-0.34, st2=0.12, st3=1.38, st4=-2.81, st5=0, sts0=0, sts1=0, sts2=0, sts3=0, sts4=0, sts5=0, ss=1, tsf=1, tp=7, tm=0, tf0=1.46, tf1=-6.91, tf2=9.82, tf3=1.18, tf4=-0.84, tf5=-0.49 | co0=-0.06, co1=-1.13, co2=-1, co3=-0.6, co4=-0.16, co5=-0.11, dib=0, dob=0, ec0=-0.05, ec1=-1.15, ec2=-1, ec3=-0.6, ec4=-0.17, ec5=-0.11, etc0=0, etc1=-1.29, etc2=-1.17, etc3=-0.56, etc4=0, etc5=0, e=0, fp0=53.66, fp1=-71.15, fp2=107.17, fp3=-126.47, fp4=-90.28, fp5=271.37, fs0=0, fs1=0, fs2=0.01, fs3=0.01, fs4=0, fs5=-0.01, ft0=-0.11, ft1=-0.34, ft2=0.12, ft3=1.38, ft4=-2.81, 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=33.9, jt1=35.89, jt2=38.48, jt3=40.3, jt4=43.24, jt5=41.07, mv=48.19, rc=0.64, rm=7, rv=48.19, rs=2, sm=1, sp0=53.66, sp1=-71.15, sp2=107.17, sp3=-126.48, sp4=-90.28, sp5=271.37, ss0=0, ss1=0, ss2=0, ss3=0, ss4=0, ss5=0, st0=-0.11, st1=-0.34, st2=0.12, st3=1.38, st4=-2.81, st5=0, sts0=0, sts1=0, sts2=0, sts3=0, sts4=0, sts5=0, ss=1, tsf=1, tp=7, tm=0, tf0=2.16, tf1=-4.21, tf2=8.61, tf3=0.86, tf4=-0.88, tf5=-0.5 | co0=-0.06, co1=-1.13, co2=-1.08, co3=-0.66, co4=-0.15, co5=-0.1, dib=0, dob=0, ec0=-0.05, ec1=-1.1, ec2=-1.08, ec3=-0.66, ec4=-0.17, ec5=-0.11, etc0=0, etc1=-1.29, etc2=-1.17, etc3=-0.56, etc4=0, etc5=0, e=0, fp0=53.66, fp1=-71.15, fp2=107.17, fp3=-126.47, fp4=-90.28, fp5=271.37, fs0=0, fs1=0, fs2=0.01, fs3=0.01, fs4=0, fs5=-0.01, ft0=-0.11, ft1=-0.34, ft2=0.12, ft3=1.38, ft4=-2.81, 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=33.9, jt1=35.89, jt2=38.48, jt3=40.3, jt4=43.24, jt5=41.07, mv=48.19, rc=0.72, rm=7, rv=48.19, rs=2, sm=1, sp0=53.66, sp1=-71.15, sp2=107.17, sp3=-126.48, sp4=-90.28, sp5=271.37, ss0=0, ss1=0, ss2=0, ss3=0, ss4=0, ss5=0, st0=-0.11, st1=-0.34, st2=0.12, st3=1.38, st4=-2.81, st5=0, sts0=0, sts1=0, sts2=0, sts3=0, sts4=0, sts5=0, ss=1, tsf=1, tp=7, tm=0, tf0=3.87, tf1=1.38, tf2=9.71, tf3=0.39, tf4=-0.84, tf5=-0.5
C. co0=-0.34, co1=-0.96, co2=-1.06, co3=-1.12, co4=0, co5=-0.1, dib=0, dob=0, ec0=-0.33, ec1=-0.97, ec2=-1.05, ec3=-1.13, ec4=0, ec5=-0.1, etc0=0.02, etc1=-0.79, etc2=-0.91, etc3=-0.88, etc4=0, etc5=-0.02, e=0, fp0=53.63, fp1=-76.88, fp2=100.11, fp3=-113.67, fp4=-90.29, fp5=271.4, fs0=0.48, fs1=9.73, fs2=17.99, fs3=-28.41, fs4=0.01, fs5=-0.07, ft0=-0.11, ft1=-0.34, ft2=0.17, ft3=1.38, ft4=-2.81, ft5=0, fts0=0, fts1=0, fts2=-0.1, fts3=-0.01, fts4=0.01, fts5=0.01, gc=2, jm0=253, jm1=253, jm2=253, jm3=253, jm4=253, jm5=253, jt0=33.9, jt1=35.89, jt2=38.48, jt3=40.3, jt4=43.24, jt5=41.07, mv=48.19, rc=0.72, rm=7, rv=48.19, rs=2, sm=1, sp0=53.63, sp1=-76.86, sp2=100.14, sp3=-113.73, sp4=-90.28, sp5=271.4, ss0=0.06, ss1=10.04, ss2=18.34, ss3=-28.38, ss4=0, ss5=-0.06, st0=-0.11, st1=-0.34, st2=0.17, st3=1.38, st4=-2.81, st5=0, sts0=0, sts1=0, sts2=-0.11, sts3=0, sts4=0, sts5=0, ss=1, tsf=1, tp=6, tm=0.53, tf0=10.4, tf1=-12.33, tf2=-2.27, tf3=2.47, tf4=0.87, tf5=-0.35 | co0=-0.28, co1=-0.91, co2=-1.16, co3=-1.06, co4=0.06, co5=-0.11, dib=0, dob=0, ec0=-0.28, ec1=-0.89, ec2=-1.16, ec3=-1.09, ec4=0.06, ec5=-0.11, etc0=0.03, etc1=-0.7, etc2=-0.84, etc3=-0.97, etc4=-0.01, etc5=-0.04, e=0, fp0=53.64, fp1=-75.15, fp2=102.88, fp3=-118.22, fp4=-90.29, fp5=271.39, fs0=0.68, fs1=19.4, fs2=27.49, fs3=-46.41, fs4=0.09, fs5=-0.13, ft0=-0.11, ft1=-0.34, ft2=0.15, ft3=1.38, ft4=-2.81, ft5=0.01, fts0=0.01, fts1=0, fts2=-0.18, fts3=0.01, fts4=-0.01, fts5=0.01, gc=2, jm0=253, jm1=253, jm2=253, jm3=253, jm4=253, jm5=253, jt0=33.9, jt1=35.89, jt2=38.48, jt3=40.3, jt4=43.24, jt5=41.07, mv=48.19, rc=0.72, rm=7, rv=48.19, rs=2, sm=1, sp0=53.64, sp1=-75.11, sp2=102.91, sp3=-118.25, sp4=-90.28, sp5=271.39, ss0=0.1, ss1=19.79, ss2=27.21, ss3=-47, ss4=-0.01, ss5=-0.1, st0=-0.11, st1=-0.34, st2=0.15, st3=1.38, st4=-2.81, st5=0, sts0=0, sts1=0, sts2=-0.18, sts3=0, sts4=0, sts5=0, ss=1, tsf=1, tp=6, tm=0.91, tf0=11.96, tf1=-3.01, tf2=-10.54, tf3=0.3, tf4=2.11, tf5=-0.36 | co0=-0.28, co1=-0.91, co2=-1.16, co3=-1.06, co4=0.06, co5=-0.11, dib=0, dob=0, ec0=-0.28, ec1=-0.89, ec2=-1.16, ec3=-1.09, ec4=0.06, ec5=-0.11, etc0=0.03, etc1=-0.7, etc2=-0.84, etc3=-0.97, etc4=-0.01, etc5=-0.04, e=0, fp0=53.64, fp1=-75.15, fp2=102.88, fp3=-118.22, fp4=-90.29, fp5=271.39, fs0=0.68, fs1=19.4, fs2=27.49, fs3=-46.41, fs4=0.09, fs5=-0.13, ft0=-0.11, ft1=-0.34, ft2=0.15, ft3=1.38, ft4=-2.81, ft5=0.01, fts0=0.01, fts1=0, fts2=-0.18, fts3=0.01, fts4=-0.01, fts5=0.01, gc=2, jm0=253, jm1=253, jm2=253, jm3=253, jm4=253, jm5=253, jt0=33.9, jt1=35.89, jt2=38.48, jt3=40.3, jt4=43.24, jt5=41.07, mv=48.19, rc=0.72, rm=7, rv=48.19, rs=2, sm=1, sp0=53.64, sp1=-75.11, sp2=102.91, sp3=-118.25, sp4=-90.28, sp5=271.39, ss0=0.1, ss1=19.79, ss2=27.21, ss3=-47, ss4=-0.01, ss5=-0.1, st0=-0.11, st1=-0.34, st2=0.15, st3=1.38, st4=-2.81, st5=0, sts0=0, sts1=0, sts2=-0.18, sts3=0, sts4=0, sts5=0, ss=1, tsf=1, tp=6, tm=0.91, tf0=11.96, tf1=-3.01, tf2=-10.54, tf3=0.3, tf4=2.11, tf5=-0.36 | co0=0.01, co1=-1.19, co2=-1.13, co3=-1.35, co4=0.05, co5=-0.14, dib=0, dob=0, ec0=-0.12, ec1=-1.17, ec2=-1.21, ec3=-1.2, ec4=0.05, ec5=-0.14, etc0=0.03, etc1=-1.03, etc2=-1.06, etc3=-0.92, etc4=-0.01, etc5=-0.03, e=0, fp0=53.65, fp1=-73.01, fp2=105.46, fp3=-122.93, fp4=-90.29, fp5=271.38, fs0=-1.14, fs1=16.75, fs2=17.46, fs3=-32.42, fs4=0.04, fs5=-0.08, ft0=-0.11, ft1=-0.34, ft2=0.13, ft3=1.38, ft4=-2.81, ft5=0, fts0=0.01, fts1=0, fts2=-0.12, fts3=0.01, fts4=-0.01, fts5=0.02, gc=3, jm0=253, jm1=253, jm2=253, jm3=253, jm4=253, jm5=253, jt0=33.9, jt1=35.89, jt2=38.48, jt3=40.3, jt4=43.24, jt5=41.07, mv=48.19, rc=0.64, rm=7, rv=48.19, rs=2, sm=1, sp0=53.65, sp1=-72.98, sp2=105.45, sp3=-122.92, sp4=-90.28, sp5=271.38, ss0=0.07, ss1=16.26, ss2=16.93, ss3=-33.18, ss4=-0.01, ss5=-0.07, st0=-0.11, st1=-0.34, st2=0.13, st3=1.38, st4=-2.81, st5=0, sts0=0, sts1=0, sts2=-0.12, sts3=0, sts4=0, sts5=0, ss=1, tsf=1, tp=6, tm=0.65, tf0=-0.4, tf1=-8.26, tf2=3, tf3=3.09, tf4=-1.15, tf5=-0.55 | co0=-0.22, co1=-1.12, co2=-1.19, co3=-1.2, co4=0, co5=-0.12, dib=0, dob=0, ec0=-0.2, ec1=-1.09, ec2=-1.2, ec3=-1.19, ec4=0, ec5=-0.11, etc0=0.02, etc1=-1.12, etc2=-1.07, etc3=-0.81, etc4=0, etc5=-0.01, e=0, fp0=53.65, fp1=-71.51, fp2=106.88, fp3=-125.79, fp4=-90.28, fp5=271.37, fs0=-1.59, fs1=8.06, fs2=6.74, fs3=-15.09, fs4=0.02, fs5=-0.06, ft0=-0.11, ft1=-0.34, ft2=0.12, ft3=1.38, ft4=-2.81, ft5=0, fts0=-0.01, fts1=0, fts2=-0.06, fts3=0, fts4=0, fts5=-0.03, gc=2, jm0=253, jm1=253, jm2=253, jm3=253, jm4=253, jm5=253, jt0=33.9, jt1=35.89, jt2=38.48, jt3=40.3, jt4=43.24, jt5=41.07, mv=48.19, rc=0.64, rm=7, rv=48.19, rs=2, sm=1, sp0=53.65, sp1=-71.52, sp2=106.85, sp3=-125.79, sp4=-90.28, sp5=271.37, ss0=0.03, ss1=7.77, ss2=6.83, ss3=-14.6, ss4=0, ss5=-0.03, st0=-0.11, st1=-0.34, st2=0.12, st3=1.38, st4=-2.81, st5=0, sts0=0, sts1=0, sts2=-0.05, sts3=0, sts4=0, sts5=0, ss=1, tsf=1, tp=7, tm=0.29, tf0=9.3, tf1=-0.75, tf2=6.5, tf3=1.99, tf4=-0.08, tf5=-0.48
D. co0=-0.06, co1=-1.13, co2=-1.08, co3=-0.66, co4=-0.15, co5=-0.1, dib=0, dob=0, ec0=-0.05, ec1=-1.1, ec2=-1.08, ec3=-0.66, ec4=-0.17, ec5=-0.11, etc0=0, etc1=-1.29, etc2=-1.17, etc3=-0.56, etc4=0, etc5=0, e=0, fp0=53.66, fp1=-71.15, fp2=107.17, fp3=-126.47, fp4=-90.28, fp5=271.37, fs0=0, fs1=0, fs2=0.01, fs3=0.01, fs4=0, fs5=-0.01, ft0=-0.11, ft1=-0.34, ft2=0.12, ft3=1.38, ft4=-2.81, 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=33.9, jt1=35.89, jt2=38.48, jt3=40.3, jt4=43.24, jt5=41.07, mv=48.19, rc=0.72, rm=7, rv=48.19, rs=2, sm=1, sp0=53.66, sp1=-71.15, sp2=107.17, sp3=-126.48, sp4=-90.28, sp5=271.37, ss0=0, ss1=0, ss2=0, ss3=0, ss4=0, ss5=0, st0=-0.11, st1=-0.34, st2=0.12, st3=1.38, st4=-2.81, st5=0, sts0=0, sts1=0, sts2=0, sts3=0, sts4=0, sts5=0, ss=1, tsf=1, tp=7, tm=0, tf0=3.87, tf1=1.38, tf2=9.71, tf3=0.39, tf4=-0.84, tf5=-0.5 | co0=-0.05, co1=-1.13, co2=-1.14, co3=-0.7, co4=-0.15, co5=-0.1, dib=0, dob=0, ec0=-0.06, ec1=-1.12, ec2=-1.14, ec3=-0.68, ec4=-0.16, ec5=-0.11, etc0=0, etc1=-1.29, etc2=-1.17, etc3=-0.56, etc4=0, etc5=0, e=0, fp0=53.65, fp1=-71.15, fp2=107.17, fp3=-126.47, fp4=-90.28, fp5=271.37, fs0=0, fs1=0, fs2=0, fs3=0.01, fs4=0, fs5=0, ft0=-0.11, ft1=-0.34, ft2=0.12, ft3=1.38, ft4=-2.81, 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=33.9, jt1=35.89, jt2=38.48, jt3=40.3, jt4=43.24, jt5=41.07, mv=48.19, rc=0.72, rm=7, rv=48.19, rs=2, sm=1, sp0=53.66, sp1=-71.15, sp2=107.17, sp3=-126.48, sp4=-90.28, sp5=271.37, ss0=0, ss1=0, ss2=0, ss3=0, ss4=0, ss5=0, st0=-0.11, st1=-0.34, st2=0.12, st3=1.38, st4=-2.81, st5=0, sts0=0, sts1=0, sts2=0, sts3=0, sts4=0, sts5=0, ss=1, tsf=1, tp=7, tm=0, tf0=4.6, tf1=3.24, tf2=8.23, tf3=0.14, tf4=-0.68, tf5=-0.49 | co0=-0.06, co1=-1.13, co2=-1.13, co3=-0.71, co4=-0.15, co5=-0.1, dib=0, dob=0, ec0=-0.06, ec1=-1.16, ec2=-1.13, ec3=-0.71, ec4=-0.13, ec5=-0.1, etc0=0, etc1=-1.29, etc2=-1.17, etc3=-0.56, etc4=0, etc5=0, e=0, fp0=53.66, fp1=-71.15, fp2=107.17, fp3=-126.47, fp4=-90.28, fp5=271.37, fs0=0, fs1=0, fs2=0, fs3=0, fs4=0, fs5=0, ft0=-0.11, ft1=-0.34, ft2=0.12, ft3=1.38, ft4=-2.81, 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=33.9, jt1=35.89, jt2=38.48, jt3=40.3, jt4=43.24, jt5=41.07, mv=48.19, rc=0.72, rm=7, rv=48.19, rs=2, sm=1, sp0=53.66, sp1=-71.15, sp2=107.17, sp3=-126.48, sp4=-90.28, sp5=271.37, ss0=0, ss1=0, ss2=0, ss3=0, ss4=0, ss5=0, st0=-0.11, st1=-0.34, st2=0.12, st3=1.38, st4=-2.81, st5=0, sts0=0, sts1=0, sts2=0, sts3=0, sts4=0, sts5=0, ss=1, tsf=1, tp=7, tm=0, tf0=3.75, tf1=0.89, tf2=7.97, tf3=0.64, tf4=-0.75, tf5=-0.45 | co0=-0.06, co1=-1.13, co2=-1.13, co3=-0.71, co4=-0.15, co5=-0.1, dib=0, dob=0, ec0=-0.06, ec1=-1.15, ec2=-1.13, ec3=-0.71, ec4=-0.18, ec5=-0.11, etc0=0, etc1=-1.29, etc2=-1.17, etc3=-0.56, etc4=0, etc5=0, e=0, fp0=53.65, fp1=-71.15, fp2=107.18, fp3=-126.47, fp4=-90.28, fp5=271.37, fs0=0, fs1=0, fs2=0, fs3=0, fs4=0, fs5=0, ft0=-0.11, ft1=-0.34, ft2=0.12, ft3=1.38, ft4=-2.81, 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=33.9, jt1=35.89, jt2=38.48, jt3=40.3, jt4=43.24, jt5=41.07, mv=48.19, rc=0.72, rm=7, rv=48.19, rs=2, sm=1, sp0=53.66, sp1=-71.15, sp2=107.17, sp3=-126.48, sp4=-90.28, sp5=271.37, ss0=0, ss1=0, ss2=0, ss3=0, ss4=0, ss5=0, st0=-0.11, st1=-0.34, st2=0.12, st3=1.38, st4=-2.81, st5=0, sts0=0, sts1=0, sts2=0, sts3=0, sts4=0, sts5=0, ss=1, tsf=1, tp=7, tm=0, tf0=4.05, tf1=1.41, tf2=8.43, tf3=0.45, tf4=-0.94, tf5=-0.5 | co0=-0.06, co1=-1.13, co2=-1.13, co3=-0.71, co4=-0.15, co5=-0.1, dib=0, dob=0, ec0=-0.06, ec1=-1.12, ec2=-1.13, ec3=-0.71, ec4=-0.15, ec5=-0.11, etc0=0, etc1=-1.29, etc2=-1.17, etc3=-0.56, etc4=0, etc5=0, e=0, fp0=53.65, fp1=-71.15, fp2=107.18, fp3=-126.47, fp4=-90.28, fp5=271.37, fs0=0, fs1=0, fs2=0, fs3=0, fs4=0, fs5=0, ft0=-0.11, ft1=-0.34, ft2=0.12, ft3=1.38, ft4=-2.81, 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=33.9, jt1=35.89, jt2=38.48, jt3=40.3, jt4=43.24, jt5=41.07, mv=48.19, rc=0.61, rm=7, rv=48.19, rs=2, sm=1, sp0=53.66, sp1=-71.15, sp2=107.17, sp3=-126.48, sp4=-90.28, sp5=271.37, ss0=0, ss1=0, ss2=0, ss3=0, ss4=0, ss5=0, st0=-0.11, st1=-0.34, st2=0.12, st3=1.38, st4=-2.81, st5=0, sts0=0, sts1=0, sts2=0, sts3=0, sts4=0, sts5=0, ss=1, tsf=1, tp=7, tm=0, tf0=4.62, tf1=2.51, tf2=9.37, tf3=0.44, tf4=-0.8, tf5=-0.49

Answer: CABD


Question: Given the counterfactual scenario where a collision foam object occurs at timestep 9376 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 (<=26% above pre-event baseline for at least 83% of timesteps).
B. Following the event, temperatures rise across multiple joints (>=2 joints with slope >0.40% of baseline per horizon).
C. Following the event, command and measured TCP motion become misaligned (TCP tracking error increase >=26%).
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

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

Choices:
A. Following the event, tracking error increases noticeably (>=33% 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 <=8%.
C. Following the event, command and measured TCP motion remain aligned (TCP tracking error increase <=12%).
D. Following the event, contact force shows a significant spike (>=34% above baseline norm).

Answer: FFTF


Question: Given the counterfactual scenario where a collision cardboard object occurs at timestep 5849 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 (>=37% 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 <=14%.
C. Following the event, joint speeds stay close to baseline (within ±11% of pre-event values).
D. Following the event, temperatures rise across multiple joints (>=2 joints with slope >0.57% of baseline per horizon).

Answer: TTFF


Question: Given the counterfactual scenario where a collision foam object occurs at timestep 5955 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, at least one joint speed drops sharply (>=25% below pre-event baseline).
C. Following the event, command and measured TCP motion remain aligned (TCP tracking error increase <=11%).
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: FTTF


Question: Given the counterfactual scenario where a collision hanging cable occurs at timestep 7764 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 >0.52% of baseline per horizon).
B. Following the event, command and measured TCP motion remain aligned (TCP tracking error increase <=10%).
C. Following the event, contact-force magnitude remains low (<=20% above pre-event baseline for at least 65% of timesteps).
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: FTFT


Question: Given the counterfactual scenario where a collision cardboard object occurs at timestep 7330 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 (>=38% above baseline norm).
B. Following the event, tracking error increases noticeably (>=28% above pre-event mean).
C. Following the event, at least one joint speed drops sharply (>=35% 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 <=13%.

Answer: FFTT


Question: Given the counterfactual scenario where a collision cardboard object occurs at timestep 7358 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 (>=38% above baseline norm).
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, motor current rises by >=20% while speed magnitude stays <=16% of pre-event baseline (stall-like behavior).
D. Following the event, joint speeds stay close to baseline (within ±10% of pre-event values).

Answer: FTTF


Question: Given the counterfactual scenario where a collision cardboard object occurs at timestep 8371 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 >=18% while speed magnitude stays <=13% 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 <=11%.
C. Following the event, robot current remains approximately constant (peak-to-peak range <=8% of pre-event baseline).
D. Following the event, robot current increases markedly (>=18% above pre-event mean).

Answer: FTFF


Question: Given the counterfactual scenario where a collision cardboard object occurs at timestep 7866 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 (>=19% above pre-event mean).
B. Following the event, command and measured TCP motion remain aligned (TCP tracking error increase <=11%).
C. Following the event, contact-force magnitude remains low (<=24% above pre-event baseline for at least 89% of timesteps).
D. No significant effect: safety stays normal and aggregate error (mean of tracking, TCP-tracking, force, and robot-current deviation terms) increases by <=6%.

Answer: FTFF


Question: Given the counterfactual scenario where a collision cardboard object occurs at timestep 5788 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, command and measured TCP motion become misaligned (TCP tracking error increase >=27%).
C. Following the event, contact force shows a significant spike (>=58% above baseline norm).
D. Following the event, tracking error increases noticeably (>=19% above pre-event mean).

Answer: FTFT


Question: Given the counterfactual scenario where a collision foam object occurs at timestep 7059 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 >0.57% of baseline per horizon).
B. Following the event, contact force shows a significant spike (>=31% above baseline norm).
C. Following the event, at least one joint speed drops sharply (>=34% 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 <=8%.

Answer: FFTT


Question: Given the counterfactual scenario where a collision foam object occurs at timestep 4064 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 (>=32% above baseline norm).
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 <=10% of pre-event baseline).
D. Following the event, contact-force magnitude remains low (<=23% above pre-event baseline for at least 76% of timesteps).

Answer: FTFF


Question: Given the counterfactual scenario where a collision foam object occurs at timestep 6156 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 <=12%.
B. Following the event, command and measured TCP motion become misaligned (TCP tracking error increase >=19%).
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 (>=39% above baseline norm).

Answer: FTFF


Question: Given the counterfactual scenario where a collision foam object occurs at timestep 7159 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 (<=12% above pre-event baseline for at least 77% 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 <=9%.
C. Following the event, robot current remains approximately constant (peak-to-peak range <=6% of pre-event baseline).
D. Following the event, command and measured TCP motion remain aligned (TCP tracking error increase <=13%).

Answer: FTFT


Question: Given the counterfactual scenario where a collision foam object occurs at timestep 8268 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 (>=31% 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 shows a significant spike (>=44% above baseline norm).
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 cardboard object occurs at timestep 7569 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 <=11%.
C. Following the event, temperatures rise across multiple joints (>=2 joints with slope >0.39% of baseline per horizon).
D. Following the event, at least one joint speed drops sharply (>=35% below pre-event baseline).

Answer: FFFT


Question: Given the counterfactual scenario where a collision cardboard object occurs at timestep 7507 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 <=12%.
B. Following the event, command and measured TCP motion remain aligned (TCP tracking error increase <=9%).
C. Following the event, robot current remains approximately constant (peak-to-peak range <=9% of pre-event baseline).
D. Following the event, temperatures rise across multiple joints (>=3 joints with slope >0.60% of baseline per horizon).

Answer: TTFF


Question: Given the counterfactual scenario where a collision foam object occurs at timestep 5354 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. 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, temperatures rise across multiple joints (>=2 joints with slope >0.46% of baseline per horizon).
D. Following the event, motor current rises by >=22% while speed magnitude stays <=13% of pre-event baseline (stall-like behavior).

Answer: TTFF


Question: Given the counterfactual scenario where a collision foam object occurs at timestep 8166 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 <=13%.
B. Following the event, command and measured TCP motion become misaligned (TCP tracking error increase >=26%).
C. Following the event, tracking error increases noticeably (>=24% above pre-event mean).
D. Following the event, robot current increases markedly (>=21% above pre-event mean).

Answer: FFFF


Question: Given the counterfactual scenario where a collision cardboard object occurs at timestep 9208 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 >0.73% of baseline per horizon).
B. Following the event, robot current increases markedly (>=20% above pre-event mean).
C. Following the event, command and measured TCP motion remain aligned (TCP tracking error increase <=9%).
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: FFTT


Question: Given the counterfactual scenario where a collision cardboard object occurs at timestep 8070 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 (>=32% 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 <=14%.
C. Following the event, robot current increases markedly (>=25% above pre-event mean).
D. Following the event, robot current remains approximately constant (peak-to-peak range <=8% of pre-event baseline).

Answer: FFFF


Question: Given the counterfactual scenario where a collision cardboard object occurs at timestep 7059 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 (>=50% above baseline norm).
B. Following the event, tracking error increases noticeably (>=25% above pre-event mean).
C. Following the event, contact-force magnitude remains low (<=24% above pre-event baseline for at least 80% of timesteps).
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 6649 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, command and measured TCP motion become misaligned (TCP tracking error increase >=22%).
C. Following the event, at least one joint speed drops sharply (>=26% below pre-event baseline).
D. Following the event, temperatures rise across multiple joints (>=2 joints with slope >0.10% of baseline per horizon).

Answer: FTTF


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

Choices:
A. Following the event, temperatures rise across multiple joints (>=2 joints with slope >0.56% of baseline per horizon).
B. Following the event, robot current increases markedly (>=22% 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, joint speeds stay close to baseline (within ±10% of pre-event values).

Answer: FFFF


Question: Given the counterfactual scenario where a collision cardboard object occurs at timestep 8073 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 <=8%.
B. Following the event, temperatures rise across multiple joints (>=2 joints with slope >0.53% of baseline per horizon).
C. Following the event, tracking error increases noticeably (>=32% above pre-event mean).
D. Following the event, at least one joint speed drops sharply (>=37% below pre-event baseline).

Answer: FFFT


Question: Given the counterfactual scenario where a collision foam object occurs at timestep 6655 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 <=11% of pre-event baseline).
B. Following the event, temperatures rise across multiple joints (>=2 joints with slope >0.70% 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 <=9%.
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 foam object occurs at timestep 7762 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 >=21%).
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, robot current remains approximately constant (peak-to-peak range <=11% of pre-event baseline).
D. Following the event, robot current increases markedly (>=23% above pre-event mean).

Answer: FFFF


Question: Given the counterfactual scenario where a collision cardboard object occurs at timestep 8473 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. Following the event, tracking error increases noticeably (>=25% above pre-event mean).
C. Following the event, robot current increases markedly (>=15% 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 <=12%.

Answer: TFFT


Question: Given the counterfactual scenario where a collision foam object occurs at timestep 8465 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 (>=20% 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 <=11%.
C. Following the event, tracking error increases noticeably (>=34% above pre-event mean).
D. Following the event, motor current rises by >=30% while speed magnitude stays <=9% of pre-event baseline (stall-like behavior).

Answer: FTFF


Question: Given the counterfactual scenario where a collision foam object occurs at timestep 5840 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 <=7%).
B. Following the event, contact force shows a significant spike (>=35% 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, robot current remains approximately constant (peak-to-peak range <=12% of pre-event baseline).

Answer: TFTF


Question: Given the counterfactual scenario where a collision hanging cable occurs at timestep 9373 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 <=11%).
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, tracking error increases noticeably (>=29% above pre-event mean).
D. Following the event, joint speeds stay close to baseline (within ±6% of pre-event values).

Answer: TFFF


Question: Given the counterfactual scenario where a collision foam object occurs at timestep 8577 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 <=7% of pre-event baseline).
B. Following the event, tracking error increases noticeably (>=17% 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 <=12%.
D. Following the event, motor current rises by >=21% while speed magnitude stays <=9% of pre-event baseline (stall-like behavior).

Answer: FFTF


Question: Given the counterfactual scenario where a collision hanging cable occurs at timestep 7766 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, contact force shows a significant spike (>=41% above baseline norm).
C. Following the event, joint speeds stay close to baseline (within ±12% of pre-event values).
D. Following the event, tracking error increases noticeably (>=31% above pre-event mean).

Answer: TFFF


Question: Given the counterfactual scenario where a collision cardboard object occurs at timestep 5334 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 <=8%.
B. Following the event, joint speeds stay close to baseline (within ±8% of pre-event values).
C. Following the event, robot current increases markedly (>=16% above pre-event mean).
D. Following the event, contact-force magnitude remains low (<=22% above pre-event baseline for at least 82% of timesteps).

Answer: TFFF


Question: Given the counterfactual scenario where a collision hanging cable occurs at timestep 6356 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, tracking error increases noticeably (>=20% above pre-event mean).
C. Following the event, joint speeds stay close to baseline (within ±9% of pre-event values).
D. Following the event, at least one joint speed drops sharply (>=21% below pre-event baseline).

Answer: FFFT


Question: Given the counterfactual scenario where a collision cardboard object occurs at timestep 7362 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 (>=24% above pre-event mean).
B. Following the event, temperatures rise across multiple joints (>=2 joints with slope >0.45% of baseline per horizon).
C. Following the event, command and measured TCP motion remain aligned (TCP tracking error increase <=13%).
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: FFFT


Question: Given the counterfactual scenario where a collision hanging cable occurs at timestep 6855 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. Following the event, tracking error increases noticeably (>=36% 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 <=8%.
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 cardboard object occurs at timestep 4857 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 (>=24% 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 <=13%.
C. Following the event, robot current increases markedly (>=22% above pre-event mean).
D. Following the event, temperatures rise across multiple joints (>=2 joints with slope >0.54% of baseline per horizon).

Answer: FTFF


Question: Given the counterfactual scenario where a collision hanging cable occurs at timestep 8064 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 (>=37% 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 magnitude remains low (<=21% above pre-event baseline for at least 69% of timesteps).
D. Following the event, robot current remains approximately constant (peak-to-peak range <=11% of pre-event baseline).

Answer: TTFF


Question: Given the counterfactual scenario where a collision foam object occurs at timestep 4756 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 (>=35% above baseline norm).
C. Following the event, at least one joint speed drops sharply (>=32% below pre-event baseline).
D. Following the event, tracking error increases noticeably (>=23% above pre-event mean).

Answer: TFTF


Question: Given the counterfactual scenario where a collision hanging cable occurs at timestep 6855 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 (>=30% 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 <=9%.
C. Following the event, contact-force magnitude remains low (<=17% above pre-event baseline for at least 82% of timesteps).
D. Following the event, command and measured TCP motion become misaligned (TCP tracking error increase >=29%).

Answer: FFFF


Question: Given the counterfactual scenario where a collision foam object occurs at timestep 7870 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 (>=37% above baseline norm).
B. Following the event, contact-force magnitude remains low (<=21% above pre-event baseline for at least 71% of timesteps).
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 <=13%.

Answer: FFFF


Question: Given the counterfactual scenario where a collision hanging cable occurs at timestep 9074 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, robot current increases markedly (>=18% above pre-event mean).
C. Following the event, at least one joint speed drops sharply (>=38% below pre-event baseline).
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 hanging cable occurs at timestep 9678 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 <=11% of pre-event baseline).
B. Following the event, at least one joint speed drops sharply (>=30% 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 <=11%.
D. Following the event, command and measured TCP motion become misaligned (TCP tracking error increase >=29%).

Answer: FTFF


Question: Given the counterfactual scenario where a collision cardboard object occurs at timestep 7367 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 >=21% while speed magnitude stays <=13% of pre-event baseline (stall-like behavior).
B. Following the event, command and measured TCP motion remain aligned (TCP tracking error increase <=7%).
C. Following the event, contact-force magnitude remains low (<=21% above pre-event baseline for at least 82% of timesteps).
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: TFFF


Question: Given the counterfactual scenario where a collision cardboard object occurs at timestep 5279 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, robot current increases markedly (>=21% above pre-event mean).
C. Following the event, robot current remains approximately constant (peak-to-peak range <=9% of pre-event baseline).
D. Following the event, motor current rises by >=19% while speed magnitude stays <=9% of pre-event baseline (stall-like behavior).

Answer: TFFF


Question: Given the counterfactual scenario where a collision foam object occurs at timestep 7972 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, joint speeds stay close to baseline (within ±13% of pre-event values).
C. Following the event, robot current remains approximately constant (peak-to-peak range <=11% of pre-event baseline).
D. Following the event, temperatures rise across multiple joints (>=1 joints with slope >0.41% of baseline per horizon).

Answer: FFFF


Question: Given the counterfactual scenario where a collision cardboard object occurs at timestep 6853 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, command and measured TCP motion remain aligned (TCP tracking error increase <=11%).
C. Following the event, at least one joint speed drops sharply (>=19% below pre-event baseline).
D. Following the event, joint speeds stay close to baseline (within ±12% of pre-event values).

Answer: TTTF


Question: Given the counterfactual scenario where a collision cardboard object occurs at timestep 7965 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 (<=26% above pre-event baseline for at least 86% 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, at least one joint speed drops sharply (>=28% below pre-event baseline).
D. Following the event, command and measured TCP motion become misaligned (TCP tracking error increase >=27%).

Answer: FFTF


Question: Given the counterfactual scenario where a collision cardboard object occurs at timestep 7761 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 <=8%).
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, robot current increases markedly (>=19% above pre-event mean).
D. Following the event, temperatures rise across multiple joints (>=2 joints with slope >0.63% of baseline per horizon).

Answer: TTFF


Question: Given the counterfactual scenario where a collision cardboard object occurs at timestep 7660 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 (>=22% 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 <=9%.
C. Following the event, contact force shows a significant spike (>=33% above baseline norm).
D. Following the event, motor current rises by >=23% while speed magnitude stays <=10% of pre-event baseline (stall-like behavior).

Answer: FFFT


Question: Given the counterfactual scenario where a collision hanging cable occurs at timestep 8268 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 (>=21% above pre-event mean).
C. Following the event, contact-force magnitude remains low (<=15% above pre-event baseline for at least 73% of timesteps).
D. Following the event, joint speeds stay close to baseline (within ±11% of pre-event values).

Answer: TFFF


Question: Given the counterfactual scenario where a collision foam object occurs at timestep 6078 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 (>=40% above baseline norm).
B. Following the event, motor current rises by >=20% while speed magnitude stays <=10% of pre-event baseline (stall-like behavior).
C. Following the event, at least one joint speed drops sharply (>=30% 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 <=10%.

Answer: FFTT


Question: Given the counterfactual scenario where a collision cardboard object occurs at timestep 7054 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 <=10% 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 <=14%.
C. Following the event, joint speeds stay close to baseline (within ±12% of pre-event values).
D. Following the event, contact-force magnitude remains low (<=19% above pre-event baseline for at least 74% of timesteps).

Answer: FFFF


Question: Given the counterfactual scenario where a collision foam object occurs at timestep 7225 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. 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, joint speeds stay close to baseline (within ±9% of pre-event values).
D. Following the event, tracking error increases noticeably (>=32% above pre-event mean).

Answer: FFFF


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

Choices:
A. 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, temperatures rise across multiple joints (>=2 joints with slope >0.53% of baseline per horizon).
C. Following the event, robot current remains approximately constant (peak-to-peak range <=14% of pre-event baseline).
D. Following the event, command and measured TCP motion remain aligned (TCP tracking error increase <=11%).

Answer: FFFF


Question: Given the counterfactual scenario where a collision cardboard object occurs at timestep 7457 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 (>=18% 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 <=9%.
C. Following the event, temperatures rise across multiple joints (>=2 joints with slope >0.50% of baseline per horizon).
D. Following the event, motor current rises by >=33% while speed magnitude stays <=10% of pre-event baseline (stall-like behavior).

Answer: FFFT


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

Choices:
A. Following the event, temperatures rise across multiple joints (>=1 joints with slope >0.57% of baseline per horizon).
B. Following the event, command and measured TCP motion remain aligned (TCP tracking error increase <=11%).
C. Following the event, at least one joint speed drops sharply (>=17% 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 <=11%.

Answer: FFTF


Question: Given the counterfactual scenario where a collision foam object occurs at timestep 4003 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, robot current increases markedly (>=22% above pre-event mean).
C. Following the event, command and measured TCP motion become misaligned (TCP tracking error increase >=25%).
D. Following the event, motor current rises by >=27% while speed magnitude stays <=12% of pre-event baseline (stall-like behavior).

Answer: FFTF


Question: Given the counterfactual scenario where a collision foam object occurs at timestep 6954 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 (>=43% above baseline norm).
B. Following the event, robot current remains approximately constant (peak-to-peak range <=10% 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 <=13%.
D. Following the event, motor current rises by >=29% while speed magnitude stays <=6% of pre-event baseline (stall-like behavior).

Answer: FFFF


Question: Given the counterfactual scenario where a collision cardboard object occurs at timestep 8973 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 (>=55% above baseline norm).
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, robot current remains approximately constant (peak-to-peak range <=10% of pre-event baseline).
D. Following the event, motor current rises by >=36% while speed magnitude stays <=11% of pre-event baseline (stall-like behavior).

Answer: FFFT


Question: Given the counterfactual scenario where a collision cardboard object occurs at timestep 7863 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 (>=23% above pre-event mean).
B. Following the event, joint speeds stay close to baseline (within ±8% 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, command and measured TCP motion remain aligned (TCP tracking error increase <=12%).

Answer: FFTT


Question: Given the counterfactual scenario where a collision foam object occurs at timestep 9376 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, tracking error increases noticeably (>=26% above pre-event mean).
C. Following the event, contact-force magnitude remains low (<=26% above pre-event baseline for at least 77% of timesteps).
D. Following the event, at least one joint speed drops sharply (>=37% below pre-event baseline).

Answer: TFFT


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

Choices:
A. Following the event, robot current remains approximately constant (peak-to-peak range <=11% of pre-event baseline).
B. Following the event, joint speeds stay close to baseline (within ±11% of pre-event values).
C. Following the event, contact-force magnitude remains low (<=20% above pre-event baseline for at least 86% of timesteps).
D. Following the event, contact force shows a significant spike (>=36% above baseline norm).

Answer: FFFF


Question: Given the counterfactual scenario where a collision cardboard object occurs at timestep 4155 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 ±11% of pre-event values).
B. Following the event, command and measured TCP motion become misaligned (TCP tracking error increase >=20%).
C. Following the event, at least one joint speed drops sharply (>=45% below pre-event baseline).
D. Following the event, temperatures rise across multiple joints (>=3 joints with slope >0.27% of baseline per horizon).

Answer: FFTF


Question: Given the counterfactual scenario where a collision foam object occurs at timestep 5893 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 (>=20% above pre-event mean).
B. Following the event, contact force shows a significant spike (>=42% above baseline norm).
C. Following the event, joint speeds stay close to baseline (within ±9% of pre-event values).
D. Following the event, at least one joint speed drops sharply (>=28% below pre-event baseline).

Answer: FFFT


Question: Given the counterfactual scenario where a collision cardboard object occurs at timestep 5849 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. 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, robot current increases markedly (>=21% above pre-event mean).
D. Following the event, command and measured TCP motion remain aligned (TCP tracking error increase <=5%).

Answer: FTFT


Question: Given the counterfactual scenario where a collision foam object occurs at timestep 5955 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 >=31% while speed magnitude stays <=9% of pre-event baseline (stall-like behavior).
B. Following the event, temperatures rise across multiple joints (>=3 joints with slope >0.55% of baseline per horizon).
C. Following the event, command and measured TCP motion remain aligned (TCP tracking error increase <=10%).
D. Following the event, robot current increases markedly (>=16% above pre-event mean).

Answer: FFTF


Question: Given the counterfactual scenario where a collision hanging cable occurs at timestep 7764 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, temperatures rise across multiple joints (>=3 joints with slope >0.36% of baseline per horizon).
C. Following the event, tracking error increases noticeably (>=29% above pre-event mean).
D. Following the event, robot current increases markedly (>=18% above pre-event mean).

Answer: FFFF


Question: Given the counterfactual scenario where a collision cardboard object occurs at timestep 7330 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 <=14% of pre-event baseline).
B. Following the event, command and measured TCP motion remain aligned (TCP tracking error increase <=10%).
C. No significant effect: safety stays normal and aggregate error (mean of tracking, TCP-tracking, force, and robot-current deviation terms) increases by <=6%.
D. Following the event, tracking error increases noticeably (>=25% above pre-event mean).

Answer: FTTF


Question: Given the counterfactual scenario where a collision cardboard object occurs at timestep 7358 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 <=9%).
B. Following the event, contact-force magnitude remains low (<=19% above pre-event baseline for at least 83% of timesteps).
C. Following the event, motor current rises by >=28% while speed magnitude stays <=10% of pre-event baseline (stall-like behavior).
D. Following the event, temperatures rise across multiple joints (>=3 joints with slope >0.40% of baseline per horizon).

Answer: TFTF


Question: Given the counterfactual scenario where a collision cardboard object occurs at timestep 8371 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 >=23%).
B. Following the event, contact-force magnitude remains low (<=17% above pre-event baseline for at least 84% 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, command and measured TCP motion remain aligned (TCP tracking error increase <=11%).

Answer: FFTT


Question: Given the counterfactual scenario where a collision cardboard object occurs at timestep 7866 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 (>=26% below pre-event baseline).
B. Following the event, robot current remains approximately constant (peak-to-peak range <=8% of pre-event baseline).
C. Following the event, tracking error increases noticeably (>=29% above pre-event mean).
D. Following the event, contact force shows a significant spike (>=45% above baseline norm).

Answer: TFFF


Question: Given the counterfactual scenario where a collision cardboard object occurs at timestep 5788 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 <=7%).
B. Following the event, at least one joint speed drops sharply (>=31% below pre-event baseline).
C. Following the event, robot current remains approximately constant (peak-to-peak range <=12% of pre-event baseline).
D. Following the event, contact-force magnitude remains low (<=18% above pre-event baseline for at least 83% of timesteps).

Answer: FTFF


Question: Given the counterfactual scenario where a collision foam object occurs at timestep 7059 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 >=18%).
B. Following the event, temperatures rise across multiple joints (>=2 joints with slope >0.52% of baseline per horizon).
C. Following the event, contact force shows a significant spike (>=46% above baseline norm).
D. Following the event, command and measured TCP motion remain aligned (TCP tracking error increase <=13%).

Answer: FFFT


Question: Given the counterfactual scenario where a collision foam object occurs at timestep 4064 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 (>=20% above pre-event mean).
B. Following the event, tracking error increases noticeably (>=30% above pre-event mean).
C. Following the event, robot current remains approximately constant (peak-to-peak range <=8% of pre-event baseline).
D. Following the event, motor current rises by >=21% while speed magnitude stays <=8% of pre-event baseline (stall-like behavior).

Answer: FFFF


Question: Given the counterfactual scenario where a collision foam object occurs at timestep 6156 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 (>=35% above baseline norm).
B. Following the event, robot current increases markedly (>=23% above pre-event mean).
C. Following the event, at least one joint speed drops sharply (>=31% below pre-event baseline).
D. Following the event, command and measured TCP motion remain aligned (TCP tracking error increase <=9%).

Answer: FFTF


Question: Given the counterfactual scenario where a collision foam object occurs at timestep 7159 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 >0.40% of baseline per horizon).
B. Following the event, robot current remains approximately constant (peak-to-peak range <=9% of pre-event baseline).
C. Following the event, command and measured TCP motion remain aligned (TCP tracking error increase <=7%).
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: FFTT


Question: Given the counterfactual scenario where a collision foam object occurs at timestep 8268 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, 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 ±12% of pre-event values).
D. Following the event, contact-force magnitude remains low (<=19% above pre-event baseline for at least 82% of timesteps).

Answer: FFFF


Question: Given the counterfactual scenario where a collision cardboard object occurs at timestep 7569 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 (>=28% below pre-event baseline).
B. Following the event, joint speeds stay close to baseline (within ±6% of pre-event values).
C. Following the event, robot current increases markedly (>=24% above pre-event mean).
D. Following the event, contact force shows a significant spike (>=31% above baseline norm).

Answer: TFFF


Question: Given the counterfactual scenario where a collision cardboard object occurs at timestep 7507 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 >=24%).
B. Following the event, temperatures rise across multiple joints (>=1 joints with slope >0.58% of baseline per horizon).
C. Following the event, joint speeds stay close to baseline (within ±12% of pre-event values).
D. Following the event, contact force shows a significant spike (>=47% above baseline norm).

Answer: FFFF


Question: Given the counterfactual scenario where a collision foam object occurs at timestep 3293 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 >=14%).
B. Following the event, robot current increases markedly (>=27% above pre-event mean).
C. Following the event, contact force shows a significant spike (>=37% above baseline norm).
D. Following the event, tracking error increases noticeably (>=31% above pre-event mean).

Answer: TFFF


Question: Given the counterfactual scenario where a collision foam object occurs at timestep 8166 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 (>=36% 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, command and measured TCP motion become misaligned (TCP tracking error increase >=33%).
D. Following the event, temperatures rise across multiple joints (>=2 joints with slope >0.37% of baseline per horizon).

Answer: TFFF


Question: Given the counterfactual scenario where a collision cardboard object occurs at timestep 9208 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 (>=27% above baseline norm).
B. Following the event, command and measured TCP motion remain aligned (TCP tracking error increase <=12%).
C. Following the event, at least one joint speed drops sharply (>=31% 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: FTTT


Question: Given the counterfactual scenario where a collision cardboard object occurs at timestep 8070 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 >0.53% of baseline per horizon).
B. Following the event, robot current remains approximately constant (peak-to-peak range <=12% of pre-event baseline).
C. Following the event, contact force shows a significant spike (>=30% above baseline norm).
D. Following the event, motor current rises by >=27% while speed magnitude stays <=9% of pre-event baseline (stall-like behavior).

Answer: FFFF


Question: Given the counterfactual scenario where a collision cardboard object occurs at timestep 7059 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, motor current rises by >=27% while speed magnitude stays <=8% of pre-event baseline (stall-like behavior).
C. Following the event, command and measured TCP motion remain aligned (TCP tracking error increase <=12%).
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 6649 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 (<=16% above pre-event baseline for at least 74% of timesteps).
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, robot current increases markedly (>=19% above pre-event mean).

Answer: FFFF


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

Choices:
A. Following the event, joint speeds stay close to baseline (within ±11% of pre-event values).
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 <=9%.
D. Following the event, command and measured TCP motion become misaligned (TCP tracking error increase >=21%).

Answer: FTFF


Question: Given the counterfactual scenario where a collision cardboard object occurs at timestep 8073 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 <=13% of pre-event baseline).
B. Following the event, contact force shows a significant spike (>=35% above baseline norm).
C. Following the event, temperatures rise across multiple joints (>=2 joints with slope >0.64% of baseline per horizon).
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 foam object occurs at timestep 6655 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 (>=41% above baseline norm).
B. Following the event, at least one joint speed drops sharply (>=35% below pre-event baseline).
C. Following the event, command and measured TCP motion remain aligned (TCP tracking error increase <=7%).
D. Following the event, motor current rises by >=25% while speed magnitude stays <=9% of pre-event baseline (stall-like behavior).

Answer: FTTF


Question: Given the counterfactual scenario where a collision foam object occurs at timestep 7762 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, robot current remains approximately constant (peak-to-peak range <=9% of pre-event baseline).
C. Following the event, motor current rises by >=22% while speed magnitude stays <=10% of pre-event baseline (stall-like behavior).
D. Following the event, command and measured TCP motion remain aligned (TCP tracking error increase <=9%).

Answer: FFFF


Question: Given the counterfactual scenario where a collision cardboard object occurs at timestep 8473 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 (>=31% below pre-event baseline).
B. Following the event, robot current increases markedly (>=24% 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 >0.33% of baseline per horizon).

Answer: TFFF


Question: Given the counterfactual scenario where a collision foam object occurs at timestep 8465 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 >=24% while speed magnitude stays <=11% of pre-event baseline (stall-like behavior).
B. Following the event, command and measured TCP motion become misaligned (TCP tracking error increase >=23%).
C. Following the event, command and measured TCP motion remain aligned (TCP tracking error increase <=8%).
D. Following the event, temperatures rise across multiple joints (>=2 joints with slope >0.40% of baseline per horizon).

Answer: FFTF


Question: Given the counterfactual scenario where a collision foam object occurs at timestep 5840 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 (>=23% below pre-event baseline).
B. Following the event, command and measured TCP motion become misaligned (TCP tracking error increase >=30%).
C. Following the event, robot current increases markedly (>=16% above pre-event mean).
D. Following the event, command and measured TCP motion remain aligned (TCP tracking error increase <=13%).

Answer: TFFT


Question: Given the counterfactual scenario where a collision hanging cable occurs at timestep 9373 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 (>=48% above baseline norm).
B. Following the event, command and measured TCP motion become misaligned (TCP tracking error increase >=23%).
C. Following the event, robot current increases markedly (>=21% above pre-event mean).
D. Following the event, contact-force magnitude remains low (<=19% above pre-event baseline for at least 72% of timesteps).

Answer: FFFF


Question: Given the counterfactual scenario where a collision foam object occurs at timestep 8577 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, at least one joint speed drops sharply (>=27% below pre-event baseline).
C. Following the event, command and measured TCP motion become misaligned (TCP tracking error increase >=22%).
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


Question: Given the counterfactual scenario where a collision hanging cable occurs at timestep 7766 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 <=7%.
B. Following the event, temperatures rise across multiple joints (>=1 joints with slope >0.36% of baseline per horizon).
C. Following the event, command and measured TCP motion become misaligned (TCP tracking error increase >=27%).
D. Following the event, contact-force magnitude remains low (<=27% above pre-event baseline for at least 84% of timesteps).

Answer: TFTF


Question: Given the counterfactual scenario where a collision hanging cable occurs at timestep 6356 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 (>=21% above pre-event mean).
B. Following the event, contact force shows a significant spike (>=43% above baseline norm).
C. Following the event, temperatures rise across multiple joints (>=3 joints with slope >0.51% of baseline per horizon).
D. Following the event, joint speeds stay close to baseline (within ±7% of pre-event values).

Answer: FFFF


Question: Given the counterfactual scenario where a collision cardboard object occurs at timestep 7362 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 <=13%.
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. Following the event, command and measured TCP motion remain aligned (TCP tracking error increase <=8%).

Answer: TFFF


Question: Given the counterfactual scenario where a collision hanging cable occurs at timestep 6855 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 (>=12% above pre-event mean).
B. Following the event, temperatures rise across multiple joints (>=2 joints with slope >0.60% 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 <=10%.
D. Following the event, at least one joint speed drops sharply (>=22% below pre-event baseline).

Answer: FFTT


Question: Given the counterfactual scenario where a collision cardboard object occurs at timestep 4912 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 (>=3 joints with slope >0.74% of baseline per horizon).
B. Following the event, at least one joint speed drops sharply (>=39% 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 <=13%.
D. Following the event, joint speeds stay close to baseline (within ±8% of pre-event values).

Answer: FTFF


Question: Given the counterfactual scenario where a collision cardboard object occurs at timestep 4857 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 >0.38% of baseline per horizon).
B. Following the event, contact force shows a significant spike (>=35% 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 <=5%.
D. Following the event, command and measured TCP motion become misaligned (TCP tracking error increase >=30%).

Answer: FFTF