299 points before latest (index = 18): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 4 8 16 2 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.128 -1.587 1.947 0.032 ] sys_status.via.x = [ 0.275 -0.128 -0.790 0.360 ] sys_status.via_step = 4 sys_status.via_time = 612701587.0 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.2 0.2 4.0 3.9 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.2 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701588.9 298 points before latest (index = 19): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 4 8 16 2 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.128 -1.587 1.947 0.032 ] sys_status.via.x = [ 0.275 -0.128 -0.790 0.360 ] sys_status.via_step = 4 sys_status.via_time = 612701587.0 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.8 1.1 4.1 3.9 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.2 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701589.0 297 points before latest (index = 20): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 6 11 23 3 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.117 -1.571 2.002 0.041 ] sys_status.via.x = [ 0.275 -0.123 -0.775 0.432 ] sys_status.via_step = 5 sys_status.via_time = 612701589.1 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 4.1 1.3 4.2 3.9 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.2 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701589.2 296 points before latest (index = 21): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 6 11 22 3 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.117 -1.571 2.002 0.041 ] sys_status.via.x = [ 0.275 -0.123 -0.775 0.432 ] sys_status.via_step = 5 sys_status.via_time = 612701589.1 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.6 0.0 0.0 0.0 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.2 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701589.3 295 points before latest (index = 22): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 5 10 20 3 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.117 -1.571 2.002 0.041 ] sys_status.via.x = [ 0.275 -0.123 -0.775 0.432 ] sys_status.via_step = 5 sys_status.via_time = 612701589.1 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.3 0.7 6.6 0.3 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.2 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701589.4 294 points before latest (index = 23): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 5 9 17 3 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.117 -1.571 2.002 0.041 ] sys_status.via.x = [ 0.275 -0.123 -0.775 0.432 ] sys_status.via_step = 5 sys_status.via_time = 612701589.1 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 1.2 0.5 9.2 0.2 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.2 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701589.5 293 points before latest (index = 24): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 4 9 16 2 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.117 -1.571 2.002 0.041 ] sys_status.via.x = [ 0.275 -0.123 -0.775 0.432 ] sys_status.via_step = 5 sys_status.via_time = 612701589.1 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 3.6 6.1 7.6 0.3 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.2 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701589.6 292 points before latest (index = 25): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 4 9 16 1 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.117 -1.571 2.002 0.041 ] sys_status.via.x = [ 0.275 -0.123 -0.775 0.432 ] sys_status.via_step = 5 sys_status.via_time = 612701589.1 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 1.8 1.9 6.3 1.1 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.2 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701589.7 291 points before latest (index = 26): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 4 8 16 2 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.117 -1.571 2.002 0.041 ] sys_status.via.x = [ 0.275 -0.123 -0.775 0.432 ] sys_status.via_step = 5 sys_status.via_time = 612701589.1 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 1.6 1.3 3.6 1.4 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.2 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701589.8 290 points before latest (index = 27): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 4 8 16 2 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.117 -1.571 2.002 0.041 ] sys_status.via.x = [ 0.275 -0.123 -0.775 0.432 ] sys_status.via_step = 5 sys_status.via_time = 612701589.1 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.1 0.9 3.3 0.0 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.2 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701589.9 289 points before latest (index = 28): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 5 8 17 2 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.117 -1.571 2.002 0.041 ] sys_status.via.x = [ 0.275 -0.123 -0.775 0.432 ] sys_status.via_step = 5 sys_status.via_time = 612701589.1 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 3.1 1.3 4.0 3.5 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.2 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701590.0 288 points before latest (index = 29): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 5 8 17 3 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.117 -1.571 2.002 0.041 ] sys_status.via.x = [ 0.275 -0.123 -0.775 0.432 ] sys_status.via_step = 5 sys_status.via_time = 612701589.1 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.0 2.2 0.0 3.5 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.2 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701590.1 287 points before latest (index = 30): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 4 9 18 3 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.117 -1.571 2.002 0.041 ] sys_status.via.x = [ 0.275 -0.123 -0.775 0.432 ] sys_status.via_step = 5 sys_status.via_time = 612701589.1 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.7 0.7 3.7 0.0 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.2 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701590.3 286 points before latest (index = 31): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 4 9 17 2 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.117 -1.571 2.002 0.041 ] sys_status.via.x = [ 0.275 -0.123 -0.775 0.432 ] sys_status.via_step = 5 sys_status.via_time = 612701589.1 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 1.2 0.0 0.0 0.2 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.2 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701590.4 285 points before latest (index = 32): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 4 8 16 2 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.117 -1.571 2.002 0.041 ] sys_status.via.x = [ 0.275 -0.123 -0.775 0.432 ] sys_status.via_step = 5 sys_status.via_time = 612701589.1 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 3.0 0.7 6.9 0.5 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.2 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701590.5 284 points before latest (index = 33): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 4 7 15 2 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.117 -1.571 2.002 0.041 ] sys_status.via.x = [ 0.275 -0.123 -0.775 0.432 ] sys_status.via_step = 5 sys_status.via_time = 612701589.1 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 1.3 6.2 6.9 1.6 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.2 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701590.6 283 points before latest (index = 34): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 4 7 16 2 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.117 -1.571 2.002 0.041 ] sys_status.via.x = [ 0.275 -0.123 -0.775 0.432 ] sys_status.via_step = 5 sys_status.via_time = 612701589.1 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.2 0.9 7.5 0.2 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.2 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701590.7 282 points before latest (index = 35): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 5 8 16 2 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.117 -1.571 2.002 0.041 ] sys_status.via.x = [ 0.275 -0.123 -0.775 0.432 ] sys_status.via_step = 5 sys_status.via_time = 612701589.1 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 1.6 1.6 0.0 0.5 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.2 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701590.8 281 points before latest (index = 36): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 5 8 16 1 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.117 -1.571 2.002 0.041 ] sys_status.via.x = [ 0.275 -0.123 -0.775 0.432 ] sys_status.via_step = 5 sys_status.via_time = 612701589.1 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.0 0.0 3.4 1.3 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.2 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701590.9 280 points before latest (index = 37): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 5 8 16 1 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.117 -1.571 2.002 0.041 ] sys_status.via.x = [ 0.275 -0.123 -0.775 0.432 ] sys_status.via_step = 5 sys_status.via_time = 612701589.1 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.6 0.2 3.5 0.8 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.2 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701591.0 279 points before latest (index = 38): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 6 11 22 3 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.106 -1.554 2.058 0.049 ] sys_status.via.x = [ 0.275 -0.118 -0.761 0.503 ] sys_status.via_step = 6 sys_status.via_time = 612701591.1 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.0 0.9 3.1 0.7 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.2 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701591.1 278 points before latest (index = 39): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 5 12 23 3 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.106 -1.554 2.058 0.049 ] sys_status.via.x = [ 0.275 -0.118 -0.761 0.503 ] sys_status.via_step = 6 sys_status.via_time = 612701591.1 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.1 0.0 0.0 0.0 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.2 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701591.3 277 points before latest (index = 40): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 5 10 21 2 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.106 -1.554 2.058 0.049 ] sys_status.via.x = [ 0.275 -0.118 -0.761 0.503 ] sys_status.via_step = 6 sys_status.via_time = 612701591.1 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 3.5 0.0 0.0 0.3 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.2 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701591.4 276 points before latest (index = 41): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 5 9 17 2 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.106 -1.554 2.058 0.049 ] sys_status.via.x = [ 0.275 -0.118 -0.761 0.503 ] sys_status.via_step = 6 sys_status.via_time = 612701591.1 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 3.6 0.0 9.6 1.2 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.2 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701591.5 275 points before latest (index = 42): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 4 8 16 1 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.106 -1.554 2.058 0.049 ] sys_status.via.x = [ 0.275 -0.118 -0.761 0.503 ] sys_status.via_step = 6 sys_status.via_time = 612701591.1 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.7 6.4 7.9 2.5 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.2 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701591.6 274 points before latest (index = 43): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 4 8 15 2 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.106 -1.554 2.058 0.049 ] sys_status.via.x = [ 0.275 -0.118 -0.761 0.503 ] sys_status.via_step = 6 sys_status.via_time = 612701591.1 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 3.8 0.9 6.8 0.8 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.2 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701591.7 273 points before latest (index = 44): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 4 8 16 2 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.106 -1.554 2.058 0.049 ] sys_status.via.x = [ 0.275 -0.118 -0.761 0.503 ] sys_status.via_step = 6 sys_status.via_time = 612701591.1 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 3.9 2.0 5.9 0.0 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.2 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701591.8 272 points before latest (index = 45): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 4 8 16 3 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.106 -1.554 2.058 0.049 ] sys_status.via.x = [ 0.275 -0.118 -0.761 0.503 ] sys_status.via_step = 6 sys_status.via_time = 612701591.1 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 4.7 1.3 0.0 3.5 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.2 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701591.9 271 points before latest (index = 46): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 4 8 16 3 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.106 -1.554 2.058 0.049 ] sys_status.via.x = [ 0.275 -0.118 -0.761 0.503 ] sys_status.via_step = 6 sys_status.via_time = 612701591.1 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 3.4 1.4 3.2 0.0 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.2 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701592.0 270 points before latest (index = 47): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 5 8 17 2 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.106 -1.554 2.058 0.049 ] sys_status.via.x = [ 0.275 -0.118 -0.761 0.503 ] sys_status.via_step = 6 sys_status.via_time = 612701591.1 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 4.2 1.8 3.2 0.2 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.2 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701592.1 269 points before latest (index = 48): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 5 8 18 2 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.106 -1.554 2.058 0.049 ] sys_status.via.x = [ 0.275 -0.118 -0.761 0.503 ] sys_status.via_step = 6 sys_status.via_time = 612701591.1 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 4.5 2.0 0.0 0.2 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.2 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701592.3 268 points before latest (index = 49): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 4 8 17 1 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.106 -1.554 2.058 0.049 ] sys_status.via.x = [ 0.275 -0.118 -0.761 0.503 ] sys_status.via_step = 6 sys_status.via_time = 612701591.1 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 3.0 1.4 0.0 0.4 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.2 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701592.4 267 points before latest (index = 50): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 4 8 16 2 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.106 -1.554 2.058 0.049 ] sys_status.via.x = [ 0.275 -0.118 -0.761 0.503 ] sys_status.via_step = 6 sys_status.via_time = 612701591.1 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 3.3 2.0 6.7 0.6 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.2 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701592.5 266 points before latest (index = 51): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 4 8 16 2 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.106 -1.554 2.058 0.049 ] sys_status.via.x = [ 0.275 -0.118 -0.761 0.503 ] sys_status.via_step = 6 sys_status.via_time = 612701591.1 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 3.3 2.4 7.0 0.0 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.2 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701592.6 265 points before latest (index = 52): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 5 9 16 3 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.106 -1.554 2.058 0.049 ] sys_status.via.x = [ 0.275 -0.118 -0.761 0.503 ] sys_status.via_step = 6 sys_status.via_time = 612701591.1 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 4.2 2.0 3.9 3.5 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.2 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701592.7 264 points before latest (index = 53): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 5 9 17 3 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.106 -1.554 2.058 0.049 ] sys_status.via.x = [ 0.275 -0.118 -0.761 0.503 ] sys_status.via_step = 6 sys_status.via_time = 612701591.1 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 3.3 0.0 3.8 0.0 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.2 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701592.8 263 points before latest (index = 54): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 4 9 16 4 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.106 -1.554 2.058 0.049 ] sys_status.via.x = [ 0.275 -0.118 -0.761 0.503 ] sys_status.via_step = 6 sys_status.via_time = 612701591.1 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 3.3 0.9 0.0 6.3 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.2 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701592.9 262 points before latest (index = 55): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 4 8 17 3 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.106 -1.554 2.058 0.049 ] sys_status.via.x = [ 0.275 -0.118 -0.761 0.503 ] sys_status.via_step = 6 sys_status.via_time = 612701591.1 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 1.6 1.3 6.6 0.0 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.2 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701593.0 261 points before latest (index = 56): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 4 8 17 3 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.106 -1.554 2.058 0.049 ] sys_status.via.x = [ 0.275 -0.118 -0.761 0.503 ] sys_status.via_step = 6 sys_status.via_time = 612701591.1 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 3.4 1.1 0.0 1.0 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.2 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701593.1 260 points before latest (index = 57): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 6 11 22 2 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.096 -1.538 2.113 0.058 ] sys_status.via.x = [ 0.274 -0.111 -0.747 0.575 ] sys_status.via_step = 7 sys_status.via_time = 612701593.2 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 1.6 1.8 2.9 0.1 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.2 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701593.2 259 points before latest (index = 58): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 6 12 23 1 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.096 -1.538 2.113 0.058 ] sys_status.via.x = [ 0.274 -0.111 -0.747 0.575 ] sys_status.via_step = 7 sys_status.via_time = 612701593.2 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 3.0 0.0 0.0 1.0 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.2 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701593.4 258 points before latest (index = 59): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 6 11 22 1 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.096 -1.538 2.113 0.058 ] sys_status.via.x = [ 0.274 -0.111 -0.747 0.575 ] sys_status.via_step = 7 sys_status.via_time = 612701593.2 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.1 0.0 0.0 1.0 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.2 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701593.5 257 points before latest (index = 60): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 5 9 17 1 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.096 -1.538 2.113 0.058 ] sys_status.via.x = [ 0.274 -0.111 -0.747 0.575 ] sys_status.via_step = 7 sys_status.via_time = 612701593.2 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 1.8 1.3 7.5 0.7 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.2 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701593.6 256 points before latest (index = 61): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 4 8 15 2 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.096 -1.538 2.113 0.058 ] sys_status.via.x = [ 0.274 -0.111 -0.747 0.575 ] sys_status.via_step = 7 sys_status.via_time = 612701593.2 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 3.2 12.7 0.0 0.7 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.2 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701593.7 255 points before latest (index = 62): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 4 7 14 2 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.096 -1.538 2.113 0.058 ] sys_status.via.x = [ 0.274 -0.111 -0.747 0.575 ] sys_status.via_step = 7 sys_status.via_time = 612701593.2 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 1.2 8.1 8.0 0.0 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.2 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701593.8 254 points before latest (index = 63): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 4 7 15 3 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.096 -1.538 2.113 0.058 ] sys_status.via.x = [ 0.274 -0.111 -0.747 0.575 ] sys_status.via_step = 7 sys_status.via_time = 612701593.2 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.7 0.0 6.6 3.9 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.2 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701593.9 253 points before latest (index = 64): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 4 8 16 3 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.096 -1.538 2.113 0.058 ] sys_status.via.x = [ 0.274 -0.111 -0.747 0.575 ] sys_status.via_step = 7 sys_status.via_time = 612701593.2 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 3.9 1.3 0.0 0.0 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.2 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701594.0 252 points before latest (index = 65): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 4 9 16 4 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.096 -1.538 2.113 0.058 ] sys_status.via.x = [ 0.274 -0.111 -0.747 0.575 ] sys_status.via_step = 7 sys_status.via_time = 612701593.2 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.4 0.0 0.0 6.3 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.2 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701594.1 251 points before latest (index = 66): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 4 9 18 4 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.096 -1.538 2.113 0.058 ] sys_status.via.x = [ 0.274 -0.111 -0.747 0.575 ] sys_status.via_step = 7 sys_status.via_time = 612701593.2 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.5 0.0 3.8 0.0 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.2 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701594.3 250 points before latest (index = 67): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 4 9 18 3 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.096 -1.538 2.113 0.058 ] sys_status.via.x = [ 0.274 -0.111 -0.747 0.575 ] sys_status.via_step = 7 sys_status.via_time = 612701593.2 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 1.2 1.1 0.0 0.2 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.2 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701594.4 249 points before latest (index = 68): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 4 8 17 2 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.096 -1.538 2.113 0.058 ] sys_status.via.x = [ 0.274 -0.111 -0.747 0.575 ] sys_status.via_step = 7 sys_status.via_time = 612701593.2 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.5 0.5 3.5 1.0 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.2 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701594.5 248 points before latest (index = 69): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 4 8 16 2 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.096 -1.538 2.113 0.058 ] sys_status.via.x = [ 0.274 -0.111 -0.747 0.575 ] sys_status.via_step = 7 sys_status.via_time = 612701593.2 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 1.3 8.1 6.5 0.4 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.2 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701594.6 247 points before latest (index = 70): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 5 8 16 2 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.096 -1.538 2.113 0.058 ] sys_status.via.x = [ 0.274 -0.111 -0.747 0.575 ] sys_status.via_step = 7 sys_status.via_time = 612701593.2 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 1.3 2.6 6.5 0.8 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.2 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701594.7 246 points before latest (index = 71): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 5 8 16 2 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.096 -1.538 2.113 0.058 ] sys_status.via.x = [ 0.274 -0.111 -0.747 0.575 ] sys_status.via_step = 7 sys_status.via_time = 612701593.2 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 1.5 0.7 3.9 0.4 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.2 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701594.8 245 points before latest (index = 72): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 5 8 16 2 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.096 -1.538 2.113 0.058 ] sys_status.via.x = [ 0.274 -0.111 -0.747 0.575 ] sys_status.via_step = 7 sys_status.via_time = 612701593.2 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 3.3 1.6 3.9 0.4 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.2 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701594.9 244 points before latest (index = 73): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 4 8 16 1 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.096 -1.538 2.113 0.058 ] sys_status.via.x = [ 0.274 -0.111 -0.747 0.575 ] sys_status.via_step = 7 sys_status.via_time = 612701593.2 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 1.8 2.4 4.1 0.1 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.2 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701595.0 243 points before latest (index = 74): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 4 8 16 1 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.096 -1.538 2.113 0.058 ] sys_status.via.x = [ 0.274 -0.111 -0.747 0.575 ] sys_status.via_step = 7 sys_status.via_time = 612701593.2 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 3.1 2.4 4.0 0.7 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.2 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701595.1 242 points before latest (index = 75): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 6 11 22 3 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.085 -1.522 2.169 0.067 ] sys_status.via.x = [ 0.273 -0.103 -0.736 0.647 ] sys_status.via_step = 8 sys_status.via_time = 612701595.2 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.7 1.1 3.4 0.7 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.2 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701595.3 241 points before latest (index = 76): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 6 12 23 3 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.085 -1.522 2.169 0.067 ] sys_status.via.x = [ 0.273 -0.103 -0.736 0.647 ] sys_status.via_step = 8 sys_status.via_time = 612701595.2 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 4.1 0.0 0.0 0.0 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.2 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701595.4 240 points before latest (index = 77): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 5 10 20 2 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.085 -1.522 2.169 0.067 ] sys_status.via.x = [ 0.273 -0.103 -0.736 0.647 ] sys_status.via_step = 8 sys_status.via_time = 612701595.2 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 3.5 0.0 0.0 0.0 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.2 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701595.5 239 points before latest (index = 78): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 5 9 18 2 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.085 -1.522 2.169 0.067 ] sys_status.via.x = [ 0.273 -0.103 -0.736 0.647 ] sys_status.via_step = 8 sys_status.via_time = 612701595.2 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.4 10.5 9.7 0.2 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.2 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701595.6 238 points before latest (index = 79): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 5 8 17 1 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.085 -1.522 2.169 0.067 ] sys_status.via.x = [ 0.273 -0.103 -0.736 0.647 ] sys_status.via_step = 8 sys_status.via_time = 612701595.2 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.3 0.3 8.1 1.4 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.2 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701595.7 237 points before latest (index = 80): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 4 8 16 2 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.085 -1.522 2.169 0.067 ] sys_status.via.x = [ 0.273 -0.103 -0.736 0.647 ] sys_status.via_step = 8 sys_status.via_time = 612701595.2 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 4.1 7.9 6.7 0.5 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.2 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701595.8 236 points before latest (index = 81): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 4 8 16 2 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.085 -1.522 2.169 0.067 ] sys_status.via.x = [ 0.273 -0.103 -0.736 0.647 ] sys_status.via_step = 8 sys_status.via_time = 612701595.2 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.2 0.3 6.3 0.0 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.2 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701595.9 235 points before latest (index = 82): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 5 8 16 3 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.085 -1.522 2.169 0.067 ] sys_status.via.x = [ 0.273 -0.103 -0.736 0.647 ] sys_status.via_step = 8 sys_status.via_time = 612701595.2 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 4.1 1.1 4.4 3.5 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.2 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701596.0 234 points before latest (index = 83): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 5 9 16 3 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.085 -1.522 2.169 0.067 ] sys_status.via.x = [ 0.273 -0.103 -0.736 0.647 ] sys_status.via_step = 8 sys_status.via_time = 612701595.2 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 3.0 0.7 4.2 0.0 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.2 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701596.1 233 points before latest (index = 84): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 4 9 17 4 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.085 -1.522 2.169 0.067 ] sys_status.via.x = [ 0.273 -0.103 -0.736 0.647 ] sys_status.via_step = 8 sys_status.via_time = 612701595.2 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 1.7 0.0 3.8 6.9 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.2 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701596.3 232 points before latest (index = 85): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 4 8 17 3 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.085 -1.522 2.169 0.067 ] sys_status.via.x = [ 0.273 -0.103 -0.736 0.647 ] sys_status.via_step = 8 sys_status.via_time = 612701595.2 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 1.9 1.5 0.0 0.0 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.2 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701596.4 231 points before latest (index = 86): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 4 8 17 2 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.085 -1.522 2.169 0.067 ] sys_status.via.x = [ 0.273 -0.103 -0.736 0.647 ] sys_status.via_step = 8 sys_status.via_time = 612701595.2 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 4.2 0.7 3.5 0.9 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.2 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701596.5 230 points before latest (index = 87): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 4 8 16 2 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.085 -1.522 2.169 0.067 ] sys_status.via.x = [ 0.273 -0.103 -0.736 0.647 ] sys_status.via_step = 8 sys_status.via_time = 612701595.2 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.5 1.7 3.3 0.8 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.2 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701596.6 229 points before latest (index = 88): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 4 8 16 2 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.085 -1.522 2.169 0.067 ] sys_status.via.x = [ 0.273 -0.103 -0.736 0.647 ] sys_status.via_step = 8 sys_status.via_time = 612701595.2 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 3.6 1.6 5.3 1.0 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.2 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701596.7 228 points before latest (index = 89): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 4 8 16 2 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.085 -1.522 2.169 0.067 ] sys_status.via.x = [ 0.273 -0.103 -0.736 0.647 ] sys_status.via_step = 8 sys_status.via_time = 612701595.2 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 1.8 1.3 2.9 0.1 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.2 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701596.8 227 points before latest (index = 90): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 4 8 17 2 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.085 -1.522 2.169 0.067 ] sys_status.via.x = [ 0.273 -0.103 -0.736 0.647 ] sys_status.via_step = 8 sys_status.via_time = 612701595.2 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.7 1.3 3.1 0.4 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.2 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701596.9 226 points before latest (index = 91): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 5 8 17 1 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.085 -1.522 2.169 0.067 ] sys_status.via.x = [ 0.273 -0.103 -0.736 0.647 ] sys_status.via_step = 8 sys_status.via_time = 612701595.2 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 3.6 1.6 0.0 0.3 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.2 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701597.0 225 points before latest (index = 92): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 5 9 17 1 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.085 -1.522 2.169 0.067 ] sys_status.via.x = [ 0.273 -0.103 -0.736 0.647 ] sys_status.via_step = 8 sys_status.via_time = 612701595.2 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.3 2.0 3.9 0.7 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.2 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701597.1 224 points before latest (index = 93): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 5 9 17 1 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.085 -1.522 2.169 0.067 ] sys_status.via.x = [ 0.273 -0.103 -0.736 0.647 ] sys_status.via_step = 8 sys_status.via_time = 612701595.2 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 3.0 0.0 3.6 0.7 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.2 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701597.3 223 points before latest (index = 94): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 6 11 22 3 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.074 -1.506 2.224 0.075 ] sys_status.via.x = [ 0.271 -0.095 -0.725 0.719 ] sys_status.via_step = 9 sys_status.via_time = 612701597.3 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 0.7 1.1 4.1 0.7 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.2 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701597.4 222 points before latest (index = 95): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 5 10 21 3 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.074 -1.506 2.224 0.075 ] sys_status.via.x = [ 0.271 -0.095 -0.725 0.719 ] sys_status.via_step = 9 sys_status.via_time = 612701597.3 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.7 0.0 0.0 0.0 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.2 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701597.5 221 points before latest (index = 96): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 5 9 19 4 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.074 -1.506 2.224 0.075 ] sys_status.via.x = [ 0.271 -0.095 -0.725 0.719 ] sys_status.via_step = 9 sys_status.via_time = 612701597.3 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 3.0 8.1 7.1 6.3 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.2 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701597.6 220 points before latest (index = 97): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 5 9 18 4 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.074 -1.506 2.224 0.075 ] sys_status.via.x = [ 0.271 -0.095 -0.725 0.719 ] sys_status.via_step = 9 sys_status.via_time = 612701597.3 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.9 1.5 8.4 0.0 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.2 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701597.7 219 points before latest (index = 98): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 4 9 17 3 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.074 -1.506 2.224 0.075 ] sys_status.via.x = [ 0.271 -0.095 -0.725 0.719 ] sys_status.via_step = 9 sys_status.via_time = 612701597.3 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 3.5 1.3 6.6 0.1 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.2 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701597.8 218 points before latest (index = 99): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 4 8 17 2 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.074 -1.506 2.224 0.075 ] sys_status.via.x = [ 0.271 -0.095 -0.725 0.719 ] sys_status.via_step = 9 sys_status.via_time = 612701597.3 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 3.0 1.5 5.7 1.0 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.2 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701597.9 217 points before latest (index = 100): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 4 8 16 2 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.074 -1.506 2.224 0.075 ] sys_status.via.x = [ 0.271 -0.095 -0.725 0.719 ] sys_status.via_step = 9 sys_status.via_time = 612701597.3 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 4.2 0.7 2.9 0.1 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.2 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701598.0 216 points before latest (index = 101): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 5 8 17 1 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.074 -1.506 2.224 0.075 ] sys_status.via.x = [ 0.271 -0.095 -0.725 0.719 ] sys_status.via_step = 9 sys_status.via_time = 612701597.3 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 3.4 1.6 6.9 1.4 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.2 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701598.1 215 points before latest (index = 102): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 5 9 17 2 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.074 -1.506 2.224 0.075 ] sys_status.via.x = [ 0.271 -0.095 -0.725 0.719 ] sys_status.via_step = 9 sys_status.via_time = 612701597.3 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 4.4 1.4 0.0 1.6 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.2 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701598.3 214 points before latest (index = 103): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 4 9 17 2 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.074 -1.506 2.224 0.075 ] sys_status.via.x = [ 0.271 -0.095 -0.725 0.719 ] sys_status.via_step = 9 sys_status.via_time = 612701597.3 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 3.2 0.0 3.4 0.0 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.2 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701598.4 213 points before latest (index = 104): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 5 9 18 3 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.074 -1.506 2.224 0.075 ] sys_status.via.x = [ 0.271 -0.095 -0.725 0.719 ] sys_status.via_step = 9 sys_status.via_time = 612701597.3 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 3.4 0.3 3.4 3.5 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.2 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701598.5 212 points before latest (index = 105): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 4 8 16 3 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.074 -1.506 2.224 0.075 ] sys_status.via.x = [ 0.271 -0.095 -0.725 0.719 ] sys_status.via_step = 9 sys_status.via_time = 612701597.3 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 3.5 0.3 0.0 0.0 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.2 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701598.6 211 points before latest (index = 106): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 4 8 16 3 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.074 -1.506 2.224 0.075 ] sys_status.via.x = [ 0.271 -0.095 -0.725 0.719 ] sys_status.via_step = 9 sys_status.via_time = 612701597.3 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 1.2 0.3 9.1 6.9 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.2 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701598.7 210 points before latest (index = 107): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 4 8 15 4 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.074 -1.506 2.224 0.075 ] sys_status.via.x = [ 0.271 -0.095 -0.725 0.719 ] sys_status.via_step = 9 sys_status.via_time = 612701597.3 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 1.9 1.3 3.4 6.9 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.2 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701598.8 209 points before latest (index = 108): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 4 8 16 4 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.074 -1.506 2.224 0.075 ] sys_status.via.x = [ 0.271 -0.095 -0.725 0.719 ] sys_status.via_step = 9 sys_status.via_time = 612701597.3 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 0.9 1.6 6.2 0.0 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.2 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701598.9 208 points before latest (index = 109): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 4 8 16 3 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.074 -1.506 2.224 0.075 ] sys_status.via.x = [ 0.271 -0.095 -0.725 0.719 ] sys_status.via_step = 9 sys_status.via_time = 612701597.3 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 1.5 0.9 0.0 0.2 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.2 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701599.0 207 points before latest (index = 110): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 4 8 17 2 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.074 -1.506 2.224 0.075 ] sys_status.via.x = [ 0.271 -0.095 -0.725 0.719 ] sys_status.via_step = 9 sys_status.via_time = 612701597.3 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 1.3 1.1 3.1 0.2 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.2 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701599.1 206 points before latest (index = 111): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 4 8 17 2 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.074 -1.506 2.224 0.075 ] sys_status.via.x = [ 0.271 -0.095 -0.725 0.719 ] sys_status.via_step = 9 sys_status.via_time = 612701597.3 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 1.6 1.6 0.0 1.1 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.2 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701599.3 205 points before latest (index = 112): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 6 11 22 2 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.064 -1.489 2.280 0.084 ] sys_status.via.x = [ 0.269 -0.086 -0.716 0.790 ] sys_status.via_step = 10 sys_status.via_time = 612701599.3 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.7 1.3 2.9 0.2 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.2 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701599.4 204 points before latest (index = 113): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 6 11 22 2 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.064 -1.489 2.280 0.084 ] sys_status.via.x = [ 0.269 -0.086 -0.716 0.790 ] sys_status.via_step = 10 sys_status.via_time = 612701599.3 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 4.4 0.0 0.0 0.4 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.2 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701599.5 203 points before latest (index = 114): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 6 10 20 2 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.064 -1.489 2.280 0.084 ] sys_status.via.x = [ 0.269 -0.086 -0.716 0.790 ] sys_status.via_step = 10 sys_status.via_time = 612701599.3 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 3.5 1.3 3.7 0.3 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.2 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701599.6 202 points before latest (index = 115): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 5 9 18 2 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.064 -1.489 2.280 0.084 ] sys_status.via.x = [ 0.269 -0.086 -0.716 0.790 ] sys_status.via_step = 10 sys_status.via_time = 612701599.3 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.6 7.4 9.5 1.2 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.2 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701599.7 201 points before latest (index = 116): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 4 9 16 2 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.064 -1.489 2.280 0.084 ] sys_status.via.x = [ 0.269 -0.086 -0.716 0.790 ] sys_status.via_step = 10 sys_status.via_time = 612701599.3 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.7 1.3 7.9 0.5 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.2 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701599.8 200 points before latest (index = 117): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 4 8 16 2 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.064 -1.489 2.280 0.084 ] sys_status.via.x = [ 0.269 -0.086 -0.716 0.790 ] sys_status.via_step = 10 sys_status.via_time = 612701599.3 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 1.0 2.2 9.0 0.7 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.2 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701599.9 199 points before latest (index = 118): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 4 7 16 1 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.064 -1.489 2.280 0.084 ] sys_status.via.x = [ 0.269 -0.086 -0.716 0.790 ] sys_status.via_step = 10 sys_status.via_time = 612701599.3 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 3.1 1.8 3.1 0.4 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.2 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701600.0 198 points before latest (index = 119): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 5 8 17 1 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.064 -1.489 2.280 0.084 ] sys_status.via.x = [ 0.269 -0.086 -0.716 0.790 ] sys_status.via_step = 10 sys_status.via_time = 612701599.3 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 3.8 7.9 2.5 1.3 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.2 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701600.1 197 points before latest (index = 120): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 5 8 17 1 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.064 -1.489 2.280 0.084 ] sys_status.via.x = [ 0.269 -0.086 -0.716 0.790 ] sys_status.via_step = 10 sys_status.via_time = 612701599.3 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.1 0.0 0.0 0.7 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.2 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701600.2 196 points before latest (index = 121): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 4 8 18 2 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.064 -1.489 2.280 0.084 ] sys_status.via.x = [ 0.269 -0.086 -0.716 0.790 ] sys_status.via_step = 10 sys_status.via_time = 612701599.3 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 1.8 2.0 2.6 0.7 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.2 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701600.4 195 points before latest (index = 122): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 4 9 17 2 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.064 -1.489 2.280 0.084 ] sys_status.via.x = [ 0.269 -0.086 -0.716 0.790 ] sys_status.via_step = 10 sys_status.via_time = 612701599.3 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 1.0 1.6 0.0 0.0 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.2 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701600.5 194 points before latest (index = 123): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 4 8 15 2 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.064 -1.489 2.280 0.084 ] sys_status.via.x = [ 0.269 -0.086 -0.716 0.790 ] sys_status.via_step = 10 sys_status.via_time = 612701599.3 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 3.8 0.0 5.5 3.5 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.2 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701600.6 193 points before latest (index = 124): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 4 9 15 3 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.064 -1.489 2.280 0.084 ] sys_status.via.x = [ 0.269 -0.086 -0.716 0.790 ] sys_status.via_step = 10 sys_status.via_time = 612701599.3 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 1.3 7.5 8.7 3.5 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.2 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701600.7 192 points before latest (index = 125): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 4 9 16 3 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.064 -1.489 2.280 0.084 ] sys_status.via.x = [ 0.269 -0.086 -0.716 0.790 ] sys_status.via_step = 10 sys_status.via_time = 612701599.3 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.4 0.0 3.2 0.0 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.2 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701600.8 191 points before latest (index = 126): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 4 8 17 4 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.064 -1.489 2.280 0.084 ] sys_status.via.x = [ 0.269 -0.086 -0.716 0.790 ] sys_status.via_step = 10 sys_status.via_time = 612701599.3 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 0.7 0.9 0.0 6.3 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.2 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701600.9 190 points before latest (index = 127): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 5 8 17 4 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.064 -1.489 2.280 0.084 ] sys_status.via.x = [ 0.269 -0.086 -0.716 0.790 ] sys_status.via_step = 10 sys_status.via_time = 612701599.3 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 1.6 0.0 0.0 0.0 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.2 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701601.0 189 points before latest (index = 128): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 5 8 17 2 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.064 -1.489 2.280 0.084 ] sys_status.via.x = [ 0.269 -0.086 -0.716 0.790 ] sys_status.via_step = 10 sys_status.via_time = 612701599.3 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.9 0.7 2.8 0.2 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.2 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701601.1 188 points before latest (index = 129): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 4 8 17 2 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.064 -1.489 2.280 0.084 ] sys_status.via.x = [ 0.269 -0.086 -0.716 0.790 ] sys_status.via_step = 10 sys_status.via_time = 612701599.3 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 3.8 2.0 2.6 0.8 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.2 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701601.2 187 points before latest (index = 130): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 4 8 17 2 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.064 -1.489 2.280 0.084 ] sys_status.via.x = [ 0.269 -0.086 -0.716 0.790 ] sys_status.via_step = 10 sys_status.via_time = 612701599.3 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 1.8 1.8 2.3 0.1 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.2 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701601.4 186 points before latest (index = 131): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 6 11 21 2 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.053 -1.473 2.335 0.093 ] sys_status.via.x = [ 0.267 -0.077 -0.708 0.862 ] sys_status.via_step = 11 sys_status.via_time = 612701601.4 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 1.3 0.9 2.7 0.3 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.2 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701601.5 185 points before latest (index = 132): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 6 11 21 3 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.053 -1.473 2.335 0.093 ] sys_status.via.x = [ 0.267 -0.077 -0.708 0.862 ] sys_status.via_step = 11 sys_status.via_time = 612701601.4 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.3 0.0 0.0 0.0 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.6 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701601.6 184 points before latest (index = 133): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 5 10 19 2 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.053 -1.473 2.335 0.093 ] sys_status.via.x = [ 0.267 -0.077 -0.708 0.862 ] sys_status.via_step = 11 sys_status.via_time = 612701601.4 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.1 1.1 3.6 0.0 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.6 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701601.7 183 points before latest (index = 134): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 5 9 18 2 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.053 -1.473 2.335 0.093 ] sys_status.via.x = [ 0.267 -0.077 -0.708 0.862 ] sys_status.via_step = 11 sys_status.via_time = 612701601.4 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 1.7 0.0 7.9 0.7 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.6 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701601.8 182 points before latest (index = 135): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 4 8 17 2 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.053 -1.473 2.335 0.093 ] sys_status.via.x = [ 0.267 -0.077 -0.708 0.862 ] sys_status.via_step = 11 sys_status.via_time = 612701601.4 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 3.9 7.2 6.8 0.0 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.6 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701601.9 181 points before latest (index = 136): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 4 8 17 1 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.053 -1.473 2.335 0.093 ] sys_status.via.x = [ 0.267 -0.077 -0.708 0.862 ] sys_status.via_step = 11 sys_status.via_time = 612701601.4 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.8 1.9 5.5 0.8 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.6 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701602.0 180 points before latest (index = 137): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 5 8 17 1 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.053 -1.473 2.335 0.093 ] sys_status.via.x = [ 0.267 -0.077 -0.708 0.862 ] sys_status.via_step = 11 sys_status.via_time = 612701601.4 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 4.2 2.2 2.9 0.9 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.6 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701602.1 179 points before latest (index = 138): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 5 8 16 1 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.053 -1.473 2.335 0.093 ] sys_status.via.x = [ 0.267 -0.077 -0.708 0.862 ] sys_status.via_step = 11 sys_status.via_time = 612701601.4 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 3.0 1.6 3.0 0.9 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.6 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701602.2 178 points before latest (index = 139): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 4 9 17 1 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.053 -1.473 2.335 0.093 ] sys_status.via.x = [ 0.267 -0.077 -0.708 0.862 ] sys_status.via_step = 11 sys_status.via_time = 612701601.4 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 1.8 2.2 4.8 0.9 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.6 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701602.4 177 points before latest (index = 140): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 4 9 16 2 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.053 -1.473 2.335 0.093 ] sys_status.via.x = [ 0.267 -0.077 -0.708 0.862 ] sys_status.via_step = 11 sys_status.via_time = 612701601.4 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 1.9 0.0 0.0 0.9 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.6 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701602.5 176 points before latest (index = 141): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 4 8 16 2 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.053 -1.473 2.335 0.093 ] sys_status.via.x = [ 0.267 -0.077 -0.708 0.862 ] sys_status.via_step = 11 sys_status.via_time = 612701601.4 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 4.1 1.6 4.4 0.0 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.6 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701602.6 175 points before latest (index = 142): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 4 8 17 2 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.053 -1.473 2.335 0.093 ] sys_status.via.x = [ 0.267 -0.077 -0.708 0.862 ] sys_status.via_step = 11 sys_status.via_time = 612701601.4 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 3.1 7.9 2.3 0.3 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.6 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701602.7 174 points before latest (index = 143): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 4 8 17 2 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.053 -1.473 2.335 0.093 ] sys_status.via.x = [ 0.267 -0.077 -0.708 0.862 ] sys_status.via_step = 11 sys_status.via_time = 612701601.4 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 3.8 1.8 0.0 0.1 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.6 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701602.8 173 points before latest (index = 144): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 4 8 17 2 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.053 -1.473 2.335 0.093 ] sys_status.via.x = [ 0.267 -0.077 -0.708 0.862 ] sys_status.via_step = 11 sys_status.via_time = 612701601.4 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.1 2.2 3.3 0.3 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.6 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701602.9 172 points before latest (index = 145): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 4 8 16 1 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.053 -1.473 2.335 0.093 ] sys_status.via.x = [ 0.267 -0.077 -0.708 0.862 ] sys_status.via_step = 11 sys_status.via_time = 612701601.4 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 1.6 1.4 3.2 0.1 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.6 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701603.0 171 points before latest (index = 146): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 5 8 16 1 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.053 -1.473 2.335 0.093 ] sys_status.via.x = [ 0.267 -0.077 -0.708 0.862 ] sys_status.via_step = 11 sys_status.via_time = 612701601.4 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 1.9 1.1 5.3 1.8 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.6 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701603.1 170 points before latest (index = 147): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 5 9 16 2 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.053 -1.473 2.335 0.093 ] sys_status.via.x = [ 0.267 -0.077 -0.708 0.862 ] sys_status.via_step = 11 sys_status.via_time = 612701601.4 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.6 1.8 3.2 0.7 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.6 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701603.2 169 points before latest (index = 148): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 5 9 16 2 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.053 -1.473 2.335 0.093 ] sys_status.via.x = [ 0.267 -0.077 -0.708 0.862 ] sys_status.via_step = 11 sys_status.via_time = 612701601.4 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 1.8 0.0 3.3 0.0 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.6 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701603.4 168 points before latest (index = 149): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 6 11 24 2 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.043 -1.457 2.391 0.101 ] sys_status.via.x = [ 0.264 -0.068 -0.701 0.934 ] sys_status.via_step = 12 sys_status.via_time = 612701603.4 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.0 0.3 2.7 3.5 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.6 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701603.5 167 points before latest (index = 150): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 5 10 22 3 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.043 -1.457 2.391 0.101 ] sys_status.via.x = [ 0.264 -0.068 -0.701 0.934 ] sys_status.via_step = 12 sys_status.via_time = 612701603.4 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.4 0.0 0.0 3.5 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.6 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701603.6 166 points before latest (index = 151): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 5 9 20 3 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.043 -1.457 2.391 0.101 ] sys_status.via.x = [ 0.264 -0.068 -0.701 0.934 ] sys_status.via_step = 12 sys_status.via_time = 612701603.4 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.0 0.6 8.1 0.0 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.6 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701603.7 165 points before latest (index = 152): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 4 8 17 2 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.043 -1.457 2.391 0.101 ] sys_status.via.x = [ 0.264 -0.068 -0.701 0.934 ] sys_status.via_step = 12 sys_status.via_time = 612701603.4 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 3.8 7.0 8.7 0.1 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.6 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701603.8 164 points before latest (index = 153): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 4 8 16 2 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.043 -1.457 2.391 0.101 ] sys_status.via.x = [ 0.264 -0.068 -0.701 0.934 ] sys_status.via_step = 12 sys_status.via_time = 612701603.4 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.8 0.3 9.7 0.2 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.6 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701603.9 163 points before latest (index = 154): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 4 8 16 2 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.043 -1.457 2.391 0.101 ] sys_status.via.x = [ 0.264 -0.068 -0.701 0.934 ] sys_status.via_step = 12 sys_status.via_time = 612701603.4 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 4.2 1.6 6.2 0.0 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.6 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701604.0 162 points before latest (index = 155): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 5 9 18 2 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.043 -1.457 2.391 0.101 ] sys_status.via.x = [ 0.264 -0.068 -0.701 0.934 ] sys_status.via_step = 12 sys_status.via_time = 612701603.4 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 3.1 2.0 2.6 0.1 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.6 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701604.2 161 points before latest (index = 156): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 5 9 17 2 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.043 -1.457 2.391 0.101 ] sys_status.via.x = [ 0.264 -0.068 -0.701 0.934 ] sys_status.via_step = 12 sys_status.via_time = 612701603.4 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 4.1 0.0 0.0 0.1 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.6 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701604.3 160 points before latest (index = 157): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 5 8 16 2 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.043 -1.457 2.391 0.101 ] sys_status.via.x = [ 0.264 -0.068 -0.701 0.934 ] sys_status.via_step = 12 sys_status.via_time = 612701603.4 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 1.2 1.1 4.6 1.1 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.6 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701604.4 159 points before latest (index = 158): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 5 8 16 1 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.043 -1.457 2.391 0.101 ] sys_status.via.x = [ 0.264 -0.068 -0.701 0.934 ] sys_status.via_step = 12 sys_status.via_time = 612701603.4 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 3.0 7.4 6.4 0.5 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.6 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701604.5 158 points before latest (index = 159): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 4 8 16 2 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.043 -1.457 2.391 0.101 ] sys_status.via.x = [ 0.264 -0.068 -0.701 0.934 ] sys_status.via_step = 12 sys_status.via_time = 612701603.4 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 1.5 1.7 2.8 1.8 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.6 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701604.6 157 points before latest (index = 160): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 4 8 16 2 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.043 -1.457 2.391 0.101 ] sys_status.via.x = [ 0.264 -0.068 -0.701 0.934 ] sys_status.via_step = 12 sys_status.via_time = 612701603.4 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 3.0 2.6 2.2 0.0 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.6 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701604.7 156 points before latest (index = 161): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 4 8 16 2 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.043 -1.457 2.391 0.101 ] sys_status.via.x = [ 0.264 -0.068 -0.701 0.934 ] sys_status.via_step = 12 sys_status.via_time = 612701603.4 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 3.9 1.6 2.5 3.9 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.6 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701604.8 155 points before latest (index = 162): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 4 8 17 3 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.043 -1.457 2.391 0.101 ] sys_status.via.x = [ 0.264 -0.068 -0.701 0.934 ] sys_status.via_step = 12 sys_status.via_time = 612701603.4 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.7 2.4 2.2 3.9 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.6 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701604.9 154 points before latest (index = 163): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 4 9 18 3 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.043 -1.457 2.391 0.101 ] sys_status.via.x = [ 0.264 -0.068 -0.701 0.934 ] sys_status.via_step = 12 sys_status.via_time = 612701603.4 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 4.4 1.8 0.0 0.0 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.6 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701605.1 153 points before latest (index = 164): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 4 9 18 4 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.043 -1.457 2.391 0.101 ] sys_status.via.x = [ 0.264 -0.068 -0.701 0.934 ] sys_status.via_step = 12 sys_status.via_time = 612701603.4 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 3.3 0.0 0.0 6.3 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.6 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701605.2 152 points before latest (index = 165): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 4 8 17 4 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.043 -1.457 2.391 0.101 ] sys_status.via.x = [ 0.264 -0.068 -0.701 0.934 ] sys_status.via_step = 12 sys_status.via_time = 612701603.4 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 3.9 1.1 2.9 0.0 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.6 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701605.3 151 points before latest (index = 166): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 4 8 17 4 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.043 -1.457 2.391 0.101 ] sys_status.via.x = [ 0.264 -0.068 -0.701 0.934 ] sys_status.via_step = 12 sys_status.via_time = 612701603.4 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 4.1 0.3 6.0 0.2 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.6 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701605.4 150 points before latest (index = 167): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 5 11 21 2 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.032 -1.441 2.446 0.110 ] sys_status.via.x = [ 0.260 -0.058 -0.696 1.006 ] sys_status.via_step = 13 sys_status.via_time = 612701605.4 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 3.0 1.6 2.9 0.2 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.6 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701605.5 149 points before latest (index = 168): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 5 11 21 1 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.032 -1.441 2.446 0.110 ] sys_status.via.x = [ 0.260 -0.058 -0.696 1.006 ] sys_status.via_step = 13 sys_status.via_time = 612701605.4 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.0 0.0 0.0 0.0 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.6 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701605.6 148 points before latest (index = 169): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 5 10 20 1 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.032 -1.441 2.446 0.110 ] sys_status.via.x = [ 0.260 -0.058 -0.696 1.006 ] sys_status.via_step = 13 sys_status.via_time = 612701605.4 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 3.2 0.5 3.0 0.5 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.6 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701605.7 147 points before latest (index = 170): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 5 9 18 1 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.032 -1.441 2.446 0.110 ] sys_status.via.x = [ 0.260 -0.058 -0.696 1.006 ] sys_status.via_step = 13 sys_status.via_time = 612701605.4 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 3.6 0.6 3.9 0.7 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.6 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701605.8 146 points before latest (index = 171): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 4 8 17 2 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.032 -1.441 2.446 0.110 ] sys_status.via.x = [ 0.260 -0.058 -0.696 1.006 ] sys_status.via_step = 13 sys_status.via_time = 612701605.4 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 1.7 0.2 6.2 0.7 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.6 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701605.9 145 points before latest (index = 172): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 5 8 16 2 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.032 -1.441 2.446 0.110 ] sys_status.via.x = [ 0.260 -0.058 -0.696 1.006 ] sys_status.via_step = 13 sys_status.via_time = 612701605.4 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 3.1 6.6 5.5 0.0 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.6 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701606.0 144 points before latest (index = 173): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 5 9 17 2 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.032 -1.441 2.446 0.110 ] sys_status.via.x = [ 0.260 -0.058 -0.696 1.006 ] sys_status.via_step = 13 sys_status.via_time = 612701605.4 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 3.2 1.6 3.8 3.5 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.6 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701606.2 143 points before latest (index = 174): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 4 9 17 3 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.032 -1.441 2.446 0.110 ] sys_status.via.x = [ 0.260 -0.058 -0.696 1.006 ] sys_status.via_step = 13 sys_status.via_time = 612701605.4 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 1.8 0.0 0.0 3.5 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.6 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701606.3 142 points before latest (index = 175): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 4 8 17 3 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.032 -1.441 2.446 0.110 ] sys_status.via.x = [ 0.260 -0.058 -0.696 1.006 ] sys_status.via_step = 13 sys_status.via_time = 612701605.4 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.1 0.7 2.8 0.0 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.6 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701606.4 141 points before latest (index = 176): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 4 8 16 4 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.032 -1.441 2.446 0.110 ] sys_status.via.x = [ 0.260 -0.058 -0.696 1.006 ] sys_status.via_step = 13 sys_status.via_time = 612701605.4 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 1.5 1.8 2.6 6.3 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.6 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701606.5 140 points before latest (index = 177): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 4 8 16 4 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.032 -1.441 2.446 0.110 ] sys_status.via.x = [ 0.260 -0.058 -0.696 1.006 ] sys_status.via_step = 13 sys_status.via_time = 612701605.4 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.2 1.7 5.9 0.0 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.6 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701606.6 139 points before latest (index = 178): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 5 8 16 3 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.032 -1.441 2.446 0.110 ] sys_status.via.x = [ 0.260 -0.058 -0.696 1.006 ] sys_status.via_step = 13 sys_status.via_time = 612701605.4 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 1.5 1.7 2.6 0.1 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.6 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701606.7 138 points before latest (index = 179): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 5 8 16 2 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.032 -1.441 2.446 0.110 ] sys_status.via.x = [ 0.260 -0.058 -0.696 1.006 ] sys_status.via_step = 13 sys_status.via_time = 612701605.4 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 1.7 1.1 2.7 0.0 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.6 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701606.8 137 points before latest (index = 180): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 4 8 17 2 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.032 -1.441 2.446 0.110 ] sys_status.via.x = [ 0.260 -0.058 -0.696 1.006 ] sys_status.via_step = 13 sys_status.via_time = 612701605.4 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.7 1.4 2.2 1.0 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.6 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701606.9 136 points before latest (index = 181): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 5 9 18 2 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.032 -1.441 2.446 0.110 ] sys_status.via.x = [ 0.260 -0.058 -0.696 1.006 ] sys_status.via_step = 13 sys_status.via_time = 612701605.4 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 3.4 2.2 0.0 0.6 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.6 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701607.0 135 points before latest (index = 182): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 5 9 17 2 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.032 -1.441 2.446 0.110 ] sys_status.via.x = [ 0.260 -0.058 -0.696 1.006 ] sys_status.via_step = 13 sys_status.via_time = 612701605.4 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 3.3 0.0 0.0 0.2 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.6 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701607.1 134 points before latest (index = 183): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 5 9 18 2 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.032 -1.441 2.446 0.110 ] sys_status.via.x = [ 0.260 -0.058 -0.696 1.006 ] sys_status.via_step = 13 sys_status.via_time = 612701605.4 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 3.5 0.5 3.2 0.1 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.6 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701607.3 133 points before latest (index = 184): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 5 8 17 2 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.032 -1.441 2.446 0.110 ] sys_status.via.x = [ 0.260 -0.058 -0.696 1.006 ] sys_status.via_step = 13 sys_status.via_time = 612701605.4 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.1 1.9 0.0 0.5 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.6 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701607.4 132 points before latest (index = 185): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 5 8 17 2 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.032 -1.441 2.446 0.110 ] sys_status.via.x = [ 0.260 -0.058 -0.696 1.006 ] sys_status.via_step = 13 sys_status.via_time = 612701605.4 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 4.1 5.0 4.3 0.5 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.6 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701607.5 131 points before latest (index = 186): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 6 11 22 2 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.021 -1.424 2.502 0.119 ] sys_status.via.x = [ 0.257 -0.049 -0.692 1.077 ] sys_status.via_step = 14 sys_status.via_time = 612701607.5 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.7 2.0 2.8 0.2 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.6 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701607.6 130 points before latest (index = 187): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 5 10 22 3 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.021 -1.424 2.502 0.119 ] sys_status.via.x = [ 0.257 -0.049 -0.692 1.077 ] sys_status.via_step = 14 sys_status.via_time = 612701607.5 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 3.8 0.0 0.0 0.0 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.6 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701607.7 129 points before latest (index = 188): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 5 10 20 2 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.021 -1.424 2.502 0.119 ] sys_status.via.x = [ 0.257 -0.049 -0.692 1.077 ] sys_status.via_step = 14 sys_status.via_time = 612701607.5 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.3 0.8 2.9 0.0 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.6 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701607.8 128 points before latest (index = 189): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 5 9 18 1 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.021 -1.424 2.502 0.119 ] sys_status.via.x = [ 0.257 -0.049 -0.692 1.077 ] sys_status.via_step = 14 sys_status.via_time = 612701607.5 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.1 1.1 6.6 1.3 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.6 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701607.9 127 points before latest (index = 190): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 5 8 17 2 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.021 -1.424 2.502 0.119 ] sys_status.via.x = [ 0.257 -0.049 -0.692 1.077 ] sys_status.via_step = 14 sys_status.via_time = 612701607.5 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 3.6 0.4 8.3 0.5 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.6 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701608.0 126 points before latest (index = 191): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 4 8 16 2 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.021 -1.424 2.502 0.119 ] sys_status.via.x = [ 0.257 -0.049 -0.692 1.077 ] sys_status.via_step = 14 sys_status.via_time = 612701607.5 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 3.3 1.1 5.1 0.0 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.6 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701608.1 125 points before latest (index = 192): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 4 8 17 3 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.021 -1.424 2.502 0.119 ] sys_status.via.x = [ 0.257 -0.049 -0.692 1.077 ] sys_status.via_step = 14 sys_status.via_time = 612701607.5 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 1.2 1.3 3.4 3.9 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.6 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701608.3 124 points before latest (index = 193): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 4 8 16 3 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.021 -1.424 2.502 0.119 ] sys_status.via.x = [ 0.257 -0.049 -0.692 1.077 ] sys_status.via_step = 14 sys_status.via_time = 612701607.5 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.7 1.4 0.0 0.0 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.6 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701608.4 123 points before latest (index = 194): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 5 10 19 4 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.021 -1.424 2.502 0.119 ] sys_status.via.x = [ 0.257 -0.049 -0.692 1.077 ] sys_status.via_step = 14 sys_status.via_time = 612701607.5 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 0.9 0.2 3.1 6.3 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.6 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701608.5 122 points before latest (index = 195): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 4 9 16 3 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.021 -1.424 2.502 0.119 ] sys_status.via.x = [ 0.257 -0.049 -0.692 1.077 ] sys_status.via_step = 14 sys_status.via_time = 612701607.5 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.3 0.0 0.0 0.0 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.6 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701608.6 121 points before latest (index = 196): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 4 8 16 2 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.021 -1.424 2.502 0.119 ] sys_status.via.x = [ 0.257 -0.049 -0.692 1.077 ] sys_status.via_step = 14 sys_status.via_time = 612701607.5 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.4 0.2 10.5 1.0 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.6 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701608.7 120 points before latest (index = 197): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 4 8 15 2 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.021 -1.424 2.502 0.119 ] sys_status.via.x = [ 0.257 -0.049 -0.692 1.077 ] sys_status.via_step = 14 sys_status.via_time = 612701607.5 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 3.4 0.3 2.2 0.1 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.6 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701608.8 119 points before latest (index = 198): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 4 8 16 2 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.021 -1.424 2.502 0.119 ] sys_status.via.x = [ 0.257 -0.049 -0.692 1.077 ] sys_status.via_step = 14 sys_status.via_time = 612701607.5 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 4.4 1.1 4.6 0.5 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.6 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701608.9 118 points before latest (index = 199): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 4 8 17 2 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.021 -1.424 2.502 0.119 ] sys_status.via.x = [ 0.257 -0.049 -0.692 1.077 ] sys_status.via_step = 14 sys_status.via_time = 612701607.5 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 1.0 1.6 0.0 0.4 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.6 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701609.0 117 points before latest (index = 200): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 4 8 17 1 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.021 -1.424 2.502 0.119 ] sys_status.via.x = [ 0.257 -0.049 -0.692 1.077 ] sys_status.via_step = 14 sys_status.via_time = 612701607.5 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.8 2.0 0.0 1.0 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.6 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701609.1 116 points before latest (index = 201): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 4 9 18 2 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.021 -1.424 2.502 0.119 ] sys_status.via.x = [ 0.257 -0.049 -0.692 1.077 ] sys_status.via_step = 14 sys_status.via_time = 612701607.5 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 4.2 1.6 2.0 1.9 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.6 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701609.3 115 points before latest (index = 202): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 4 9 17 2 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.021 -1.424 2.502 0.119 ] sys_status.via.x = [ 0.257 -0.049 -0.692 1.077 ] sys_status.via_step = 14 sys_status.via_time = 612701607.5 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 3.9 0.0 0.0 0.0 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.6 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701609.4 114 points before latest (index = 203): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 4 9 17 2 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.021 -1.424 2.502 0.119 ] sys_status.via.x = [ 0.257 -0.049 -0.692 1.077 ] sys_status.via_step = 14 sys_status.via_time = 612701607.5 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 3.6 0.9 4.1 3.9 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.6 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701609.5 113 points before latest (index = 204): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 5 10 22 3 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.011 -1.408 2.557 0.127 ] sys_status.via.x = [ 0.253 -0.039 -0.690 1.149 ] sys_status.via_step = 15 sys_status.via_time = 612701609.5 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 3.8 1.3 1.7 3.9 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.6 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701609.6 112 points before latest (index = 205): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 5 10 22 2 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.011 -1.408 2.557 0.127 ] sys_status.via.x = [ 0.253 -0.039 -0.690 1.149 ] sys_status.via_step = 15 sys_status.via_time = 612701609.5 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.9 0.0 0.0 0.0 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.6 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701609.7 111 points before latest (index = 206): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 5 10 20 2 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.011 -1.408 2.557 0.127 ] sys_status.via.x = [ 0.253 -0.039 -0.690 1.149 ] sys_status.via_step = 15 sys_status.via_time = 612701609.5 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 1.7 0.9 2.3 1.5 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.6 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701609.8 110 points before latest (index = 207): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 5 9 18 3 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.011 -1.408 2.557 0.127 ] sys_status.via.x = [ 0.253 -0.039 -0.690 1.149 ] sys_status.via_step = 15 sys_status.via_time = 612701609.5 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 1.5 1.1 3.9 0.4 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.6 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701609.9 109 points before latest (index = 208): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 4 9 17 2 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.011 -1.408 2.557 0.127 ] sys_status.via.x = [ 0.253 -0.039 -0.690 1.149 ] sys_status.via_step = 15 sys_status.via_time = 612701609.5 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 3.0 0.9 6.7 0.0 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.6 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701610.0 108 points before latest (index = 209): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 4 8 16 2 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.011 -1.408 2.557 0.127 ] sys_status.via.x = [ 0.253 -0.039 -0.690 1.149 ] sys_status.via_step = 15 sys_status.via_time = 612701609.5 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 3.1 1.1 4.8 1.7 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.6 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701610.1 107 points before latest (index = 210): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 4 9 17 2 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.011 -1.408 2.557 0.127 ] sys_status.via.x = [ 0.253 -0.039 -0.690 1.149 ] sys_status.via_step = 15 sys_status.via_time = 612701609.5 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 4.1 3.8 3.9 0.4 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.6 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701610.3 106 points before latest (index = 211): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 4 8 17 1 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.011 -1.408 2.557 0.127 ] sys_status.via.x = [ 0.253 -0.039 -0.690 1.149 ] sys_status.via_step = 15 sys_status.via_time = 612701609.5 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 3.1 0.0 0.0 1.1 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.6 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701610.4 105 points before latest (index = 212): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 5 8 16 2 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.011 -1.408 2.557 0.127 ] sys_status.via.x = [ 0.253 -0.039 -0.690 1.149 ] sys_status.via_step = 15 sys_status.via_time = 612701609.5 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 4.1 4.2 1.1 1.2 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.6 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701610.5 104 points before latest (index = 213): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 5 8 16 2 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.011 -1.408 2.557 0.127 ] sys_status.via.x = [ 0.253 -0.039 -0.690 1.149 ] sys_status.via_step = 15 sys_status.via_time = 612701609.5 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 3.9 0.6 2.7 0.0 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.6 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701610.6 103 points before latest (index = 214): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 5 8 16 3 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.011 -1.408 2.557 0.127 ] sys_status.via.x = [ 0.253 -0.039 -0.690 1.149 ] sys_status.via_step = 15 sys_status.via_time = 612701609.5 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.4 0.5 1.5 3.9 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.6 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701610.7 102 points before latest (index = 215): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 5 8 17 3 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.011 -1.408 2.557 0.127 ] sys_status.via.x = [ 0.253 -0.039 -0.690 1.149 ] sys_status.via_step = 15 sys_status.via_time = 612701609.5 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 1.0 1.1 1.7 0.0 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.6 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701610.8 101 points before latest (index = 216): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 5 8 17 4 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.011 -1.408 2.557 0.127 ] sys_status.via.x = [ 0.253 -0.039 -0.690 1.149 ] sys_status.via_step = 15 sys_status.via_time = 612701609.5 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.3 0.7 0.0 6.3 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.6 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701610.9 100 points before latest (index = 217): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 5 8 17 3 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.011 -1.408 2.557 0.127 ] sys_status.via.x = [ 0.253 -0.039 -0.690 1.149 ] sys_status.via_step = 15 sys_status.via_time = 612701609.5 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 1.7 0.2 2.4 0.0 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.6 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701611.0 99 points before latest (index = 218): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 4 9 17 3 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.011 -1.408 2.557 0.127 ] sys_status.via.x = [ 0.253 -0.039 -0.690 1.149 ] sys_status.via_step = 15 sys_status.via_time = 612701609.5 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.4 0.9 2.0 0.7 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.6 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701611.1 98 points before latest (index = 219): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 4 8 17 2 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.011 -1.408 2.557 0.127 ] sys_status.via.x = [ 0.253 -0.039 -0.690 1.149 ] sys_status.via_step = 15 sys_status.via_time = 612701609.5 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 3.3 0.0 2.2 0.3 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -5.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701611.2 97 points before latest (index = 220): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 4 9 19 2 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.011 -1.408 2.557 0.127 ] sys_status.via.x = [ 0.253 -0.039 -0.690 1.149 ] sys_status.via_step = 15 sys_status.via_time = 612701609.5 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 3.8 5.3 2.2 0.2 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -5.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701611.4 96 points before latest (index = 221): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 5 9 18 2 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.011 -1.408 2.557 0.127 ] sys_status.via.x = [ 0.253 -0.039 -0.690 1.149 ] sys_status.via_step = 15 sys_status.via_time = 612701609.5 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.2 0.0 0.0 1.0 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -5.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701611.5 95 points before latest (index = 222): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 5 9 18 2 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.011 -1.408 2.557 0.127 ] sys_status.via.x = [ 0.253 -0.039 -0.690 1.149 ] sys_status.via_step = 15 sys_status.via_time = 612701609.5 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 3.3 0.7 4.6 0.6 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -5.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701611.6 94 points before latest (index = 223): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 5 10 21 3 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.000 -1.392 2.613 0.136 ] sys_status.via.x = [ 0.249 -0.029 -0.689 1.221 ] sys_status.via_step = 16 sys_status.via_time = 612701611.6 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 3.9 0.9 1.2 0.5 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -5.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701611.7 93 points before latest (index = 224): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 5 10 21 3 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.000 -1.392 2.613 0.136 ] sys_status.via.x = [ 0.249 -0.029 -0.689 1.221 ] sys_status.via_step = 16 sys_status.via_time = 612701611.6 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.4 0.0 0.0 0.0 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -5.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701611.8 92 points before latest (index = 225): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 5 9 20 2 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.000 -1.392 2.613 0.136 ] sys_status.via.x = [ 0.249 -0.029 -0.689 1.221 ] sys_status.via_step = 16 sys_status.via_time = 612701611.6 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 3.6 0.5 1.4 0.3 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -5.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701611.9 91 points before latest (index = 226): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 5 9 18 1 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.000 -1.392 2.613 0.136 ] sys_status.via.x = [ 0.249 -0.029 -0.689 1.221 ] sys_status.via_step = 16 sys_status.via_time = 612701611.6 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.3 0.8 5.1 0.4 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -5.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701612.0 90 points before latest (index = 227): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 4 8 17 2 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.000 -1.392 2.613 0.136 ] sys_status.via.x = [ 0.249 -0.029 -0.689 1.221 ] sys_status.via_step = 16 sys_status.via_time = 612701611.6 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 3.6 1.1 5.9 1.5 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -5.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701612.1 89 points before latest (index = 228): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 4 8 16 2 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.000 -1.392 2.613 0.136 ] sys_status.via.x = [ 0.249 -0.029 -0.689 1.221 ] sys_status.via_step = 16 sys_status.via_time = 612701611.6 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.1 0.2 5.4 0.0 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -5.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701612.2 88 points before latest (index = 229): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 5 9 17 2 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.000 -1.392 2.613 0.136 ] sys_status.via.x = [ 0.249 -0.029 -0.689 1.221 ] sys_status.via_step = 16 sys_status.via_time = 612701611.6 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.7 2.0 4.7 3.5 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -5.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701612.4 87 points before latest (index = 230): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 5 9 17 3 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.000 -1.392 2.613 0.136 ] sys_status.via.x = [ 0.249 -0.029 -0.689 1.221 ] sys_status.via_step = 16 sys_status.via_time = 612701611.6 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.1 0.0 0.0 3.5 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -5.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701612.5 86 points before latest (index = 231): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 5 8 16 2 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.000 -1.392 2.613 0.136 ] sys_status.via.x = [ 0.249 -0.029 -0.689 1.221 ] sys_status.via_step = 16 sys_status.via_time = 612701611.6 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 0.9 1.5 2.0 0.0 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -5.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701612.6 85 points before latest (index = 232): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 4 8 17 2 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.000 -1.392 2.613 0.136 ] sys_status.via.x = [ 0.249 -0.029 -0.689 1.221 ] sys_status.via_step = 16 sys_status.via_time = 612701611.6 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 3.3 0.5 4.2 0.7 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -5.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701612.7 84 points before latest (index = 233): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 4 8 17 2 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.000 -1.392 2.613 0.136 ] sys_status.via.x = [ 0.249 -0.029 -0.689 1.221 ] sys_status.via_step = 16 sys_status.via_time = 612701611.6 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 1.3 1.3 0.0 0.6 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -5.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701612.8 83 points before latest (index = 234): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 4 8 17 2 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.000 -1.392 2.613 0.136 ] sys_status.via.x = [ 0.249 -0.029 -0.689 1.221 ] sys_status.via_step = 16 sys_status.via_time = 612701611.6 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.4 1.6 1.4 0.8 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -5.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701612.9 82 points before latest (index = 235): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 5 8 16 2 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.000 -1.392 2.613 0.136 ] sys_status.via.x = [ 0.249 -0.029 -0.689 1.221 ] sys_status.via_step = 16 sys_status.via_time = 612701611.6 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 0.9 1.1 1.4 1.1 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -5.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701613.0 81 points before latest (index = 236): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 5 8 17 1 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.000 -1.392 2.613 0.136 ] sys_status.via.x = [ 0.249 -0.029 -0.689 1.221 ] sys_status.via_step = 16 sys_status.via_time = 612701611.6 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 1.7 1.5 3.2 0.8 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -5.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701613.1 80 points before latest (index = 237): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 5 9 17 2 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.000 -1.392 2.613 0.136 ] sys_status.via.x = [ 0.249 -0.029 -0.689 1.221 ] sys_status.via_step = 16 sys_status.via_time = 612701611.6 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.7 1.1 0.0 0.9 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -5.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701613.2 79 points before latest (index = 238): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 5 9 18 2 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.000 -1.392 2.613 0.136 ] sys_status.via.x = [ 0.249 -0.029 -0.689 1.221 ] sys_status.via_step = 16 sys_status.via_time = 612701611.6 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 1.2 0.0 1.6 0.0 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -5.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701613.4 78 points before latest (index = 239): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 5 10 20 3 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.000 -1.392 2.613 0.136 ] sys_status.via.x = [ 0.249 -0.029 -0.689 1.221 ] sys_status.via_step = 16 sys_status.via_time = 612701611.6 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.9 0.6 0.0 3.9 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -5.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701613.5 77 points before latest (index = 240): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 4 8 16 3 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.000 -1.392 2.613 0.136 ] sys_status.via.x = [ 0.249 -0.029 -0.689 1.221 ] sys_status.via_step = 16 sys_status.via_time = 612701611.6 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 3.6 0.0 0.0 0.0 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -5.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701613.6 76 points before latest (index = 241): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 4 8 15 2 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.000 -1.392 2.613 0.136 ] sys_status.via.x = [ 0.249 -0.029 -0.689 1.221 ] sys_status.via_step = 16 sys_status.via_time = 612701611.6 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 1.8 0.4 10.6 0.0 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -5.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701613.7 75 points before latest (index = 242): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 4 8 16 2 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.000 -1.392 2.613 0.136 ] sys_status.via.x = [ 0.249 -0.029 -0.689 1.221 ] sys_status.via_step = 16 sys_status.via_time = 612701611.6 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 1.2 1.3 5.0 0.1 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -5.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701613.8 74 points before latest (index = 243): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 4 8 16 1 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.000 -1.392 2.613 0.136 ] sys_status.via.x = [ 0.249 -0.029 -0.689 1.221 ] sys_status.via_step = 16 sys_status.via_time = 612701611.6 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 1.2 0.3 0.0 0.5 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -5.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701613.9 73 points before latest (index = 244): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 5 8 17 2 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.000 -1.392 2.613 0.136 ] sys_status.via.x = [ 0.249 -0.029 -0.689 1.221 ] sys_status.via_step = 16 sys_status.via_time = 612701611.6 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 3.0 1.3 0.7 1.3 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -5.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701614.0 72 points before latest (index = 245): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 5 8 16 2 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.000 -1.392 2.613 0.136 ] sys_status.via.x = [ 0.249 -0.029 -0.689 1.221 ] sys_status.via_step = 16 sys_status.via_time = 612701611.6 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 1.5 2.4 0.0 0.0 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -5.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701614.1 71 points before latest (index = 246): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 5 9 16 2 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.000 -1.392 2.613 0.136 ] sys_status.via.x = [ 0.249 -0.029 -0.689 1.221 ] sys_status.via_step = 16 sys_status.via_time = 612701611.6 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.1 0.6 4.2 3.9 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -5.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701614.3 70 points before latest (index = 247): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 5 9 14 3 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.000 -1.392 2.613 0.136 ] sys_status.via.x = [ 0.249 -0.029 -0.689 1.221 ] sys_status.via_step = 16 sys_status.via_time = 612701611.6 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 1.2 0.0 1.5 3.9 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.6 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701614.4 69 points before latest (index = 248): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 5 9 12 3 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.000 -1.392 2.613 0.136 ] sys_status.via.x = [ 0.249 -0.029 -0.689 1.221 ] sys_status.via_step = 16 sys_status.via_time = 612701611.6 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.6 1.5 4.4 0.0 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.6 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701614.5 68 points before latest (index = 249): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 4 8 10 4 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.000 -1.392 2.613 0.136 ] sys_status.via.x = [ 0.249 -0.029 -0.689 1.221 ] sys_status.via_step = 16 sys_status.via_time = 612701611.6 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 3.6 2.0 6.1 6.3 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.6 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701614.6 67 points before latest (index = 250): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 4 8 9 4 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.000 -1.392 2.613 0.136 ] sys_status.via.x = [ 0.249 -0.029 -0.689 1.221 ] sys_status.via_step = 16 sys_status.via_time = 612701611.6 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.7 1.1 7.8 0.0 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.6 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701614.7 66 points before latest (index = 251): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 4 8 8 3 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.000 -1.392 2.613 0.136 ] sys_status.via.x = [ 0.249 -0.029 -0.689 1.221 ] sys_status.via_step = 16 sys_status.via_time = 612701611.6 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.1 1.8 4.9 0.1 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.6 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701614.8 65 points before latest (index = 252): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 4 8 9 2 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.000 -1.392 2.613 0.136 ] sys_status.via.x = [ 0.249 -0.029 -0.689 1.221 ] sys_status.via_step = 16 sys_status.via_time = 612701611.6 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 3.6 2.4 0.0 0.9 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.6 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701614.9 64 points before latest (index = 253): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 5 7 11 1 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.000 -1.392 2.613 0.136 ] sys_status.via.x = [ 0.249 -0.029 -0.689 1.221 ] sys_status.via_step = 16 sys_status.via_time = 612701611.6 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 1.2 1.8 0.0 0.4 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.6 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701615.0 63 points before latest (index = 254): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 5 6 12 1 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.000 -1.392 2.613 0.136 ] sys_status.via.x = [ 0.249 -0.029 -0.689 1.221 ] sys_status.via_step = 16 sys_status.via_time = 612701611.6 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 4.2 0.0 0.0 0.0 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.6 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701615.1 62 points before latest (index = 255): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 4 7 13 1 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.000 -1.392 2.613 0.136 ] sys_status.via.x = [ 0.249 -0.029 -0.689 1.221 ] sys_status.via_step = 16 sys_status.via_time = 612701611.6 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 0.0 0.0 0.0 0.0 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.6 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701615.2 61 points before latest (index = 256): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 4 7 13 1 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.000 -1.392 2.613 0.136 ] sys_status.via.x = [ 0.249 -0.029 -0.689 1.221 ] sys_status.via_step = 16 sys_status.via_time = 612701611.6 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 0.0 0.0 0.0 0.0 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.6 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701615.6 60 points before latest (index = 257): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 4 7 13 1 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -1.000 -1.392 2.613 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -1.000 -1.392 2.613 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.000 -1.392 2.613 0.136 ] sys_status.via.x = [ 0.249 -0.029 -0.689 1.221 ] sys_status.via_step = 16 sys_status.via_time = 612701611.6 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 0.0 0.0 0.0 0.0 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -4.6 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701615.6 59 points before latest (index = 258): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 4 7 13 1 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 31 RA_SHUTDOWN sys_status.act_args = sys_status.task_cmd = 31 RA_SHUTDOWN sys_status.task_args = sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.000 -1.392 2.613 0.136 ] sys_status.via.x = [ 0.249 -0.029 -0.689 1.221 ] sys_status.via_step = 16 sys_status.via_time = 612701611.6 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 0.0 0.0 0.0 0.0 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -8.2 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701740.6 58 points before latest (index = 259): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 4 7 13 1 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 31 RA_SHUTDOWN sys_status.act_args = sys_status.task_cmd = 31 RA_SHUTDOWN sys_status.task_args = sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.000 -1.392 2.613 0.136 ] sys_status.via.x = [ 0.249 -0.029 -0.689 1.221 ] sys_status.via_step = 16 sys_status.via_time = 612701611.6 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 0.0 0.0 0.0 0.0 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -8.2 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701740.8 57 points before latest (index = 260): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 4 7 13 1 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 32 RA_STOP sys_status.act_args = sys_status.task_cmd = 31 RA_SHUTDOWN sys_status.task_args = sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.000 -1.392 2.613 0.136 ] sys_status.via.x = [ 0.249 -0.029 -0.689 1.221 ] sys_status.via_step = 16 sys_status.via_time = 612701611.6 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 0.0 0.0 0.0 0.0 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -8.2 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701741.0 56 points before latest (index = 261): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 4 7 13 1 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 32 RA_STOP sys_status.act_args = sys_status.task_cmd = 31 RA_SHUTDOWN sys_status.task_args = sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.000 -1.392 2.613 0.136 ] sys_status.via.x = [ 0.249 -0.029 -0.689 1.221 ] sys_status.via_step = 16 sys_status.via_time = 612701611.6 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 0.0 0.0 0.0 0.0 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -8.2 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701741.2 55 points before latest (index = 262): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 4 7 13 1 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 32 RA_STOP sys_status.act_args = sys_status.task_cmd = 31 RA_SHUTDOWN sys_status.task_args = sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.000 -1.392 2.613 0.136 ] sys_status.via.x = [ 0.249 -0.029 -0.689 1.221 ] sys_status.via_step = 16 sys_status.via_time = 612701611.6 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 0.0 0.0 0.0 0.0 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -8.2 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701742.0 54 points before latest (index = 263): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 4 7 13 1 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 23 RA_SEND_DATA sys_status.act_args = 32 1 sys_status.task_cmd = 23 RA_SEND_DATA sys_status.task_args = 32 1 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.000 -1.392 2.613 0.136 ] sys_status.via.x = [ 0.249 -0.029 -0.689 1.221 ] sys_status.via_step = 16 sys_status.via_time = 612701611.6 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 0.0 0.0 0.0 0.0 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -8.2 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701742.4 53 points before latest (index = 264): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 4 7 13 1 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 23 RA_SEND_DATA sys_status.act_args = 32 1 sys_status.task_cmd = 23 RA_SEND_DATA sys_status.task_args = 32 1 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.000 -1.392 2.613 0.136 ] sys_status.via.x = [ 0.249 -0.029 -0.689 1.221 ] sys_status.via_step = 16 sys_status.via_time = 612701611.6 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 0.0 0.0 0.0 0.0 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -8.2 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701742.4 52 points before latest (index = 265): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 4 7 13 1 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 23 RA_SEND_DATA sys_status.act_args = 33 4 sys_status.task_cmd = 23 RA_SEND_DATA sys_status.task_args = 33 4 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.000 -1.392 2.613 0.136 ] sys_status.via.x = [ 0.249 -0.029 -0.689 1.221 ] sys_status.via_step = 16 sys_status.via_time = 612701611.6 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 0.0 0.0 0.0 0.0 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -8.2 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701743.0 51 points before latest (index = 266): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 4 7 13 1 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 23 RA_SEND_DATA sys_status.act_args = 33 4 sys_status.task_cmd = 23 RA_SEND_DATA sys_status.task_args = 33 4 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.000 -1.392 2.613 0.136 ] sys_status.via.x = [ 0.249 -0.029 -0.689 1.221 ] sys_status.via_step = 16 sys_status.via_time = 612701611.6 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 0.0 0.0 0.0 0.0 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -8.2 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701743.0 50 points before latest (index = 267): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 4 7 13 1 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 23 RA_SEND_DATA sys_status.act_args = 34 3 sys_status.task_cmd = 23 RA_SEND_DATA sys_status.task_args = 34 3 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.000 -1.392 2.613 0.136 ] sys_status.via.x = [ 0.249 -0.029 -0.689 1.221 ] sys_status.via_step = 16 sys_status.via_time = 612701611.6 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 0.0 0.0 0.0 0.0 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -8.2 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701743.4 49 points before latest (index = 268): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 4 7 13 1 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 23 RA_SEND_DATA sys_status.act_args = 34 3 sys_status.task_cmd = 23 RA_SEND_DATA sys_status.task_args = 34 3 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.000 -1.392 2.613 0.136 ] sys_status.via.x = [ 0.249 -0.029 -0.689 1.221 ] sys_status.via_step = 16 sys_status.via_time = 612701611.6 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 0.0 0.0 0.0 0.0 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -8.2 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612701743.7 48 points before latest (index = 269): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 4 7 13 1 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 23 RA_SEND_DATA sys_status.act_args = 34 3 sys_status.task_cmd = 14 RA_ENBL_FLT_CHK sys_status.task_args = 0XF00F0F 0X39FF7E7F sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.000 -1.392 2.613 0.136 ] sys_status.via.x = [ 0.249 -0.029 -0.689 1.221 ] sys_status.via_step = 16 sys_status.via_time = 612701611.6 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 0.0 0.0 0.0 0.0 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -8.2 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612703283.6 47 points before latest (index = 270): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 4 7 13 1 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 16 RA_INITIALIZE sys_status.act_args = sys_status.task_cmd = 16 RA_INITIALIZE sys_status.task_args = sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.000 -1.392 2.613 0.136 ] sys_status.via.x = [ 0.249 -0.029 -0.689 1.221 ] sys_status.via_step = 16 sys_status.via_time = 612701611.6 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 0.0 0.0 0.0 0.0 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612699668.5 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -8.2 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612703299.3 46 points before latest (index = 271): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 4 7 13 1 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 16 RA_INITIALIZE sys_status.act_args = sys_status.task_cmd = 16 RA_INITIALIZE sys_status.task_args = sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.000 -1.392 2.613 0.136 ] sys_status.via.x = [ 0.249 -0.029 -0.689 1.221 ] sys_status.via_step = 16 sys_status.via_time = 612701611.6 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 0.0 0.0 0.0 0.0 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612703299.3 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -28.3 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612703300.3 45 points before latest (index = 272): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 4 7 13 1 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 16 RA_INITIALIZE sys_status.act_args = sys_status.task_cmd = 16 RA_INITIALIZE sys_status.task_args = sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.000 -1.392 2.613 0.136 ] sys_status.via.x = [ 0.249 -0.029 -0.689 1.221 ] sys_status.via_step = 16 sys_status.via_time = 612701611.6 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 0.0 0.0 0.0 0.0 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612703299.3 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -28.3 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612703300.3 44 points before latest (index = 273): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 4 7 13 1 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 16 RA_INITIALIZE sys_status.act_args = sys_status.task_cmd = 27 RA_SET_PARAM sys_status.task_args = 32 -0.024 -0.025 0.070 0.997 1.601 0.247 0.625 -0.018 0.014 -0.999 0.034 1.541 0.247 0.515 -0.036 -0.014 -0.065 0.997 1.076 -0.857 0.439 0.000 0.000 0.000 0.000 0.000 0.000 0.000 0.000 0.000 0.000 0.000 0.000 0.000 0.000 0.000 0.000 0.000 0.000 0.000 0.000 0.000 0.000 0.000 0.000 0.000 0.000 0.000 0.000 0.000 0.000 0.000 0.000 0.000 0.000 0.000 0.000 0.000 0.000 0.000 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.000 -1.392 2.613 0.136 ] sys_status.via.x = [ 0.249 -0.029 -0.689 1.221 ] sys_status.via_step = 16 sys_status.via_time = 612701611.6 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 0.0 0.0 0.0 0.0 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612703299.3 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -28.3 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612703301.8 43 points before latest (index = 274): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 4 7 13 1 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 23 RA_SEND_DATA sys_status.act_args = 35 1 sys_status.task_cmd = 23 RA_SEND_DATA sys_status.task_args = 35 1 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.000 -1.392 2.613 0.136 ] sys_status.via.x = [ 0.249 -0.029 -0.689 1.221 ] sys_status.via_step = 16 sys_status.via_time = 612701611.6 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 0.0 0.0 0.0 0.0 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612703299.3 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -28.3 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612703302.4 42 points before latest (index = 275): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 4 7 13 1 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 23 RA_SEND_DATA sys_status.act_args = 35 1 sys_status.task_cmd = 23 RA_SEND_DATA sys_status.task_args = 35 1 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.000 -1.392 2.613 0.136 ] sys_status.via.x = [ 0.249 -0.029 -0.689 1.221 ] sys_status.via_step = 16 sys_status.via_time = 612701611.6 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 0.0 0.0 0.0 0.0 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612703299.3 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -28.3 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612703302.4 41 points before latest (index = 276): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 4 7 13 1 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 23 RA_SEND_DATA sys_status.act_args = 35 1 sys_status.task_cmd = 42 RA_SET_COL_TOL sys_status.task_args = 0.015 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.000 -1.392 2.613 0.136 ] sys_status.via.x = [ 0.249 -0.029 -0.689 1.221 ] sys_status.via_step = 16 sys_status.via_time = 612701611.6 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 0.0 0.0 0.0 0.0 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612703299.3 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -28.3 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612703314.3 40 points before latest (index = 277): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 4 7 13 1 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 23 RA_SEND_DATA sys_status.act_args = 35 1 sys_status.task_cmd = 26 RA_SET_ONE_PARAM sys_status.task_args = 17 10 0.00000000 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.000 -1.392 2.613 0.136 ] sys_status.via.x = [ 0.249 -0.029 -0.689 1.221 ] sys_status.via_step = 16 sys_status.via_time = 612701611.6 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 0.0 0.0 0.0 0.0 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612703299.3 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -28.3 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612703314.8 39 points before latest (index = 278): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 4 7 13 1 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 23 RA_SEND_DATA sys_status.act_args = 36 1 sys_status.task_cmd = 23 RA_SEND_DATA sys_status.task_args = 36 1 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.000 -1.392 2.613 0.136 ] sys_status.via.x = [ 0.249 -0.029 -0.689 1.221 ] sys_status.via_step = 16 sys_status.via_time = 612701611.6 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 0.0 0.0 0.0 0.0 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612703299.3 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -28.3 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612703315.4 38 points before latest (index = 279): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 4 7 13 1 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 23 RA_SEND_DATA sys_status.act_args = 36 1 sys_status.task_cmd = 23 RA_SEND_DATA sys_status.task_args = 36 1 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.000 -1.392 2.613 0.136 ] sys_status.via.x = [ 0.249 -0.029 -0.689 1.221 ] sys_status.via_step = 16 sys_status.via_time = 612701611.6 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 0.0 0.0 0.0 0.0 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612703299.3 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -28.3 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612703315.4 37 points before latest (index = 280): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 4 7 13 1 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 23 RA_SEND_DATA sys_status.act_args = 36 1 sys_status.task_cmd = 39 RA_CLR_LNK_MAT_CMD sys_status.task_args = sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.000 -1.392 2.613 0.136 ] sys_status.via.x = [ 0.249 -0.029 -0.689 1.221 ] sys_status.via_step = 16 sys_status.via_time = 612701611.6 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 0.0 0.0 0.0 0.0 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612703299.3 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -28.3 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612703315.9 36 points before latest (index = 281): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 4 7 13 1 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 23 RA_SEND_DATA sys_status.act_args = 36 1 sys_status.task_cmd = 44 RA_SET_PRMS_CLN_CMD sys_status.task_args = 0 2 1 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.000 -1.392 2.613 0.136 ] sys_status.via.x = [ 0.249 -0.029 -0.689 1.221 ] sys_status.via_step = 16 sys_status.via_time = 612701611.6 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 0.0 0.0 0.0 0.0 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612703299.3 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -28.3 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612703316.4 35 points before latest (index = 282): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 4 7 13 1 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 23 RA_SEND_DATA sys_status.act_args = 36 1 sys_status.task_cmd = 44 RA_SET_PRMS_CLN_CMD sys_status.task_args = 0 3 1 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.000 -1.392 2.613 0.136 ] sys_status.via.x = [ 0.249 -0.029 -0.689 1.221 ] sys_status.via_step = 16 sys_status.via_time = 612701611.6 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 0.0 0.0 0.0 0.0 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612703299.3 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -28.3 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612703316.9 34 points before latest (index = 283): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 4 7 13 1 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 23 RA_SEND_DATA sys_status.act_args = 36 1 sys_status.task_cmd = 44 RA_SET_PRMS_CLN_CMD sys_status.task_args = 0 4 1 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.000 -1.392 2.613 0.136 ] sys_status.via.x = [ 0.249 -0.029 -0.689 1.221 ] sys_status.via_step = 16 sys_status.via_time = 612701611.6 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 0.0 0.0 0.0 0.0 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612703299.3 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -28.3 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612703317.4 33 points before latest (index = 284): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 4 7 13 1 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 23 RA_SEND_DATA sys_status.act_args = 36 1 sys_status.task_cmd = 44 RA_SET_PRMS_CLN_CMD sys_status.task_args = 4 1 1 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.000 -1.392 2.613 0.136 ] sys_status.via.x = [ 0.249 -0.029 -0.689 1.221 ] sys_status.via_step = 16 sys_status.via_time = 612701611.6 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 0.0 0.0 0.0 0.0 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612703299.3 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -28.3 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612703317.9 32 points before latest (index = 285): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 4 7 13 1 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 23 RA_SEND_DATA sys_status.act_args = 36 1 sys_status.task_cmd = 44 RA_SET_PRMS_CLN_CMD sys_status.task_args = 4 2 1 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.000 -1.392 2.613 0.136 ] sys_status.via.x = [ 0.249 -0.029 -0.689 1.221 ] sys_status.via_step = 16 sys_status.via_time = 612701611.6 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 0.0 0.0 0.0 0.0 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612703299.3 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -28.3 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612703318.4 31 points before latest (index = 286): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 4 7 13 1 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 23 RA_SEND_DATA sys_status.act_args = 36 1 sys_status.task_cmd = 44 RA_SET_PRMS_CLN_CMD sys_status.task_args = 9 2 1 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.000 -1.392 2.613 0.136 ] sys_status.via.x = [ 0.249 -0.029 -0.689 1.221 ] sys_status.via_step = 16 sys_status.via_time = 612701611.6 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 0.0 0.0 0.0 0.0 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612703299.3 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -28.3 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612703318.9 30 points before latest (index = 287): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 4 7 13 1 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 23 RA_SEND_DATA sys_status.act_args = 36 1 sys_status.task_cmd = 44 RA_SET_PRMS_CLN_CMD sys_status.task_args = 9 3 1 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.000 -1.392 2.613 0.136 ] sys_status.via.x = [ 0.249 -0.029 -0.689 1.221 ] sys_status.via_step = 16 sys_status.via_time = 612701611.6 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 0.0 0.0 0.0 0.0 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612703299.3 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -28.3 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612703319.4 29 points before latest (index = 288): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 4 7 13 1 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 23 RA_SEND_DATA sys_status.act_args = 36 1 sys_status.task_cmd = 44 RA_SET_PRMS_CLN_CMD sys_status.task_args = 9 4 1 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.000 -1.392 2.613 0.136 ] sys_status.via.x = [ 0.249 -0.029 -0.689 1.221 ] sys_status.via_step = 16 sys_status.via_time = 612701611.6 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 0.0 0.0 0.0 0.0 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612703299.3 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -28.3 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612703319.9 28 points before latest (index = 289): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 4 7 13 1 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 23 RA_SEND_DATA sys_status.act_args = 36 1 sys_status.task_cmd = 44 RA_SET_PRMS_CLN_CMD sys_status.task_args = 10 2 1 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.000 -1.392 2.613 0.136 ] sys_status.via.x = [ 0.249 -0.029 -0.689 1.221 ] sys_status.via_step = 16 sys_status.via_time = 612701611.6 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 0.0 0.0 0.0 0.0 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612703299.3 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -28.3 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612703320.4 27 points before latest (index = 290): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 4 7 13 1 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 23 RA_SEND_DATA sys_status.act_args = 36 1 sys_status.task_cmd = 44 RA_SET_PRMS_CLN_CMD sys_status.task_args = 10 3 1 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.000 -1.392 2.613 0.136 ] sys_status.via.x = [ 0.249 -0.029 -0.689 1.221 ] sys_status.via_step = 16 sys_status.via_time = 612701611.6 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 0.0 0.0 0.0 0.0 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612703299.3 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -28.3 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612703320.9 26 points before latest (index = 291): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 4 7 13 1 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 23 RA_SEND_DATA sys_status.act_args = 36 1 sys_status.task_cmd = 44 RA_SET_PRMS_CLN_CMD sys_status.task_args = 10 4 1 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.000 -1.392 2.613 0.136 ] sys_status.via.x = [ 0.249 -0.029 -0.689 1.221 ] sys_status.via_step = 16 sys_status.via_time = 612701611.6 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 0.0 0.0 0.0 0.0 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612703299.3 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -28.3 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612703321.4 25 points before latest (index = 292): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 4 7 13 1 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 23 RA_SEND_DATA sys_status.act_args = 36 1 sys_status.task_cmd = 44 RA_SET_PRMS_CLN_CMD sys_status.task_args = 11 2 1 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.000 -1.392 2.613 0.136 ] sys_status.via.x = [ 0.249 -0.029 -0.689 1.221 ] sys_status.via_step = 16 sys_status.via_time = 612701611.6 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 0.0 0.0 0.0 0.0 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612703299.3 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -28.3 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612703321.9 24 points before latest (index = 293): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 4 7 13 1 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 23 RA_SEND_DATA sys_status.act_args = 36 1 sys_status.task_cmd = 44 RA_SET_PRMS_CLN_CMD sys_status.task_args = 11 3 1 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.000 -1.392 2.613 0.136 ] sys_status.via.x = [ 0.249 -0.029 -0.689 1.221 ] sys_status.via_step = 16 sys_status.via_time = 612701611.6 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 0.0 0.0 0.0 0.0 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612703299.3 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -28.3 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612703322.4 23 points before latest (index = 294): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 4 7 13 1 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 23 RA_SEND_DATA sys_status.act_args = 36 1 sys_status.task_cmd = 44 RA_SET_PRMS_CLN_CMD sys_status.task_args = 11 4 1 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.000 -1.392 2.613 0.136 ] sys_status.via.x = [ 0.249 -0.029 -0.689 1.221 ] sys_status.via_step = 16 sys_status.via_time = 612701611.6 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 0.0 0.0 0.0 0.0 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612703299.3 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -28.3 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612703322.9 22 points before latest (index = 295): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 4 7 13 1 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 23 RA_SEND_DATA sys_status.act_args = 36 1 sys_status.task_cmd = 41 RA_SAVE_CDB sys_status.task_args = sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.000 -1.392 2.613 0.136 ] sys_status.via.x = [ 0.249 -0.029 -0.689 1.221 ] sys_status.via_step = 16 sys_status.via_time = 612701611.6 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 0.0 0.0 0.0 0.0 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612703299.3 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -28.3 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612703323.5 21 points before latest (index = 296): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 4 7 13 1 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 23 RA_SEND_DATA sys_status.act_args = 37 1 sys_status.task_cmd = 23 RA_SEND_DATA sys_status.task_args = 37 1 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.000 -1.392 2.613 0.136 ] sys_status.via.x = [ 0.249 -0.029 -0.689 1.221 ] sys_status.via_step = 16 sys_status.via_time = 612701611.6 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 0.0 0.0 0.0 0.0 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612703299.3 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -28.3 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612703324.0 20 points before latest (index = 297): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 4 7 13 1 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 23 RA_SEND_DATA sys_status.act_args = 37 1 sys_status.task_cmd = 23 RA_SEND_DATA sys_status.task_args = 37 1 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.000 -1.392 2.613 0.136 ] sys_status.via.x = [ 0.249 -0.029 -0.689 1.221 ] sys_status.via_step = 16 sys_status.via_time = 612701611.6 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 0.0 0.0 0.0 0.0 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612703299.3 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -28.3 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612703324.0 19 points before latest (index = 298): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 4 7 13 1 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 23 RA_SEND_DATA sys_status.act_args = 38 5 sys_status.task_cmd = 23 RA_SEND_DATA sys_status.task_args = 38 5 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.000 -1.392 2.613 0.136 ] sys_status.via.x = [ 0.249 -0.029 -0.689 1.221 ] sys_status.via_step = 16 sys_status.via_time = 612701611.6 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 0.0 0.0 0.0 0.0 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612703299.3 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -28.3 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612703324.6 18 points before latest (index = 299): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 4 7 13 1 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 23 RA_SEND_DATA sys_status.act_args = 38 5 sys_status.task_cmd = 23 RA_SEND_DATA sys_status.task_args = 38 5 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.000 -1.392 2.613 0.136 ] sys_status.via.x = [ 0.249 -0.029 -0.689 1.221 ] sys_status.via_step = 16 sys_status.via_time = 612701611.6 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 0.0 0.0 0.0 0.0 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612703299.3 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -28.3 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612703324.7 17 points before latest (index = 0): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 4 7 13 1 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 5 RA_GRAPPLE sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 29 RA_SET_TOOL sys_status.act_args = 5 sys_status.task_cmd = 29 RA_SET_TOOL sys_status.task_args = 5 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.000 -1.392 2.613 0.136 ] sys_status.via.x = [ 0.249 -0.029 -0.689 1.221 ] sys_status.via_step = 16 sys_status.via_time = 612701611.6 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 0.0 0.0 0.0 0.0 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612703299.3 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -28.3 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612703331.8 16 points before latest (index = 1): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 4 7 13 1 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 5 RA_GRAPPLE sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 29 RA_SET_TOOL sys_status.act_args = 5 sys_status.task_cmd = 29 RA_SET_TOOL sys_status.task_args = 5 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.000 -1.392 2.613 0.136 ] sys_status.via.x = [ 0.249 -0.029 -0.689 1.221 ] sys_status.via_step = 16 sys_status.via_time = 612701611.6 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 0.0 0.0 0.0 0.0 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612703299.3 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -28.3 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612703331.8 15 points before latest (index = 2): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 4 7 13 1 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 5 RA_GRAPPLE sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 52 RA_GRAPPL_PHASE sys_status.act_args = 2 sys_status.task_cmd = 52 RA_GRAPPL_PHASE sys_status.task_args = 2 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.000 -1.392 2.613 0.136 ] sys_status.via.x = [ 0.249 -0.029 -0.689 1.221 ] sys_status.via_step = 16 sys_status.via_time = 612701611.6 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 0.0 0.0 0.0 0.0 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612703299.3 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -28.3 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612703332.5 14 points before latest (index = 3): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 4 7 13 1 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 5 RA_GRAPPLE sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 52 RA_GRAPPL_PHASE sys_status.act_args = 2 sys_status.task_cmd = 52 RA_GRAPPL_PHASE sys_status.task_args = 2 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.000 -1.392 2.613 0.136 ] sys_status.via.x = [ 0.249 -0.029 -0.689 1.221 ] sys_status.via_step = 16 sys_status.via_time = 612701611.6 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 0.0 0.0 0.0 0.0 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612703299.3 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -28.3 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612703332.5 13 points before latest (index = 4): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 4 7 13 1 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 1 1 1 1 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 5 RA_GRAPPLE sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F0000F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 35 RA_USE_POTS sys_status.act_args = 16777216 16777216 16777216 16777216 sys_status.task_cmd = 11 RA_CALIBRATE sys_status.task_args = sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.000 -1.392 2.613 0.136 ] sys_status.via.x = [ 0.249 -0.029 -0.689 1.221 ] sys_status.via_step = 16 sys_status.via_time = 612701611.6 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 3 RA_ALGO_FREE_SPACE sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 0.0 0.0 0.0 0.0 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612703299.3 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -28.3 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612703333.2 12 points before latest (index = 5): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 4 7 13 1 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 1 1 1 1 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 5 RA_GRAPPLE sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F0000F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 25 RA_SET_ENCODER sys_status.act_args = 10204 6233 11230 2716 sys_status.task_cmd = 11 RA_CALIBRATE sys_status.task_args = sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.000 -1.392 2.613 0.136 ] sys_status.via.x = [ 0.249 -0.029 -0.689 1.221 ] sys_status.via_step = 16 sys_status.via_time = 612701611.6 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 3 RA_ALGO_FREE_SPACE sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 0.0 0.0 0.0 0.0 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612703299.3 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -28.3 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612703333.6 11 points before latest (index = 6): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 4 7 13 1 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 1 1 1 1 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 5 RA_GRAPPLE sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F0000F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 25 RA_SET_ENCODER sys_status.act_args = 10203 6247 11230 2752 sys_status.task_cmd = 11 RA_CALIBRATE sys_status.task_args = sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.000 -1.392 2.613 0.136 ] sys_status.via.x = [ 0.249 -0.029 -0.689 1.221 ] sys_status.via_step = 16 sys_status.via_time = 612701611.6 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 3 RA_ALGO_FREE_SPACE sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 0.0 0.0 0.0 0.0 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612703299.3 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -28.3 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612703333.9 10 points before latest (index = 7): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 4 7 13 1 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 1 1 1 1 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 5 RA_GRAPPLE sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F0000F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 25 RA_SET_ENCODER sys_status.act_args = 10202 6247 11243 2785 sys_status.task_cmd = 11 RA_CALIBRATE sys_status.task_args = sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.000 -1.392 2.613 0.136 ] sys_status.via.x = [ 0.249 -0.029 -0.689 1.221 ] sys_status.via_step = 16 sys_status.via_time = 612701611.6 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 3 RA_ALGO_FREE_SPACE sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 0.0 0.0 0.0 0.0 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612703299.3 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -28.3 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612703334.3 9 points before latest (index = 8): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 4 7 13 1 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 1 1 1 1 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 5 RA_GRAPPLE sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F0000F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 25 RA_SET_ENCODER sys_status.act_args = 10201 6247 11243 1379 sys_status.task_cmd = 11 RA_CALIBRATE sys_status.task_args = sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.000 -1.392 2.613 0.136 ] sys_status.via.x = [ 0.249 -0.029 -0.689 1.221 ] sys_status.via_step = 16 sys_status.via_time = 612701611.6 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 3 RA_ALGO_FREE_SPACE sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 0.0 0.0 0.0 0.0 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612703299.3 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -28.3 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612703334.6 8 points before latest (index = 9): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 4 7 13 1 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 1 1 1 1 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 5 RA_GRAPPLE sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F0000F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 24 RA_SET_CURRENT sys_status.act_args = 172 325 210 190 sys_status.task_cmd = 11 RA_CALIBRATE sys_status.task_args = sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.000 -1.392 2.613 0.136 ] sys_status.via.x = [ 0.249 -0.029 -0.689 1.221 ] sys_status.via_step = 16 sys_status.via_time = 612701611.6 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 3 RA_ALGO_FREE_SPACE sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 0.0 0.0 0.0 0.0 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612703299.3 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -28.3 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612703334.8 7 points before latest (index = 10): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 4 7 13 1 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 5 RA_GRAPPLE sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 35 RA_USE_POTS sys_status.act_args = 0 0 0 0 sys_status.task_cmd = 11 RA_CALIBRATE sys_status.task_args = sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.000 -1.392 2.613 0.136 ] sys_status.via.x = [ 0.249 -0.029 -0.689 1.221 ] sys_status.via_step = 16 sys_status.via_time = 612701611.6 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 3 RA_ALGO_FREE_SPACE sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 0.0 0.0 0.0 0.0 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612703299.3 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -28.3 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612703335.1 6 points before latest (index = 11): sys_status.curr_limit = [ 172 325 210 190 ] sys_status.mtr_volt = [ 4 7 13 1 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 5 RA_GRAPPLE sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 35 RA_USE_POTS sys_status.act_args = 0 0 0 0 sys_status.task_cmd = 11 RA_CALIBRATE sys_status.task_args = sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.000 -1.392 2.613 0.136 ] sys_status.via.x = [ 0.249 -0.029 -0.689 1.221 ] sys_status.via_step = 16 sys_status.via_time = 612701611.6 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 3 RA_ALGO_FREE_SPACE sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 0.0 0.0 0.0 0.0 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612703299.3 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -28.3 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612703335.1 5 points before latest (index = 12): sys_status.curr_limit = [ 172 260 210 190 ] sys_status.mtr_volt = [ 1 1 1 1 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 5 RA_GRAPPLE sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.802 -0.796 1.564 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.802 -0.796 1.564 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -1.005 -1.389 2.617 0.231 ] sys_status.via.x = [ 0.427 -0.332 0.086 1.501 ] sys_status.via_step = 0 sys_status.via_time = 612703335.8 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 0.0 0.0 0.0 0.0 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612703299.3 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -28.3 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612703335.8 4 points before latest (index = 13): sys_status.curr_limit = [ 172 260 210 190 ] sys_status.mtr_volt = [ 1 1 1 1 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 5 RA_GRAPPLE sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 800 0 ] RA_E_ENCODER_POT_4 sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.802 -0.796 1.564 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.802 -0.796 1.564 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -0.993 -1.352 2.551 0.225 ] sys_status.via.x = [ 0.463 -0.376 0.084 1.501 ] sys_status.via_step = 1 sys_status.via_time = 612703335.8 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 -1 -1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 8.5 0.0 0.0 0.0 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612703299.3 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -28.3 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612703335.9 3 points before latest (index = 14): sys_status.curr_limit = [ 172 260 210 190 ] sys_status.mtr_volt = [ 1 1 1 1 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 5 RA_GRAPPLE sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 800 0 ] RA_E_ENCODER_POT_4 sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.802 -0.796 1.564 0.136 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.802 -0.796 1.564 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -0.993 -1.352 2.551 0.225 ] sys_status.via.x = [ 0.463 -0.376 0.084 1.501 ] sys_status.via_step = 1 sys_status.via_time = 612703335.8 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 -1 -1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 8.5 0.0 0.0 0.0 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612703299.3 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -28.3 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612703341.2 2 points before latest (index = 15): sys_status.curr_limit = [ 172 260 210 190 ] sys_status.mtr_volt = [ 1 1 1 1 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 5 RA_GRAPPLE sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 800 0 ] RA_E_ENCODER_POT_4 sys_status.act_cmd = 32 RA_STOP sys_status.act_args = sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.802 -0.796 1.564 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -0.993 -1.352 2.551 0.225 ] sys_status.via.x = [ 0.463 -0.376 0.084 1.501 ] sys_status.via_step = 1 sys_status.via_time = 612703335.8 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 -1 -1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 0.0 0.0 0.0 0.0 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612703299.3 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -28.3 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612703341.4 1 points before latest (index = 16): sys_status.curr_limit = [ 172 260 210 190 ] sys_status.mtr_volt = [ 1 1 1 1 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 5 RA_GRAPPLE sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 800 0 ] RA_E_ENCODER_POT_4 sys_status.act_cmd = 32 RA_STOP sys_status.act_args = sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.802 -0.796 1.564 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -0.993 -1.352 2.551 0.225 ] sys_status.via.x = [ 0.463 -0.376 0.084 1.501 ] sys_status.via_step = 1 sys_status.via_time = 612703335.8 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 -1 -1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 0.0 0.0 0.0 0.0 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612703299.3 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -28.3 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612703341.6 0 points before latest (index = 17): sys_status.curr_limit = [ 172 260 210 190 ] sys_status.mtr_volt = [ 1 1 1 1 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 5 RA_GRAPPLE sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 800 0 ] RA_E_ENCODER_POT_4 sys_status.act_cmd = 23 RA_SEND_DATA sys_status.act_args = 1 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.802 -0.796 1.564 0.136 0 sys_status.target.q = [ -0.747 -0.710 1.730 0.141 ] sys_status.target.x = [ 0.713 -0.396 -0.362 1.023 ] sys_status.via.q = [ -0.993 -1.352 2.551 0.225 ] sys_status.via.x = [ 0.463 -0.376 0.084 1.501 ] sys_status.via_step = 1 sys_status.via_time = 612703335.8 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 -1 -1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 0.0 0.0 0.0 0.0 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 612703299.3 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -28.3 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 2 RA_OK_TO_OPEN sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 612703342.3