299 points before latest (index = 242): sys_status.curr_limit = [ 172 325 273 190 ] sys_status.mtr_volt = [ 7 12 8 21 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 2 RA_SCOOP 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 = -0.715 -0.007 0.892 0.752 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.715 -0.007 0.892 0.752 0 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.700 -0.030 0.910 0.599 ] sys_status.via.x = [ 1.363 -0.966 0.639 1.339 ] sys_status.via_step = 6 sys_status.via_time = 649622044.4 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 0.0 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.4 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622044.6 298 points before latest (index = 243): sys_status.curr_limit = [ 172 325 273 190 ] sys_status.mtr_volt = [ 6 11 7 19 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 2 RA_SCOOP 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 = -0.715 -0.007 0.892 0.752 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.715 -0.007 0.892 0.752 0 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.700 -0.030 0.910 0.599 ] sys_status.via.x = [ 1.363 -0.966 0.639 1.339 ] sys_status.via_step = 6 sys_status.via_time = 649622044.4 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 = [ 2.5 7.4 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.4 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622044.7 297 points before latest (index = 244): sys_status.curr_limit = [ 172 325 273 190 ] sys_status.mtr_volt = [ 6 10 6 17 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 2 RA_SCOOP 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 = -0.715 -0.007 0.892 0.752 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.715 -0.007 0.892 0.752 0 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.700 -0.030 0.910 0.599 ] sys_status.via.x = [ 1.363 -0.966 0.639 1.339 ] sys_status.via_step = 6 sys_status.via_time = 649622044.4 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 7.8 0.8 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.4 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622044.8 296 points before latest (index = 245): sys_status.curr_limit = [ 172 325 273 190 ] sys_status.mtr_volt = [ 5 10 5 17 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 2 RA_SCOOP 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 = -0.715 -0.007 0.892 0.752 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.715 -0.007 0.892 0.752 0 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.700 -0.030 0.910 0.599 ] sys_status.via.x = [ 1.363 -0.966 0.639 1.339 ] sys_status.via_step = 6 sys_status.via_time = 649622044.4 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 7.6 1.7 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.4 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622045.0 295 points before latest (index = 246): sys_status.curr_limit = [ 172 325 273 190 ] sys_status.mtr_volt = [ 5 10 6 16 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 2 RA_SCOOP 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 = -0.715 -0.007 0.892 0.752 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.715 -0.007 0.892 0.752 0 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.700 -0.030 0.910 0.599 ] sys_status.via.x = [ 1.363 -0.966 0.639 1.339 ] sys_status.via_step = 6 sys_status.via_time = 649622044.4 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 8.3 2.3 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.4 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622045.1 294 points before latest (index = 247): sys_status.curr_limit = [ 172 325 273 190 ] sys_status.mtr_volt = [ 5 9 5 15 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 2 RA_SCOOP 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 = -0.715 -0.007 0.892 0.752 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.715 -0.007 0.892 0.752 0 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.700 -0.030 0.910 0.599 ] sys_status.via.x = [ 1.363 -0.966 0.639 1.339 ] sys_status.via_step = 6 sys_status.via_time = 649622044.4 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 = [ 2.9 7.7 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.4 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622045.2 293 points before latest (index = 248): sys_status.curr_limit = [ 172 325 273 190 ] sys_status.mtr_volt = [ 5 9 6 15 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 2 RA_SCOOP 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 = -0.715 -0.007 0.892 0.752 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.715 -0.007 0.892 0.752 0 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.700 -0.030 0.910 0.599 ] sys_status.via.x = [ 1.363 -0.966 0.639 1.339 ] sys_status.via_step = 6 sys_status.via_time = 649622044.4 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 = [ 2.9 10.1 2.1 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.4 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622045.3 292 points before latest (index = 249): sys_status.curr_limit = [ 172 325 273 190 ] sys_status.mtr_volt = [ 5 9 6 15 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 2 RA_SCOOP 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 = -0.715 -0.007 0.892 0.752 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.715 -0.007 0.892 0.752 0 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.700 -0.030 0.910 0.599 ] sys_status.via.x = [ 1.363 -0.966 0.639 1.339 ] sys_status.via_step = 6 sys_status.via_time = 649622044.4 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 7.9 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.4 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622045.4 291 points before latest (index = 250): sys_status.curr_limit = [ 172 325 273 190 ] sys_status.mtr_volt = [ 5 9 6 15 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 2 RA_SCOOP 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 = -0.715 -0.007 0.892 0.752 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.715 -0.007 0.892 0.752 0 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.700 -0.030 0.910 0.599 ] sys_status.via.x = [ 1.363 -0.966 0.639 1.339 ] sys_status.via_step = 6 sys_status.via_time = 649622044.4 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 8.3 0.1 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.4 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622045.5 290 points before latest (index = 251): sys_status.curr_limit = [ 172 325 273 190 ] sys_status.mtr_volt = [ 7 12 7 21 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 2 RA_SCOOP 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 = -0.715 -0.007 0.892 0.752 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.715 -0.007 0.892 0.752 0 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.707 -0.018 0.901 0.675 ] sys_status.via.x = [ 1.350 -0.972 0.661 1.419 ] sys_status.via_step = 7 sys_status.via_time = 649622045.5 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 7.9 0.8 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.4 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622045.6 289 points before latest (index = 252): sys_status.curr_limit = [ 172 325 273 190 ] sys_status.mtr_volt = [ 7 13 7 22 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 2 RA_SCOOP 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 = -0.715 -0.007 0.892 0.752 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.715 -0.007 0.892 0.752 0 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.707 -0.018 0.901 0.675 ] sys_status.via.x = [ 1.350 -0.972 0.661 1.419 ] sys_status.via_step = 7 sys_status.via_time = 649622045.5 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 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.4 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622045.7 288 points before latest (index = 253): sys_status.curr_limit = [ 172 325 273 190 ] sys_status.mtr_volt = [ 6 12 7 19 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 2 RA_SCOOP 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 = -0.715 -0.007 0.892 0.752 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.715 -0.007 0.892 0.752 0 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.707 -0.018 0.901 0.675 ] sys_status.via.x = [ 1.350 -0.972 0.661 1.419 ] sys_status.via_step = 7 sys_status.via_time = 649622045.5 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 = [ 1.8 0.0 1.4 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.4 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622045.8 287 points before latest (index = 254): sys_status.curr_limit = [ 172 325 273 190 ] sys_status.mtr_volt = [ 7 11 6 18 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 2 RA_SCOOP 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 = -0.715 -0.007 0.892 0.752 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.715 -0.007 0.892 0.752 0 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.707 -0.018 0.901 0.675 ] sys_status.via.x = [ 1.350 -0.972 0.661 1.419 ] sys_status.via_step = 7 sys_status.via_time = 649622045.5 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 7.3 1.1 2.0 ] 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.4 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622046.0 286 points before latest (index = 255): sys_status.curr_limit = [ 172 325 273 190 ] sys_status.mtr_volt = [ 6 10 5 16 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 2 RA_SCOOP 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 = -0.715 -0.007 0.892 0.752 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.715 -0.007 0.892 0.752 0 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.707 -0.018 0.901 0.675 ] sys_status.via.x = [ 1.350 -0.972 0.661 1.419 ] sys_status.via_step = 7 sys_status.via_time = 649622045.5 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 10.5 2.8 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.4 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622046.1 285 points before latest (index = 256): sys_status.curr_limit = [ 172 325 273 190 ] sys_status.mtr_volt = [ 5 9 5 15 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 2 RA_SCOOP 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 = -0.715 -0.007 0.892 0.752 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.715 -0.007 0.892 0.752 0 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.707 -0.018 0.901 0.675 ] sys_status.via.x = [ 1.350 -0.972 0.661 1.419 ] sys_status.via_step = 7 sys_status.via_time = 649622045.5 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 = [ 1.4 7.0 2.1 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.4 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622046.2 284 points before latest (index = 257): sys_status.curr_limit = [ 172 325 273 190 ] sys_status.mtr_volt = [ 5 8 5 15 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 2 RA_SCOOP 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 = -0.715 -0.007 0.892 0.752 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.715 -0.007 0.892 0.752 0 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.707 -0.018 0.901 0.675 ] sys_status.via.x = [ 1.350 -0.972 0.661 1.419 ] sys_status.via_step = 7 sys_status.via_time = 649622045.5 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 = [ 2.0 10.1 0.6 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.4 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622046.3 283 points before latest (index = 258): sys_status.curr_limit = [ 172 325 273 190 ] sys_status.mtr_volt = [ 5 8 5 15 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 2 RA_SCOOP 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 = -0.715 -0.007 0.892 0.752 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.715 -0.007 0.892 0.752 0 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.707 -0.018 0.901 0.675 ] sys_status.via.x = [ 1.350 -0.972 0.661 1.419 ] sys_status.via_step = 7 sys_status.via_time = 649622045.5 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 7.0 0.9 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.4 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622046.4 282 points before latest (index = 259): sys_status.curr_limit = [ 172 325 273 190 ] sys_status.mtr_volt = [ 5 9 5 15 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 2 RA_SCOOP 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 = -0.715 -0.007 0.892 0.752 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.715 -0.007 0.892 0.752 0 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.707 -0.018 0.901 0.675 ] sys_status.via.x = [ 1.350 -0.972 0.661 1.419 ] sys_status.via_step = 7 sys_status.via_time = 649622045.5 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 8.2 0.4 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.4 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622046.5 281 points before latest (index = 260): sys_status.curr_limit = [ 172 325 273 190 ] sys_status.mtr_volt = [ 5 9 5 15 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 2 RA_SCOOP 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 = -0.715 -0.007 0.892 0.752 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.715 -0.007 0.892 0.752 0 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.707 -0.018 0.901 0.675 ] sys_status.via.x = [ 1.350 -0.972 0.661 1.419 ] sys_status.via_step = 7 sys_status.via_time = 649622045.5 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 = [ 2.0 0.0 0.3 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.4 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622046.6 280 points before latest (index = 261): sys_status.curr_limit = [ 172 325 273 190 ] sys_status.mtr_volt = [ 8 14 8 24 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 2 RA_SCOOP 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 = -0.715 -0.007 0.892 0.752 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.715 -0.007 0.892 0.752 0 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 -0.007 0.892 0.752 ] sys_status.via.x = [ 1.337 -0.978 0.682 1.498 ] sys_status.via_step = 8 sys_status.via_time = 649622046.7 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ -1 1 -1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 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 7.3 1.4 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.4 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622046.8 279 points before latest (index = 262): sys_status.curr_limit = [ 172 325 273 190 ] sys_status.mtr_volt = [ 7 13 7 21 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 2 RA_SCOOP 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 = -0.715 -0.007 0.892 0.752 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.715 -0.007 0.892 0.752 0 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 -0.007 0.892 0.752 ] sys_status.via.x = [ 1.337 -0.978 0.682 1.498 ] sys_status.via_step = 8 sys_status.via_time = 649622046.7 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ -1 1 -1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 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 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.4 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622046.9 278 points before latest (index = 263): sys_status.curr_limit = [ 172 325 273 190 ] sys_status.mtr_volt = [ 6 11 6 17 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 2 RA_SCOOP 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 = -0.715 -0.007 0.892 0.752 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.715 -0.007 0.892 0.752 0 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 -0.007 0.892 0.752 ] sys_status.via.x = [ 1.337 -0.978 0.682 1.498 ] sys_status.via_step = 8 sys_status.via_time = 649622046.7 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ -1 1 -1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 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 8.9 0.8 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.4 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622047.0 277 points before latest (index = 264): sys_status.curr_limit = [ 172 325 273 190 ] sys_status.mtr_volt = [ 6 10 6 16 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 2 RA_SCOOP 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 = -0.715 -0.007 0.892 0.752 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.715 -0.007 0.892 0.752 0 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 -0.007 0.892 0.752 ] sys_status.via.x = [ 1.337 -0.978 0.682 1.498 ] sys_status.via_step = 8 sys_status.via_time = 649622046.7 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ -1 1 -1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 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 6.5 1.6 2.0 ] 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.4 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622047.1 276 points before latest (index = 265): sys_status.curr_limit = [ 172 325 273 190 ] sys_status.mtr_volt = [ 6 9 5 15 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 2 RA_SCOOP 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 = -0.715 -0.007 0.892 0.752 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.715 -0.007 0.892 0.752 0 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 -0.007 0.892 0.752 ] sys_status.via.x = [ 1.337 -0.978 0.682 1.498 ] sys_status.via_step = 8 sys_status.via_time = 649622046.7 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ -1 1 -1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 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 10.1 0.2 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.4 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622047.2 275 points before latest (index = 266): sys_status.curr_limit = [ 172 325 273 190 ] sys_status.mtr_volt = [ 6 9 5 15 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 2 RA_SCOOP 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 = -0.715 -0.007 0.892 0.752 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.715 -0.007 0.892 0.752 0 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 -0.007 0.892 0.752 ] sys_status.via.x = [ 1.337 -0.978 0.682 1.498 ] sys_status.via_step = 8 sys_status.via_time = 649622046.7 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ -1 1 -1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 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 6.6 1.7 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.4 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622047.3 274 points before latest (index = 267): sys_status.curr_limit = [ 172 325 273 190 ] sys_status.mtr_volt = [ 6 9 5 16 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 2 RA_SCOOP 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 = -0.715 -0.007 0.892 0.752 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.715 -0.007 0.892 0.752 0 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 -0.007 0.892 0.752 ] sys_status.via.x = [ 1.337 -0.978 0.682 1.498 ] sys_status.via_step = 8 sys_status.via_time = 649622046.7 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ -1 1 -1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 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 7.5 0.7 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.4 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622047.4 273 points before latest (index = 268): sys_status.curr_limit = [ 172 325 273 190 ] sys_status.mtr_volt = [ 5 9 6 16 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 2 RA_SCOOP 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 = -0.715 -0.007 0.892 0.752 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.715 -0.007 0.892 0.752 0 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 -0.007 0.892 0.752 ] sys_status.via.x = [ 1.337 -0.978 0.682 1.498 ] sys_status.via_step = 8 sys_status.via_time = 649622046.7 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ -1 1 -1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 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 7.7 0.8 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.4 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622047.5 272 points before latest (index = 269): sys_status.curr_limit = [ 172 325 273 190 ] sys_status.mtr_volt = [ 5 9 6 15 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 2 RA_SCOOP 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 = -0.715 -0.007 0.892 0.752 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.715 -0.007 0.892 0.752 0 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 -0.007 0.892 0.752 ] sys_status.via.x = [ 1.337 -0.978 0.682 1.498 ] sys_status.via_step = 8 sys_status.via_time = 649622046.7 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ -1 1 -1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 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 7.5 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.4 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622047.6 271 points before latest (index = 270): sys_status.curr_limit = [ 172 325 273 190 ] sys_status.mtr_volt = [ 5 9 6 15 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 2 RA_SCOOP 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 = -0.715 -0.007 0.892 0.752 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.715 -0.007 0.892 0.752 0 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 -0.007 0.892 0.752 ] sys_status.via.x = [ 1.337 -0.978 0.682 1.498 ] sys_status.via_step = 8 sys_status.via_time = 649622046.7 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ -1 1 -1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 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 8.1 1.1 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.4 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622047.7 270 points before latest (index = 271): sys_status.curr_limit = [ 172 325 273 190 ] sys_status.mtr_volt = [ 6 10 6 15 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 2 RA_SCOOP 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 = -0.715 -0.007 0.892 0.752 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.715 -0.007 0.892 0.752 0 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 -0.007 0.892 0.752 ] sys_status.via.x = [ 1.337 -0.978 0.682 1.498 ] sys_status.via_step = 8 sys_status.via_time = 649622046.7 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ -1 1 -1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 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 7.0 0.2 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.4 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622047.9 269 points before latest (index = 272): sys_status.curr_limit = [ 172 325 273 190 ] sys_status.mtr_volt = [ 6 10 6 15 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 2 RA_SCOOP 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 = -0.715 -0.007 0.892 0.752 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.715 -0.007 0.892 0.752 0 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 -0.007 0.892 0.752 ] sys_status.via.x = [ 1.337 -0.978 0.682 1.498 ] sys_status.via_step = 8 sys_status.via_time = 649622046.7 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ -1 1 -1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 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 1.5 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.4 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622048.0 268 points before latest (index = 273): sys_status.curr_limit = [ 172 325 273 190 ] sys_status.mtr_volt = [ 6 10 6 12 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 2 RA_SCOOP 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 = -0.715 -0.007 0.892 0.752 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.715 -0.007 0.892 0.752 0 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 -0.007 0.892 0.752 ] sys_status.via.x = [ 1.337 -0.978 0.682 1.498 ] sys_status.via_step = 8 sys_status.via_time = 649622046.7 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ -1 1 -1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 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 6.8 0.9 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.4 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622048.1 267 points before latest (index = 274): sys_status.curr_limit = [ 172 325 273 190 ] sys_status.mtr_volt = [ 6 9 5 11 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 2 RA_SCOOP 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 = -0.715 -0.007 0.892 0.752 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.715 -0.007 0.892 0.752 0 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 -0.007 0.892 0.752 ] sys_status.via.x = [ 1.337 -0.978 0.682 1.498 ] sys_status.via_step = 8 sys_status.via_time = 649622046.7 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ -1 1 -1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 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 6.6 1.0 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.4 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622048.2 266 points before latest (index = 275): sys_status.curr_limit = [ 172 325 273 190 ] sys_status.mtr_volt = [ 5 9 5 9 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 2 RA_SCOOP 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 = -0.715 -0.007 0.892 0.752 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.715 -0.007 0.892 0.752 0 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 -0.007 0.892 0.752 ] sys_status.via.x = [ 1.337 -0.978 0.682 1.498 ] sys_status.via_step = 8 sys_status.via_time = 649622046.7 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ -1 1 -1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 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 6.8 1.2 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.4 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622048.3 265 points before latest (index = 276): sys_status.curr_limit = [ 172 325 273 190 ] sys_status.mtr_volt = [ 5 8 6 9 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 2 RA_SCOOP 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 = -0.715 -0.007 0.892 0.752 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.715 -0.007 0.892 0.752 0 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 -0.007 0.892 0.752 ] sys_status.via.x = [ 1.337 -0.978 0.682 1.498 ] sys_status.via_step = 8 sys_status.via_time = 649622046.7 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ -1 1 -1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 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 7.2 1.2 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.4 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622048.4 264 points before latest (index = 277): sys_status.curr_limit = [ 172 325 273 190 ] sys_status.mtr_volt = [ 6 8 6 8 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 2 RA_SCOOP 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 = -0.715 -0.007 0.892 0.752 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.715 -0.007 0.892 0.752 0 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 -0.007 0.892 0.752 ] sys_status.via.x = [ 1.337 -0.978 0.682 1.498 ] sys_status.via_step = 8 sys_status.via_time = 649622046.7 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ -1 1 -1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 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 7.0 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.4 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622048.5 263 points before latest (index = 278): sys_status.curr_limit = [ 172 325 273 190 ] sys_status.mtr_volt = [ 6 7 5 9 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 2 RA_SCOOP 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 = -0.715 -0.007 0.892 0.752 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.715 -0.007 0.892 0.752 0 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 -0.007 0.892 0.752 ] sys_status.via.x = [ 1.337 -0.978 0.682 1.498 ] sys_status.via_step = 8 sys_status.via_time = 649622046.7 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ -1 1 -1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 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 8.2 1.0 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.4 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622048.6 262 points before latest (index = 279): sys_status.curr_limit = [ 172 325 273 190 ] sys_status.mtr_volt = [ 6 6 5 10 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 2 RA_SCOOP 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 = -0.715 -0.007 0.892 0.752 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.715 -0.007 0.892 0.752 0 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 -0.007 0.892 0.752 ] sys_status.via.x = [ 1.337 -0.978 0.682 1.498 ] sys_status.via_step = 8 sys_status.via_time = 649622046.7 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ -1 1 -1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 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 3.0 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.4 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622048.7 261 points before latest (index = 280): sys_status.curr_limit = [ 172 325 273 190 ] sys_status.mtr_volt = [ 5 7 5 12 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 2 RA_SCOOP 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 = -0.715 -0.007 0.892 0.752 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.715 -0.007 0.892 0.752 0 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 -0.007 0.892 0.752 ] sys_status.via.x = [ 1.337 -0.978 0.682 1.498 ] sys_status.via_step = 8 sys_status.via_time = 649622046.7 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ -1 1 -1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 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 1.4 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.4 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622048.9 260 points before latest (index = 281): sys_status.curr_limit = [ 172 325 273 190 ] sys_status.mtr_volt = [ 5 8 5 13 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 2 RA_SCOOP 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 = -0.715 -0.007 0.892 0.752 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.715 -0.007 0.892 0.752 0 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 -0.007 0.892 0.752 ] sys_status.via.x = [ 1.337 -0.978 0.682 1.498 ] sys_status.via_step = 8 sys_status.via_time = 649622046.7 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ -1 1 -1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.4 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622049.0 259 points before latest (index = 282): sys_status.curr_limit = [ 172 325 273 190 ] sys_status.mtr_volt = [ 5 8 5 13 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 2 RA_SCOOP 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 = -0.715 -0.007 0.892 0.752 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.715 -0.007 0.892 0.752 0 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 -0.007 0.892 0.752 ] sys_status.via.x = [ 1.337 -0.978 0.682 1.498 ] sys_status.via_step = 8 sys_status.via_time = 649622046.7 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ -1 1 -1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.4 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622049.3 258 points before latest (index = 283): sys_status.curr_limit = [ 172 325 273 190 ] sys_status.mtr_volt = [ 5 8 5 13 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 2 RA_SCOOP 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 = -0.715 -0.007 0.892 0.752 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.715 -0.007 0.892 0.752 0 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 -0.007 0.892 0.752 ] sys_status.via.x = [ 1.337 -0.978 0.682 1.498 ] sys_status.via_step = 8 sys_status.via_time = 649622046.7 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ -1 1 -1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.4 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622049.3 257 points before latest (index = 284): sys_status.curr_limit = [ 172 325 273 190 ] sys_status.mtr_volt = [ 5 8 5 13 ] 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 = 2 RA_SCOOP 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 = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 -0.007 0.892 0.752 ] sys_status.via.x = [ 1.337 -0.978 0.682 1.498 ] sys_status.via_step = 8 sys_status.via_time = 649622046.7 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ -1 1 -1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.4 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622050.0 256 points before latest (index = 285): sys_status.curr_limit = [ 172 325 273 190 ] sys_status.mtr_volt = [ 5 8 5 13 ] 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 = 2 RA_SCOOP 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 = 9033 13287 5752 2173 sys_status.task_cmd = 11 RA_CALIBRATE sys_status.task_args = sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 -0.007 0.892 0.752 ] sys_status.via.x = [ 1.337 -0.978 0.682 1.498 ] sys_status.via_step = 8 sys_status.via_time = 649622046.7 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ -1 1 -1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.4 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622050.4 255 points before latest (index = 286): sys_status.curr_limit = [ 172 325 273 190 ] sys_status.mtr_volt = [ 5 8 5 13 ] 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 = 2 RA_SCOOP 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 = 9034 13301 5751 2173 sys_status.task_cmd = 11 RA_CALIBRATE sys_status.task_args = sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 -0.007 0.892 0.752 ] sys_status.via.x = [ 1.337 -0.978 0.682 1.498 ] sys_status.via_step = 8 sys_status.via_time = 649622046.7 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ -1 1 -1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.4 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622050.7 254 points before latest (index = 287): sys_status.curr_limit = [ 172 325 273 190 ] sys_status.mtr_volt = [ 5 8 5 13 ] 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 = 2 RA_SCOOP 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 = 9035 13301 5749 2173 sys_status.task_cmd = 11 RA_CALIBRATE sys_status.task_args = sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 -0.007 0.892 0.752 ] sys_status.via.x = [ 1.337 -0.978 0.682 1.498 ] sys_status.via_step = 8 sys_status.via_time = 649622046.7 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ -1 1 -1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.4 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622051.0 253 points before latest (index = 288): sys_status.curr_limit = [ 172 325 273 190 ] sys_status.mtr_volt = [ 5 8 5 13 ] 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 = 2 RA_SCOOP 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 = 9036 13301 5748 2183 sys_status.task_cmd = 11 RA_CALIBRATE sys_status.task_args = sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 -0.007 0.892 0.752 ] sys_status.via.x = [ 1.337 -0.978 0.682 1.498 ] sys_status.via_step = 8 sys_status.via_time = 649622046.7 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ -1 1 -1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.4 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622051.4 252 points before latest (index = 289): sys_status.curr_limit = [ 172 325 273 190 ] sys_status.mtr_volt = [ 5 8 5 13 ] 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 = 2 RA_SCOOP 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 = 172 325 273 190 sys_status.task_cmd = 11 RA_CALIBRATE sys_status.task_args = sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 -0.007 0.892 0.752 ] sys_status.via.x = [ 1.337 -0.978 0.682 1.498 ] sys_status.via_step = 8 sys_status.via_time = 649622046.7 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ -1 1 -1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.4 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622051.6 251 points before latest (index = 290): sys_status.curr_limit = [ 172 325 273 190 ] sys_status.mtr_volt = [ 5 8 5 13 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 2 RA_SCOOP 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 = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 -0.007 0.892 0.752 ] sys_status.via.x = [ 1.337 -0.978 0.682 1.498 ] sys_status.via_step = 8 sys_status.via_time = 649622046.7 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ -1 1 -1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.4 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622051.9 250 points before latest (index = 291): sys_status.curr_limit = [ 172 325 273 190 ] sys_status.mtr_volt = [ 5 8 5 13 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 2 RA_SCOOP 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 = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 -0.007 0.892 0.752 ] sys_status.via.x = [ 1.337 -0.978 0.682 1.498 ] sys_status.via_step = 8 sys_status.via_time = 649622046.7 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ -1 1 -1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.4 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622051.9 249 points before latest (index = 292): sys_status.curr_limit = [ 172 325 273 190 ] 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 = 2 RA_SCOOP sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 17 RA_MOV_CARTESIAN sys_status.act_args = 1.334 -0.977 0.686 1.501 0 sys_status.task_cmd = 17 RA_MOV_CARTESIAN sys_status.task_args = 1.334 -0.977 0.686 1.501 0 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.713 -0.004 0.890 0.760 ] sys_status.via.x = [ 1.337 -0.974 0.686 1.506 ] sys_status.via_step = 0 sys_status.via_time = 649622052.5 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 = [ 0.0 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.4 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622052.5 248 points before latest (index = 293): sys_status.curr_limit = [ 172 325 273 190 ] 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 = 2 RA_SCOOP sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 17 RA_MOV_CARTESIAN sys_status.act_args = 1.334 -0.977 0.686 1.501 0 sys_status.task_cmd = 17 RA_MOV_CARTESIAN sys_status.task_args = 1.334 -0.977 0.686 1.501 0 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 -0.007 0.892 0.752 ] sys_status.via.x = [ 1.337 -0.978 0.682 1.498 ] sys_status.via_step = 1 sys_status.via_time = 649622052.5 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 = [ 0.0 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.4 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622052.6 247 points before latest (index = 294): sys_status.curr_limit = [ 172 325 273 190 ] sys_status.mtr_volt = [ 2 2 1 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 = 2 RA_SCOOP sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 17 RA_MOV_CARTESIAN sys_status.act_args = 1.334 -0.977 0.686 1.501 0 sys_status.task_cmd = 17 RA_MOV_CARTESIAN sys_status.task_args = 1.334 -0.977 0.686 1.501 0 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 -0.007 0.892 0.752 ] sys_status.via.x = [ 1.337 -0.978 0.682 1.498 ] sys_status.via_step = 1 sys_status.via_time = 649622052.5 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 = [ 1.6 1.8 1.2 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.4 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622052.7 246 points before latest (index = 295): sys_status.curr_limit = [ 172 325 273 190 ] sys_status.mtr_volt = [ 2 4 2 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 = 2 RA_SCOOP sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 17 RA_MOV_CARTESIAN sys_status.act_args = 1.334 -0.977 0.686 1.501 0 sys_status.task_cmd = 17 RA_MOV_CARTESIAN sys_status.task_args = 1.334 -0.977 0.686 1.501 0 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 -0.007 0.892 0.752 ] sys_status.via.x = [ 1.337 -0.978 0.682 1.498 ] sys_status.via_step = 1 sys_status.via_time = 649622052.5 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 0.0 1.2 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.4 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622052.8 245 points before latest (index = 296): sys_status.curr_limit = [ 172 325 273 190 ] sys_status.mtr_volt = [ 3 6 2 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 = 2 RA_SCOOP sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 17 RA_MOV_CARTESIAN sys_status.act_args = 1.334 -0.977 0.686 1.501 0 sys_status.task_cmd = 17 RA_MOV_CARTESIAN sys_status.task_args = 1.334 -0.977 0.686 1.501 0 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 -0.007 0.892 0.752 ] sys_status.via.x = [ 1.337 -0.978 0.682 1.498 ] sys_status.via_step = 1 sys_status.via_time = 649622052.5 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 = [ 11.9 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.4 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622053.0 244 points before latest (index = 297): sys_status.curr_limit = [ 172 325 273 190 ] sys_status.mtr_volt = [ 4 8 3 5 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 2 RA_SCOOP sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 17 RA_MOV_CARTESIAN sys_status.act_args = 1.334 -0.977 0.686 1.501 0 sys_status.task_cmd = 17 RA_MOV_CARTESIAN sys_status.task_args = 1.334 -0.977 0.686 1.501 0 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 -0.007 0.892 0.752 ] sys_status.via.x = [ 1.337 -0.978 0.682 1.498 ] sys_status.via_step = 1 sys_status.via_time = 649622052.5 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 = [ 11.8 0.0 7.7 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.4 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622053.1 243 points before latest (index = 298): sys_status.curr_limit = [ 172 325 273 190 ] sys_status.mtr_volt = [ 6 8 3 5 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 2 RA_SCOOP sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 17 RA_MOV_CARTESIAN sys_status.act_args = 1.334 -0.977 0.686 1.501 0 sys_status.task_cmd = 17 RA_MOV_CARTESIAN sys_status.task_args = 1.334 -0.977 0.686 1.501 0 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 -0.007 0.892 0.752 ] sys_status.via.x = [ 1.337 -0.978 0.682 1.498 ] sys_status.via_step = 1 sys_status.via_time = 649622052.5 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 = [ 21.8 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.4 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622053.2 242 points before latest (index = 299): sys_status.curr_limit = [ 172 325 273 190 ] sys_status.mtr_volt = [ 5 7 4 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 = 2 RA_SCOOP sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 17 RA_MOV_CARTESIAN sys_status.act_args = 1.334 -0.977 0.686 1.501 0 sys_status.task_cmd = 17 RA_MOV_CARTESIAN sys_status.task_args = 1.334 -0.977 0.686 1.501 0 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 -0.007 0.892 0.752 ] sys_status.via.x = [ 1.337 -0.978 0.682 1.498 ] sys_status.via_step = 1 sys_status.via_time = 649622052.5 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 = [ 3.5 11.5 16.3 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.4 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622053.3 241 points before latest (index = 0): sys_status.curr_limit = [ 172 325 273 190 ] sys_status.mtr_volt = [ 4 5 5 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 = 2 RA_SCOOP sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 17 RA_MOV_CARTESIAN sys_status.act_args = 1.334 -0.977 0.686 1.501 0 sys_status.task_cmd = 17 RA_MOV_CARTESIAN sys_status.task_args = 1.334 -0.977 0.686 1.501 0 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 -0.007 0.892 0.752 ] sys_status.via.x = [ 1.337 -0.978 0.682 1.498 ] sys_status.via_step = 1 sys_status.via_time = 649622052.5 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 = [ 1.4 12.8 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.4 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622053.4 240 points before latest (index = 1): sys_status.curr_limit = [ 172 325 273 190 ] sys_status.mtr_volt = [ 2 3 4 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 = 2 RA_SCOOP sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 17 RA_MOV_CARTESIAN sys_status.act_args = 1.334 -0.977 0.686 1.501 0 sys_status.task_cmd = 17 RA_MOV_CARTESIAN sys_status.task_args = 1.334 -0.977 0.686 1.501 0 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 -0.007 0.892 0.752 ] sys_status.via.x = [ 1.337 -0.978 0.682 1.498 ] sys_status.via_step = 1 sys_status.via_time = 649622052.5 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 1.1 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.4 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622053.5 239 points before latest (index = 2): sys_status.curr_limit = [ 172 325 273 190 ] sys_status.mtr_volt = [ 2 3 1 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 = 2 RA_SCOOP sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 17 RA_MOV_CARTESIAN sys_status.act_args = 1.334 -0.977 0.686 1.501 0 sys_status.task_cmd = 17 RA_MOV_CARTESIAN sys_status.task_args = 1.334 -0.977 0.686 1.501 0 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 -0.007 0.892 0.752 ] sys_status.via.x = [ 1.337 -0.978 0.682 1.498 ] sys_status.via_step = 1 sys_status.via_time = 649622052.5 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 = [ 0.0 0.0 5.6 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.4 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622053.6 238 points before latest (index = 3): sys_status.curr_limit = [ 172 325 273 190 ] sys_status.mtr_volt = [ 2 3 1 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 = 2 RA_SCOOP sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 17 RA_MOV_CARTESIAN sys_status.act_args = 1.334 -0.977 0.686 1.501 0 sys_status.task_cmd = 17 RA_MOV_CARTESIAN sys_status.task_args = 1.334 -0.977 0.686 1.501 0 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 -0.007 0.892 0.752 ] sys_status.via.x = [ 1.337 -0.978 0.682 1.498 ] sys_status.via_step = 1 sys_status.via_time = 649622052.5 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 = [ 0.0 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.4 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622053.7 237 points before latest (index = 4): sys_status.curr_limit = [ 172 325 273 190 ] sys_status.mtr_volt = [ 2 3 1 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 = 2 RA_SCOOP sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 17 RA_MOV_CARTESIAN sys_status.act_args = 1.334 -0.977 0.686 1.501 0 sys_status.task_cmd = 17 RA_MOV_CARTESIAN sys_status.task_args = 1.334 -0.977 0.686 1.501 0 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 -0.007 0.892 0.752 ] sys_status.via.x = [ 1.337 -0.978 0.682 1.498 ] sys_status.via_step = 1 sys_status.via_time = 649622052.5 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 = [ 0.0 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.4 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622054.0 236 points before latest (index = 5): sys_status.curr_limit = [ 172 325 273 190 ] sys_status.mtr_volt = [ 2 3 1 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 = 2 RA_SCOOP sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 17 RA_MOV_CARTESIAN sys_status.act_args = 1.334 -0.977 0.686 1.501 0 sys_status.task_cmd = 17 RA_MOV_CARTESIAN sys_status.task_args = 1.334 -0.977 0.686 1.501 0 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 -0.007 0.892 0.752 ] sys_status.via.x = [ 1.337 -0.978 0.682 1.498 ] sys_status.via_step = 1 sys_status.via_time = 649622052.5 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 = [ 0.0 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.4 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622054.0 235 points before latest (index = 6): sys_status.curr_limit = [ 172 260 273 190 ] 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 = 2 RA_SCOOP sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 17 RA_MOV_CARTESIAN sys_status.act_args = 0.000 0.000 0.150 0.000 2 sys_status.task_cmd = 17 RA_MOV_CARTESIAN sys_status.task_args = 0.000 0.000 0.150 0.000 2 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 -0.007 0.892 0.752 ] sys_status.via.x = [ 1.337 -0.978 0.681 1.497 ] sys_status.via_step = 0 sys_status.via_time = 649622054.6 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.9 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622054.6 234 points before latest (index = 7): sys_status.curr_limit = [ 172 260 273 190 ] 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 = 2 RA_SCOOP sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 17 RA_MOV_CARTESIAN sys_status.act_args = 0.000 0.000 0.150 0.000 2 sys_status.task_cmd = 17 RA_MOV_CARTESIAN sys_status.task_args = 0.000 0.000 0.150 0.000 2 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.034 0.846 0.757 ] sys_status.via.x = [ 1.339 -0.980 0.719 1.497 ] sys_status.via_step = 1 sys_status.via_time = 649622054.6 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.9 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622054.7 233 points before latest (index = 8): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 1 2 2 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 = 2 RA_SCOOP sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 17 RA_MOV_CARTESIAN sys_status.act_args = 0.000 0.000 0.150 0.000 2 sys_status.task_cmd = 17 RA_MOV_CARTESIAN sys_status.task_args = 0.000 0.000 0.150 0.000 2 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.034 0.846 0.757 ] sys_status.via.x = [ 1.339 -0.980 0.719 1.497 ] sys_status.via_step = 1 sys_status.via_time = 649622054.6 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 1.6 0.1 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.9 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622054.8 232 points before latest (index = 9): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 1 3 3 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 = 2 RA_SCOOP sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 17 RA_MOV_CARTESIAN sys_status.act_args = 0.000 0.000 0.150 0.000 2 sys_status.task_cmd = 17 RA_MOV_CARTESIAN sys_status.task_args = 0.000 0.000 0.150 0.000 2 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.034 0.846 0.757 ] sys_status.via.x = [ 1.339 -0.980 0.719 1.497 ] sys_status.via_step = 1 sys_status.via_time = 649622054.6 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 0.7 ] 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.9 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622054.9 231 points before latest (index = 10): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 1 6 6 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 = 2 RA_SCOOP sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 17 RA_MOV_CARTESIAN sys_status.act_args = 0.000 0.000 0.150 0.000 2 sys_status.task_cmd = 17 RA_MOV_CARTESIAN sys_status.task_args = 0.000 0.000 0.150 0.000 2 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.034 0.846 0.757 ] sys_status.via.x = [ 1.339 -0.980 0.719 1.497 ] sys_status.via_step = 1 sys_status.via_time = 649622054.6 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 0.7 ] 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.9 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622055.1 230 points before latest (index = 11): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 1 8 9 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 = 2 RA_SCOOP sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 17 RA_MOV_CARTESIAN sys_status.act_args = 0.000 0.000 0.150 0.000 2 sys_status.task_cmd = 17 RA_MOV_CARTESIAN sys_status.task_args = 0.000 0.000 0.150 0.000 2 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.034 0.846 0.757 ] sys_status.via.x = [ 1.339 -0.980 0.719 1.497 ] sys_status.via_step = 1 sys_status.via_time = 649622054.6 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 0.7 ] 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.9 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622055.2 229 points before latest (index = 12): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 1 9 10 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 = 2 RA_SCOOP sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 17 RA_MOV_CARTESIAN sys_status.act_args = 0.000 0.000 0.150 0.000 2 sys_status.task_cmd = 17 RA_MOV_CARTESIAN sys_status.task_args = 0.000 0.000 0.150 0.000 2 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.034 0.846 0.757 ] sys_status.via.x = [ 1.339 -0.980 0.719 1.497 ] sys_status.via_step = 1 sys_status.via_time = 649622054.6 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 0.7 ] 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.9 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622055.3 228 points before latest (index = 13): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 1 10 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 = 2 RA_SCOOP sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 17 RA_MOV_CARTESIAN sys_status.act_args = 0.000 0.000 0.150 0.000 2 sys_status.task_cmd = 17 RA_MOV_CARTESIAN sys_status.task_args = 0.000 0.000 0.150 0.000 2 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.034 0.846 0.757 ] sys_status.via.x = [ 1.339 -0.980 0.719 1.497 ] sys_status.via_step = 1 sys_status.via_time = 649622054.6 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 0.7 ] 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.9 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622055.4 227 points before latest (index = 14): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 1 11 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 = 2 RA_SCOOP sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 17 RA_MOV_CARTESIAN sys_status.act_args = 0.000 0.000 0.150 0.000 2 sys_status.task_cmd = 17 RA_MOV_CARTESIAN sys_status.task_args = 0.000 0.000 0.150 0.000 2 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.034 0.846 0.757 ] sys_status.via.x = [ 1.339 -0.980 0.719 1.497 ] sys_status.via_step = 1 sys_status.via_time = 649622054.6 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 0.7 ] 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.9 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622055.5 226 points before latest (index = 15): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 1 11 11 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 = 2 RA_SCOOP sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 17 RA_MOV_CARTESIAN sys_status.act_args = 0.000 0.000 0.150 0.000 2 sys_status.task_cmd = 17 RA_MOV_CARTESIAN sys_status.task_args = 0.000 0.000 0.150 0.000 2 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.034 0.846 0.757 ] sys_status.via.x = [ 1.339 -0.980 0.719 1.497 ] sys_status.via_step = 1 sys_status.via_time = 649622054.6 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 1.9 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.9 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622055.6 225 points before latest (index = 16): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 1 13 11 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 = 2 RA_SCOOP sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 17 RA_MOV_CARTESIAN sys_status.act_args = 0.000 0.000 0.150 0.000 2 sys_status.task_cmd = 17 RA_MOV_CARTESIAN sys_status.task_args = 0.000 0.000 0.150 0.000 2 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.034 0.846 0.757 ] sys_status.via.x = [ 1.339 -0.980 0.719 1.497 ] sys_status.via_step = 1 sys_status.via_time = 649622054.6 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 7.2 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.9 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622055.7 224 points before latest (index = 17): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 1 14 12 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 = 2 RA_SCOOP sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 17 RA_MOV_CARTESIAN sys_status.act_args = 0.000 0.000 0.150 0.000 2 sys_status.task_cmd = 17 RA_MOV_CARTESIAN sys_status.task_args = 0.000 0.000 0.150 0.000 2 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.034 0.846 0.757 ] sys_status.via.x = [ 1.339 -0.980 0.719 1.497 ] sys_status.via_step = 1 sys_status.via_time = 649622054.6 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 1.5 3.7 ] 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.9 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622055.8 223 points before latest (index = 18): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 1 16 11 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 = 2 RA_SCOOP sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 17 RA_MOV_CARTESIAN sys_status.act_args = 0.000 0.000 0.150 0.000 2 sys_status.task_cmd = 17 RA_MOV_CARTESIAN sys_status.task_args = 0.000 0.000 0.150 0.000 2 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.034 0.846 0.757 ] sys_status.via.x = [ 1.339 -0.980 0.719 1.497 ] sys_status.via_step = 1 sys_status.via_time = 649622054.6 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 3.7 ] 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.9 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622055.9 222 points before latest (index = 19): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 1 18 12 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 = 2 RA_SCOOP sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 17 RA_MOV_CARTESIAN sys_status.act_args = 0.000 0.000 0.150 0.000 2 sys_status.task_cmd = 17 RA_MOV_CARTESIAN sys_status.task_args = 0.000 0.000 0.150 0.000 2 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.034 0.846 0.757 ] sys_status.via.x = [ 1.339 -0.980 0.719 1.497 ] sys_status.via_step = 1 sys_status.via_time = 649622054.6 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 0.1 3.7 ] 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.9 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622056.1 221 points before latest (index = 20): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 1 18 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 = 2 RA_SCOOP sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 17 RA_MOV_CARTESIAN sys_status.act_args = 0.000 0.000 0.150 0.000 2 sys_status.task_cmd = 17 RA_MOV_CARTESIAN sys_status.task_args = 0.000 0.000 0.150 0.000 2 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.034 0.846 0.757 ] sys_status.via.x = [ 1.339 -0.980 0.719 1.497 ] sys_status.via_step = 1 sys_status.via_time = 649622054.6 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 3.7 ] 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.9 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622056.2 220 points before latest (index = 21): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 1 18 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 = 2 RA_SCOOP sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 17 RA_MOV_CARTESIAN sys_status.act_args = 0.000 0.000 0.150 0.000 2 sys_status.task_cmd = 17 RA_MOV_CARTESIAN sys_status.task_args = 0.000 0.000 0.150 0.000 2 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.034 0.846 0.757 ] sys_status.via.x = [ 1.339 -0.980 0.719 1.497 ] sys_status.via_step = 1 sys_status.via_time = 649622054.6 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 7.4 1.8 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.9 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622056.3 219 points before latest (index = 22): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 1 12 10 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 = 2 RA_SCOOP sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 17 RA_MOV_CARTESIAN sys_status.act_args = 0.000 0.000 0.150 0.000 2 sys_status.task_cmd = 17 RA_MOV_CARTESIAN sys_status.task_args = 0.000 0.000 0.150 0.000 2 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.077 0.795 0.765 ] sys_status.via.x = [ 1.341 -0.981 0.756 1.497 ] sys_status.via_step = 2 sys_status.via_time = 649622056.3 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 = [ 0.0 6.5 1.8 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.9 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622056.4 218 points before latest (index = 23): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 1 11 10 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 = 2 RA_SCOOP sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 17 RA_MOV_CARTESIAN sys_status.act_args = 0.000 0.000 0.150 0.000 2 sys_status.task_cmd = 17 RA_MOV_CARTESIAN sys_status.task_args = 0.000 0.000 0.150 0.000 2 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.077 0.795 0.765 ] sys_status.via.x = [ 1.341 -0.981 0.756 1.497 ] sys_status.via_step = 2 sys_status.via_time = 649622056.3 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 = [ 0.0 5.6 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.9 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622056.5 217 points before latest (index = 24): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 1 14 12 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 = 2 RA_SCOOP sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 17 RA_MOV_CARTESIAN sys_status.act_args = 0.000 0.000 0.150 0.000 2 sys_status.task_cmd = 17 RA_MOV_CARTESIAN sys_status.task_args = 0.000 0.000 0.150 0.000 2 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.077 0.795 0.765 ] sys_status.via.x = [ 1.341 -0.981 0.756 1.497 ] sys_status.via_step = 2 sys_status.via_time = 649622056.3 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 = [ 0.0 12.8 1.5 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.9 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622056.6 216 points before latest (index = 25): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 1 14 11 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 = 2 RA_SCOOP sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 17 RA_MOV_CARTESIAN sys_status.act_args = 0.000 0.000 0.150 0.000 2 sys_status.task_cmd = 17 RA_MOV_CARTESIAN sys_status.task_args = 0.000 0.000 0.150 0.000 2 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.077 0.795 0.765 ] sys_status.via.x = [ 1.341 -0.981 0.756 1.497 ] sys_status.via_step = 2 sys_status.via_time = 649622056.3 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 = [ 0.0 0.0 0.0 3.7 ] 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.9 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622056.7 215 points before latest (index = 26): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 1 17 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 = 2 RA_SCOOP sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 17 RA_MOV_CARTESIAN sys_status.act_args = 0.000 0.000 0.150 0.000 2 sys_status.task_cmd = 17 RA_MOV_CARTESIAN sys_status.task_args = 0.000 0.000 0.150 0.000 2 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.077 0.795 0.765 ] sys_status.via.x = [ 1.341 -0.981 0.756 1.497 ] sys_status.via_step = 2 sys_status.via_time = 649622056.3 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 = [ 0.0 7.1 1.4 3.7 ] 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.9 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622056.9 214 points before latest (index = 27): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 1 17 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 = 2 RA_SCOOP sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 17 RA_MOV_CARTESIAN sys_status.act_args = 0.000 0.000 0.150 0.000 2 sys_status.task_cmd = 17 RA_MOV_CARTESIAN sys_status.task_args = 0.000 0.000 0.150 0.000 2 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.077 0.795 0.765 ] sys_status.via.x = [ 1.341 -0.981 0.756 1.497 ] sys_status.via_step = 2 sys_status.via_time = 649622056.3 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 = [ 0.0 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.9 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622057.0 213 points before latest (index = 28): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 1 18 12 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 = 2 RA_SCOOP sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 17 RA_MOV_CARTESIAN sys_status.act_args = 0.000 0.000 0.150 0.000 2 sys_status.task_cmd = 17 RA_MOV_CARTESIAN sys_status.task_args = 0.000 0.000 0.150 0.000 2 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.077 0.795 0.765 ] sys_status.via.x = [ 1.341 -0.981 0.756 1.497 ] sys_status.via_step = 2 sys_status.via_time = 649622056.3 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 = [ 0.0 6.1 1.6 6.2 ] 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.9 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622057.1 212 points before latest (index = 29): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 1 18 12 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 = 2 RA_SCOOP sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 17 RA_MOV_CARTESIAN sys_status.act_args = 0.000 0.000 0.150 0.000 2 sys_status.task_cmd = 17 RA_MOV_CARTESIAN sys_status.task_args = 0.000 0.000 0.150 0.000 2 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.077 0.795 0.765 ] sys_status.via.x = [ 1.341 -0.981 0.756 1.497 ] sys_status.via_step = 2 sys_status.via_time = 649622056.3 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 = [ 0.0 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.9 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622057.2 211 points before latest (index = 30): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 1 18 13 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 = 2 RA_SCOOP sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 17 RA_MOV_CARTESIAN sys_status.act_args = 0.000 0.000 0.150 0.000 2 sys_status.task_cmd = 17 RA_MOV_CARTESIAN sys_status.task_args = 0.000 0.000 0.150 0.000 2 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.077 0.795 0.765 ] sys_status.via.x = [ 1.341 -0.981 0.756 1.497 ] sys_status.via_step = 2 sys_status.via_time = 649622056.3 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 = [ 0.0 6.5 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.9 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622057.3 210 points before latest (index = 31): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 1 18 13 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 = 2 RA_SCOOP sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 17 RA_MOV_CARTESIAN sys_status.act_args = 0.000 0.000 0.150 0.000 2 sys_status.task_cmd = 17 RA_MOV_CARTESIAN sys_status.task_args = 0.000 0.000 0.150 0.000 2 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.077 0.795 0.765 ] sys_status.via.x = [ 1.341 -0.981 0.756 1.497 ] sys_status.via_step = 2 sys_status.via_time = 649622056.3 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 = [ 0.0 6.7 0.0 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.9 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622057.4 209 points before latest (index = 32): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 1 17 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 = 2 RA_SCOOP sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 17 RA_MOV_CARTESIAN sys_status.act_args = 0.000 0.000 0.150 0.000 2 sys_status.task_cmd = 17 RA_MOV_CARTESIAN sys_status.task_args = 0.000 0.000 0.150 0.000 2 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.077 0.795 0.765 ] sys_status.via.x = [ 1.341 -0.981 0.756 1.497 ] sys_status.via_step = 2 sys_status.via_time = 649622056.3 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 = [ 0.0 6.9 1.6 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.9 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622057.5 208 points before latest (index = 33): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 1 17 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 = 2 RA_SCOOP sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 17 RA_MOV_CARTESIAN sys_status.act_args = 0.000 0.000 0.150 0.000 2 sys_status.task_cmd = 17 RA_MOV_CARTESIAN sys_status.task_args = 0.000 0.000 0.150 0.000 2 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.077 0.795 0.765 ] sys_status.via.x = [ 1.341 -0.981 0.756 1.497 ] sys_status.via_step = 2 sys_status.via_time = 649622056.3 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 = [ 0.0 6.5 0.7 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.4 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622057.6 207 points before latest (index = 34): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 1 17 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 = 2 RA_SCOOP sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 17 RA_MOV_CARTESIAN sys_status.act_args = 0.000 0.000 0.150 0.000 2 sys_status.task_cmd = 17 RA_MOV_CARTESIAN sys_status.task_args = 0.000 0.000 0.150 0.000 2 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.077 0.795 0.765 ] sys_status.via.x = [ 1.341 -0.981 0.756 1.497 ] sys_status.via_step = 2 sys_status.via_time = 649622056.3 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 = [ 0.0 6.7 1.5 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.4 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622057.7 206 points before latest (index = 35): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 1 17 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 = 2 RA_SCOOP sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 17 RA_MOV_CARTESIAN sys_status.act_args = 0.000 0.000 0.150 0.000 2 sys_status.task_cmd = 17 RA_MOV_CARTESIAN sys_status.task_args = 0.000 0.000 0.150 0.000 2 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.077 0.795 0.765 ] sys_status.via.x = [ 1.341 -0.981 0.756 1.497 ] sys_status.via_step = 2 sys_status.via_time = 649622056.3 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 = [ 0.0 6.8 1.6 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.4 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622057.8 205 points before latest (index = 36): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 1 17 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 = 2 RA_SCOOP sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 17 RA_MOV_CARTESIAN sys_status.act_args = 0.000 0.000 0.150 0.000 2 sys_status.task_cmd = 17 RA_MOV_CARTESIAN sys_status.task_args = 0.000 0.000 0.150 0.000 2 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.077 0.795 0.765 ] sys_status.via.x = [ 1.341 -0.981 0.756 1.497 ] sys_status.via_step = 2 sys_status.via_time = 649622056.3 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 = [ 0.0 7.4 1.1 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.4 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622058.0 204 points before latest (index = 37): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 1 16 11 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 = 2 RA_SCOOP sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 17 RA_MOV_CARTESIAN sys_status.act_args = 0.000 0.000 0.150 0.000 2 sys_status.task_cmd = 17 RA_MOV_CARTESIAN sys_status.task_args = 0.000 0.000 0.150 0.000 2 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.077 0.795 0.765 ] sys_status.via.x = [ 1.341 -0.981 0.756 1.497 ] sys_status.via_step = 2 sys_status.via_time = 649622056.3 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 = [ 0.0 7.4 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.4 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622058.1 203 points before latest (index = 38): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 1 16 11 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 = 2 RA_SCOOP sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 17 RA_MOV_CARTESIAN sys_status.act_args = 0.000 0.000 0.150 0.000 2 sys_status.task_cmd = 17 RA_MOV_CARTESIAN sys_status.task_args = 0.000 0.000 0.150 0.000 2 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.077 0.795 0.765 ] sys_status.via.x = [ 1.341 -0.981 0.756 1.497 ] sys_status.via_step = 2 sys_status.via_time = 649622056.3 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 = [ 0.0 7.2 2.6 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.4 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622058.2 202 points before latest (index = 39): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 1 16 12 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 = 2 RA_SCOOP sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 17 RA_MOV_CARTESIAN sys_status.act_args = 0.000 0.000 0.150 0.000 2 sys_status.task_cmd = 17 RA_MOV_CARTESIAN sys_status.task_args = 0.000 0.000 0.150 0.000 2 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.077 0.795 0.765 ] sys_status.via.x = [ 1.341 -0.981 0.756 1.497 ] sys_status.via_step = 2 sys_status.via_time = 649622056.3 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 = [ 0.0 7.4 1.3 3.4 ] 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.4 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622058.3 201 points before latest (index = 40): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 1 16 12 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 = 2 RA_SCOOP sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 17 RA_MOV_CARTESIAN sys_status.act_args = 0.000 0.000 0.150 0.000 2 sys_status.task_cmd = 17 RA_MOV_CARTESIAN sys_status.task_args = 0.000 0.000 0.150 0.000 2 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.077 0.795 0.765 ] sys_status.via.x = [ 1.341 -0.981 0.756 1.497 ] sys_status.via_step = 2 sys_status.via_time = 649622056.3 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 = [ 0.0 7.6 0.0 3.4 ] 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.4 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622058.4 200 points before latest (index = 41): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 1 16 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 = 2 RA_SCOOP sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 17 RA_MOV_CARTESIAN sys_status.act_args = 0.000 0.000 0.150 0.000 2 sys_status.task_cmd = 17 RA_MOV_CARTESIAN sys_status.task_args = 0.000 0.000 0.150 0.000 2 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.077 0.795 0.765 ] sys_status.via.x = [ 1.341 -0.981 0.756 1.497 ] sys_status.via_step = 2 sys_status.via_time = 649622056.3 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 = [ 0.0 7.2 1.2 3.4 ] 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.4 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622058.5 199 points before latest (index = 42): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 1 16 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 = 2 RA_SCOOP sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 17 RA_MOV_CARTESIAN sys_status.act_args = 0.000 0.000 0.150 0.000 2 sys_status.task_cmd = 17 RA_MOV_CARTESIAN sys_status.task_args = 0.000 0.000 0.150 0.000 2 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.077 0.795 0.765 ] sys_status.via.x = [ 1.341 -0.981 0.756 1.497 ] sys_status.via_step = 2 sys_status.via_time = 649622056.3 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 = [ 0.0 7.9 2.3 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.4 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622058.6 198 points before latest (index = 43): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 1 17 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 = 2 RA_SCOOP sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 17 RA_MOV_CARTESIAN sys_status.act_args = 0.000 0.000 0.150 0.000 2 sys_status.task_cmd = 17 RA_MOV_CARTESIAN sys_status.task_args = 0.000 0.000 0.150 0.000 2 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.077 0.795 0.765 ] sys_status.via.x = [ 1.341 -0.981 0.756 1.497 ] sys_status.via_step = 2 sys_status.via_time = 649622056.3 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 = [ 0.0 7.0 1.6 6.0 ] 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.4 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622058.7 197 points before latest (index = 44): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 1 17 12 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 = 2 RA_SCOOP sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 17 RA_MOV_CARTESIAN sys_status.act_args = 0.000 0.000 0.150 0.000 2 sys_status.task_cmd = 17 RA_MOV_CARTESIAN sys_status.task_args = 0.000 0.000 0.150 0.000 2 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.077 0.795 0.765 ] sys_status.via.x = [ 1.341 -0.981 0.756 1.497 ] sys_status.via_step = 2 sys_status.via_time = 649622056.3 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 = [ 0.0 0.0 1.4 6.0 ] 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.4 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622058.8 196 points before latest (index = 45): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 1 18 12 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 = 2 RA_SCOOP sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 17 RA_MOV_CARTESIAN sys_status.act_args = 0.000 0.000 0.150 0.000 2 sys_status.task_cmd = 17 RA_MOV_CARTESIAN sys_status.task_args = 0.000 0.000 0.150 0.000 2 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.077 0.795 0.765 ] sys_status.via.x = [ 1.341 -0.981 0.756 1.497 ] sys_status.via_step = 2 sys_status.via_time = 649622056.3 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 = [ 0.0 6.8 1.2 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.4 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622059.0 195 points before latest (index = 46): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 1 18 12 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 = 2 RA_SCOOP sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 17 RA_MOV_CARTESIAN sys_status.act_args = 0.000 0.000 0.150 0.000 2 sys_status.task_cmd = 17 RA_MOV_CARTESIAN sys_status.task_args = 0.000 0.000 0.150 0.000 2 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.077 0.795 0.765 ] sys_status.via.x = [ 1.341 -0.981 0.756 1.497 ] sys_status.via_step = 2 sys_status.via_time = 649622056.3 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 = [ 0.0 0.0 1.6 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.4 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622059.1 194 points before latest (index = 47): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 1 19 15 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 = 2 RA_SCOOP sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 17 RA_MOV_CARTESIAN sys_status.act_args = 0.000 0.000 0.150 0.000 2 sys_status.task_cmd = 17 RA_MOV_CARTESIAN sys_status.task_args = 0.000 0.000 0.150 0.000 2 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.122 0.740 0.776 ] sys_status.via.x = [ 1.343 -0.983 0.794 1.497 ] sys_status.via_step = 3 sys_status.via_time = 649622059.1 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 = [ 0.0 6.5 1.7 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.4 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622059.2 193 points before latest (index = 48): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 1 18 15 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 = 2 RA_SCOOP sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 17 RA_MOV_CARTESIAN sys_status.act_args = 0.000 0.000 0.150 0.000 2 sys_status.task_cmd = 17 RA_MOV_CARTESIAN sys_status.task_args = 0.000 0.000 0.150 0.000 2 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.122 0.740 0.776 ] sys_status.via.x = [ 1.343 -0.983 0.794 1.497 ] sys_status.via_step = 3 sys_status.via_time = 649622059.1 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 = [ 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.4 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622059.3 192 points before latest (index = 49): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 1 17 14 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 = 2 RA_SCOOP sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 17 RA_MOV_CARTESIAN sys_status.act_args = 0.000 0.000 0.150 0.000 2 sys_status.task_cmd = 17 RA_MOV_CARTESIAN sys_status.task_args = 0.000 0.000 0.150 0.000 2 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.122 0.740 0.776 ] sys_status.via.x = [ 1.343 -0.983 0.794 1.497 ] sys_status.via_step = 3 sys_status.via_time = 649622059.1 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 = [ 0.0 5.8 1.7 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.4 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622059.4 191 points before latest (index = 50): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 1 16 14 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 = 2 RA_SCOOP sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 17 RA_MOV_CARTESIAN sys_status.act_args = 0.000 0.000 0.150 0.000 2 sys_status.task_cmd = 17 RA_MOV_CARTESIAN sys_status.task_args = 0.000 0.000 0.150 0.000 2 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.122 0.740 0.776 ] sys_status.via.x = [ 1.343 -0.983 0.794 1.497 ] sys_status.via_step = 3 sys_status.via_time = 649622059.1 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 = [ 0.0 10.9 1.8 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.4 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622059.5 190 points before latest (index = 51): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 1 16 14 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 = 2 RA_SCOOP sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 17 RA_MOV_CARTESIAN sys_status.act_args = 0.000 0.000 0.150 0.000 2 sys_status.task_cmd = 17 RA_MOV_CARTESIAN sys_status.task_args = 0.000 0.000 0.150 0.000 2 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.122 0.740 0.776 ] sys_status.via.x = [ 1.343 -0.983 0.794 1.497 ] sys_status.via_step = 3 sys_status.via_time = 649622059.1 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 = [ 0.0 6.8 1.6 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.4 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622059.6 189 points before latest (index = 52): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 1 16 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 = 2 RA_SCOOP sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 17 RA_MOV_CARTESIAN sys_status.act_args = 0.000 0.000 0.150 0.000 2 sys_status.task_cmd = 17 RA_MOV_CARTESIAN sys_status.task_args = 0.000 0.000 0.150 0.000 2 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.122 0.740 0.776 ] sys_status.via.x = [ 1.343 -0.983 0.794 1.497 ] sys_status.via_step = 3 sys_status.via_time = 649622059.1 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 = [ 0.0 6.4 2.3 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.4 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622059.7 188 points before latest (index = 53): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 1 16 12 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 = 2 RA_SCOOP sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 17 RA_MOV_CARTESIAN sys_status.act_args = 0.000 0.000 0.150 0.000 2 sys_status.task_cmd = 17 RA_MOV_CARTESIAN sys_status.task_args = 0.000 0.000 0.150 0.000 2 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.122 0.740 0.776 ] sys_status.via.x = [ 1.343 -0.983 0.794 1.497 ] sys_status.via_step = 3 sys_status.via_time = 649622059.1 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 = [ 0.0 7.0 2.2 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.4 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622059.8 187 points before latest (index = 54): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 1 18 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 = 2 RA_SCOOP sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 17 RA_MOV_CARTESIAN sys_status.act_args = 0.000 0.000 0.150 0.000 2 sys_status.task_cmd = 17 RA_MOV_CARTESIAN sys_status.task_args = 0.000 0.000 0.150 0.000 2 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.122 0.740 0.776 ] sys_status.via.x = [ 1.343 -0.983 0.794 1.497 ] sys_status.via_step = 3 sys_status.via_time = 649622059.1 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 = [ 0.0 6.6 0.2 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.4 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622060.0 186 points before latest (index = 55): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 1 16 13 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 = 2 RA_SCOOP sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 17 RA_MOV_CARTESIAN sys_status.act_args = 0.000 0.000 0.150 0.000 2 sys_status.task_cmd = 17 RA_MOV_CARTESIAN sys_status.task_args = 0.000 0.000 0.150 0.000 2 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.122 0.740 0.776 ] sys_status.via.x = [ 1.343 -0.983 0.794 1.497 ] sys_status.via_step = 3 sys_status.via_time = 649622059.1 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 = [ 0.0 0.0 0.0 3.4 ] 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.4 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622060.1 185 points before latest (index = 56): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 1 15 13 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 = 2 RA_SCOOP sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 17 RA_MOV_CARTESIAN sys_status.act_args = 0.000 0.000 0.150 0.000 2 sys_status.task_cmd = 17 RA_MOV_CARTESIAN sys_status.task_args = 0.000 0.000 0.150 0.000 2 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.122 0.740 0.776 ] sys_status.via.x = [ 1.343 -0.983 0.794 1.497 ] sys_status.via_step = 3 sys_status.via_time = 649622059.1 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 = [ 0.0 7.7 0.5 3.4 ] 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.4 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622060.2 184 points before latest (index = 57): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 1 15 13 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 = 2 RA_SCOOP sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 17 RA_MOV_CARTESIAN sys_status.act_args = 0.000 0.000 0.150 0.000 2 sys_status.task_cmd = 17 RA_MOV_CARTESIAN sys_status.task_args = 0.000 0.000 0.150 0.000 2 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.122 0.740 0.776 ] sys_status.via.x = [ 1.343 -0.983 0.794 1.497 ] sys_status.via_step = 3 sys_status.via_time = 649622059.1 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 = [ 0.0 12.3 1.9 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.4 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622060.3 183 points before latest (index = 58): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 1 15 12 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 = 2 RA_SCOOP sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 17 RA_MOV_CARTESIAN sys_status.act_args = 0.000 0.000 0.150 0.000 2 sys_status.task_cmd = 17 RA_MOV_CARTESIAN sys_status.task_args = 0.000 0.000 0.150 0.000 2 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.122 0.740 0.776 ] sys_status.via.x = [ 1.343 -0.983 0.794 1.497 ] sys_status.via_step = 3 sys_status.via_time = 649622059.1 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 = [ 0.0 7.9 1.5 6.0 ] 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.4 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622060.4 182 points before latest (index = 59): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 1 16 13 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 = 2 RA_SCOOP sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 17 RA_MOV_CARTESIAN sys_status.act_args = 0.000 0.000 0.150 0.000 2 sys_status.task_cmd = 17 RA_MOV_CARTESIAN sys_status.task_args = 0.000 0.000 0.150 0.000 2 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.122 0.740 0.776 ] sys_status.via.x = [ 1.343 -0.983 0.794 1.497 ] sys_status.via_step = 3 sys_status.via_time = 649622059.1 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 = [ 0.0 7.5 0.4 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.4 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622060.5 181 points before latest (index = 60): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 1 16 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 = 2 RA_SCOOP sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 17 RA_MOV_CARTESIAN sys_status.act_args = 0.000 0.000 0.150 0.000 2 sys_status.task_cmd = 17 RA_MOV_CARTESIAN sys_status.task_args = 0.000 0.000 0.150 0.000 2 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.122 0.740 0.776 ] sys_status.via.x = [ 1.343 -0.983 0.794 1.497 ] sys_status.via_step = 3 sys_status.via_time = 649622059.1 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 = [ 0.0 0.0 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.4 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622060.6 180 points before latest (index = 61): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 1 17 13 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 = 2 RA_SCOOP sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 17 RA_MOV_CARTESIAN sys_status.act_args = 0.000 0.000 0.150 0.000 2 sys_status.task_cmd = 17 RA_MOV_CARTESIAN sys_status.task_args = 0.000 0.000 0.150 0.000 2 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.122 0.740 0.776 ] sys_status.via.x = [ 1.343 -0.983 0.794 1.497 ] sys_status.via_step = 3 sys_status.via_time = 649622059.1 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 = [ 0.0 7.6 0.8 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.4 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622060.7 179 points before latest (index = 62): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 1 17 13 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 = 2 RA_SCOOP sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 17 RA_MOV_CARTESIAN sys_status.act_args = 0.000 0.000 0.150 0.000 2 sys_status.task_cmd = 17 RA_MOV_CARTESIAN sys_status.task_args = 0.000 0.000 0.150 0.000 2 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.122 0.740 0.776 ] sys_status.via.x = [ 1.343 -0.983 0.794 1.497 ] sys_status.via_step = 3 sys_status.via_time = 649622059.1 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 = [ 0.0 0.0 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.9 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622060.8 178 points before latest (index = 63): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 1 17 14 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 = 2 RA_SCOOP sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 17 RA_MOV_CARTESIAN sys_status.act_args = 0.000 0.000 0.150 0.000 2 sys_status.task_cmd = 17 RA_MOV_CARTESIAN sys_status.task_args = 0.000 0.000 0.150 0.000 2 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.122 0.740 0.776 ] sys_status.via.x = [ 1.343 -0.983 0.794 1.497 ] sys_status.via_step = 3 sys_status.via_time = 649622059.1 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 = [ 0.0 7.6 1.0 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.9 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622061.0 177 points before latest (index = 64): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 1 16 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 = 2 RA_SCOOP sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 17 RA_MOV_CARTESIAN sys_status.act_args = 0.000 0.000 0.150 0.000 2 sys_status.task_cmd = 17 RA_MOV_CARTESIAN sys_status.task_args = 0.000 0.000 0.150 0.000 2 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.122 0.740 0.776 ] sys_status.via.x = [ 1.343 -0.983 0.794 1.497 ] sys_status.via_step = 3 sys_status.via_time = 649622059.1 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 = [ 0.0 6.5 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.9 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622061.1 176 points before latest (index = 65): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 1 15 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 = 2 RA_SCOOP sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 17 RA_MOV_CARTESIAN sys_status.act_args = 0.000 0.000 0.150 0.000 2 sys_status.task_cmd = 17 RA_MOV_CARTESIAN sys_status.task_args = 0.000 0.000 0.150 0.000 2 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.122 0.740 0.776 ] sys_status.via.x = [ 1.343 -0.983 0.794 1.497 ] sys_status.via_step = 3 sys_status.via_time = 649622059.1 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 = [ 0.0 8.5 0.4 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.9 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622061.2 175 points before latest (index = 66): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 1 15 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 = 2 RA_SCOOP sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 17 RA_MOV_CARTESIAN sys_status.act_args = 0.000 0.000 0.150 0.000 2 sys_status.task_cmd = 17 RA_MOV_CARTESIAN sys_status.task_args = 0.000 0.000 0.150 0.000 2 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.122 0.740 0.776 ] sys_status.via.x = [ 1.343 -0.983 0.794 1.497 ] sys_status.via_step = 3 sys_status.via_time = 649622059.1 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 = [ 0.0 6.4 1.9 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.9 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622061.3 174 points before latest (index = 67): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 1 16 12 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 = 2 RA_SCOOP sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 17 RA_MOV_CARTESIAN sys_status.act_args = 0.000 0.000 0.150 0.000 2 sys_status.task_cmd = 17 RA_MOV_CARTESIAN sys_status.task_args = 0.000 0.000 0.150 0.000 2 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.122 0.740 0.776 ] sys_status.via.x = [ 1.343 -0.983 0.794 1.497 ] sys_status.via_step = 3 sys_status.via_time = 649622059.1 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 = [ 0.0 7.3 1.3 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.9 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622061.4 173 points before latest (index = 68): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 1 16 12 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 = 2 RA_SCOOP sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 17 RA_MOV_CARTESIAN sys_status.act_args = 0.000 0.000 0.150 0.000 2 sys_status.task_cmd = 17 RA_MOV_CARTESIAN sys_status.task_args = 0.000 0.000 0.150 0.000 2 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.122 0.740 0.776 ] sys_status.via.x = [ 1.343 -0.983 0.794 1.497 ] sys_status.via_step = 3 sys_status.via_time = 649622059.1 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 = [ 0.0 0.0 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.9 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622061.5 172 points before latest (index = 69): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 1 17 13 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 = 2 RA_SCOOP sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 17 RA_MOV_CARTESIAN sys_status.act_args = 0.000 0.000 0.150 0.000 2 sys_status.task_cmd = 17 RA_MOV_CARTESIAN sys_status.task_args = 0.000 0.000 0.150 0.000 2 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.122 0.740 0.776 ] sys_status.via.x = [ 1.343 -0.983 0.794 1.497 ] sys_status.via_step = 3 sys_status.via_time = 649622059.1 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 = [ 0.0 7.0 1.2 3.4 ] 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.9 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622061.6 171 points before latest (index = 70): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 1 19 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 = 2 RA_SCOOP sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 17 RA_MOV_CARTESIAN sys_status.act_args = 0.000 0.000 0.150 0.000 2 sys_status.task_cmd = 17 RA_MOV_CARTESIAN sys_status.task_args = 0.000 0.000 0.150 0.000 2 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.122 0.740 0.776 ] sys_status.via.x = [ 1.343 -0.983 0.794 1.497 ] sys_status.via_step = 3 sys_status.via_time = 649622059.1 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 = [ 0.0 0.0 0.0 3.4 ] 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.9 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622061.8 170 points before latest (index = 71): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 1 16 13 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 = 2 RA_SCOOP sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 17 RA_MOV_CARTESIAN sys_status.act_args = 0.000 0.000 0.150 0.000 2 sys_status.task_cmd = 17 RA_MOV_CARTESIAN sys_status.task_args = 0.000 0.000 0.150 0.000 2 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.122 0.740 0.776 ] sys_status.via.x = [ 1.343 -0.983 0.794 1.497 ] sys_status.via_step = 3 sys_status.via_time = 649622059.1 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 = [ 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.9 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622061.8 169 points before latest (index = 72): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 1 16 13 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 = 2 RA_SCOOP sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 17 RA_MOV_CARTESIAN sys_status.act_args = 0.000 0.000 0.150 0.000 2 sys_status.task_cmd = 17 RA_MOV_CARTESIAN sys_status.task_args = 0.000 0.000 0.150 0.000 2 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.122 0.740 0.776 ] sys_status.via.x = [ 1.343 -0.983 0.794 1.497 ] sys_status.via_step = 3 sys_status.via_time = 649622059.1 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 = [ 0.0 8.7 1.5 6.5 ] 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.9 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622062.0 168 points before latest (index = 73): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 1 21 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 = 2 RA_SCOOP sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 17 RA_MOV_CARTESIAN sys_status.act_args = 0.000 0.000 0.150 0.000 2 sys_status.task_cmd = 17 RA_MOV_CARTESIAN sys_status.task_args = 0.000 0.000 0.150 0.000 2 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.169 0.678 0.790 ] sys_status.via.x = [ 1.345 -0.985 0.831 1.497 ] sys_status.via_step = 4 sys_status.via_time = 649622062.0 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 = [ 0.0 7.2 1.2 6.5 ] 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.9 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622062.1 167 points before latest (index = 74): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 1 21 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 = 2 RA_SCOOP sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 17 RA_MOV_CARTESIAN sys_status.act_args = 0.000 0.000 0.150 0.000 2 sys_status.task_cmd = 17 RA_MOV_CARTESIAN sys_status.task_args = 0.000 0.000 0.150 0.000 2 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.169 0.678 0.790 ] sys_status.via.x = [ 1.345 -0.985 0.831 1.497 ] sys_status.via_step = 4 sys_status.via_time = 649622062.0 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 = [ 0.0 0.0 0.0 6.5 ] 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.9 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622062.2 166 points before latest (index = 75): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 1 19 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 = 2 RA_SCOOP sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 17 RA_MOV_CARTESIAN sys_status.act_args = 0.000 0.000 0.150 0.000 2 sys_status.task_cmd = 17 RA_MOV_CARTESIAN sys_status.task_args = 0.000 0.000 0.150 0.000 2 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.169 0.678 0.790 ] sys_status.via.x = [ 1.345 -0.985 0.831 1.497 ] sys_status.via_step = 4 sys_status.via_time = 649622062.0 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 = [ 0.0 6.6 1.6 6.5 ] 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.9 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622062.3 165 points before latest (index = 76): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 1 17 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 = 2 RA_SCOOP sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 17 RA_MOV_CARTESIAN sys_status.act_args = 0.000 0.000 0.150 0.000 2 sys_status.task_cmd = 17 RA_MOV_CARTESIAN sys_status.task_args = 0.000 0.000 0.150 0.000 2 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.169 0.678 0.790 ] sys_status.via.x = [ 1.345 -0.985 0.831 1.497 ] sys_status.via_step = 4 sys_status.via_time = 649622062.0 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 = [ 0.0 6.9 0.5 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.9 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622062.4 164 points before latest (index = 77): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 1 16 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 = 2 RA_SCOOP sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 17 RA_MOV_CARTESIAN sys_status.act_args = 0.000 0.000 0.150 0.000 2 sys_status.task_cmd = 17 RA_MOV_CARTESIAN sys_status.task_args = 0.000 0.000 0.150 0.000 2 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.169 0.678 0.790 ] sys_status.via.x = [ 1.345 -0.985 0.831 1.497 ] sys_status.via_step = 4 sys_status.via_time = 649622062.0 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 = [ 0.0 6.5 2.4 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.9 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622062.5 163 points before latest (index = 78): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 1 15 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 = 2 RA_SCOOP sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 17 RA_MOV_CARTESIAN sys_status.act_args = 0.000 0.000 0.150 0.000 2 sys_status.task_cmd = 17 RA_MOV_CARTESIAN sys_status.task_args = 0.000 0.000 0.150 0.000 2 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.169 0.678 0.790 ] sys_status.via.x = [ 1.345 -0.985 0.831 1.497 ] sys_status.via_step = 4 sys_status.via_time = 649622062.0 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 = [ 0.0 8.1 1.8 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.9 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622062.6 162 points before latest (index = 79): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 1 15 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 = 2 RA_SCOOP sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 17 RA_MOV_CARTESIAN sys_status.act_args = 0.000 0.000 0.150 0.000 2 sys_status.task_cmd = 17 RA_MOV_CARTESIAN sys_status.task_args = 0.000 0.000 0.150 0.000 2 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.169 0.678 0.790 ] sys_status.via.x = [ 1.345 -0.985 0.831 1.497 ] sys_status.via_step = 4 sys_status.via_time = 649622062.0 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 = [ 0.0 7.5 0.4 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.9 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622062.7 161 points before latest (index = 80): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 1 16 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 = 2 RA_SCOOP sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 17 RA_MOV_CARTESIAN sys_status.act_args = 0.000 0.000 0.150 0.000 2 sys_status.task_cmd = 17 RA_MOV_CARTESIAN sys_status.task_args = 0.000 0.000 0.150 0.000 2 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.169 0.678 0.790 ] sys_status.via.x = [ 1.345 -0.985 0.831 1.497 ] sys_status.via_step = 4 sys_status.via_time = 649622062.0 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 = [ 0.0 7.9 1.1 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.9 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622062.8 160 points before latest (index = 81): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 1 17 14 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 = 2 RA_SCOOP sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 17 RA_MOV_CARTESIAN sys_status.act_args = 0.000 0.000 0.150 0.000 2 sys_status.task_cmd = 17 RA_MOV_CARTESIAN sys_status.task_args = 0.000 0.000 0.150 0.000 2 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.169 0.678 0.790 ] sys_status.via.x = [ 1.345 -0.985 0.831 1.497 ] sys_status.via_step = 4 sys_status.via_time = 649622062.0 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 = [ 0.0 0.0 0.8 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.9 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622063.0 159 points before latest (index = 82): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 1 17 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 = 2 RA_SCOOP sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 17 RA_MOV_CARTESIAN sys_status.act_args = 0.000 0.000 0.150 0.000 2 sys_status.task_cmd = 17 RA_MOV_CARTESIAN sys_status.task_args = 0.000 0.000 0.150 0.000 2 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.169 0.678 0.790 ] sys_status.via.x = [ 1.345 -0.985 0.831 1.497 ] sys_status.via_step = 4 sys_status.via_time = 649622062.0 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 = [ 0.0 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.9 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622063.1 158 points before latest (index = 83): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 1 15 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 = 2 RA_SCOOP sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 17 RA_MOV_CARTESIAN sys_status.act_args = 0.000 0.000 0.150 0.000 2 sys_status.task_cmd = 17 RA_MOV_CARTESIAN sys_status.task_args = 0.000 0.000 0.150 0.000 2 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.169 0.678 0.790 ] sys_status.via.x = [ 1.345 -0.985 0.831 1.497 ] sys_status.via_step = 4 sys_status.via_time = 649622062.0 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 = [ 0.0 7.8 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.9 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622063.2 157 points before latest (index = 84): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 1 15 13 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 = 2 RA_SCOOP sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 17 RA_MOV_CARTESIAN sys_status.act_args = 0.000 0.000 0.150 0.000 2 sys_status.task_cmd = 17 RA_MOV_CARTESIAN sys_status.task_args = 0.000 0.000 0.150 0.000 2 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.169 0.678 0.790 ] sys_status.via.x = [ 1.345 -0.985 0.831 1.497 ] sys_status.via_step = 4 sys_status.via_time = 649622062.0 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 = [ 0.0 7.0 1.3 3.7 ] 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.9 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622063.3 156 points before latest (index = 85): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 1 15 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 = 2 RA_SCOOP sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 17 RA_MOV_CARTESIAN sys_status.act_args = 0.000 0.000 0.150 0.000 2 sys_status.task_cmd = 17 RA_MOV_CARTESIAN sys_status.task_args = 0.000 0.000 0.150 0.000 2 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.169 0.678 0.790 ] sys_status.via.x = [ 1.345 -0.985 0.831 1.497 ] sys_status.via_step = 4 sys_status.via_time = 649622062.0 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 = [ 0.0 6.6 0.8 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.9 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622063.4 155 points before latest (index = 86): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 1 16 14 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 = 2 RA_SCOOP sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 17 RA_MOV_CARTESIAN sys_status.act_args = 0.000 0.000 0.150 0.000 2 sys_status.task_cmd = 17 RA_MOV_CARTESIAN sys_status.task_args = 0.000 0.000 0.150 0.000 2 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.169 0.678 0.790 ] sys_status.via.x = [ 1.345 -0.985 0.831 1.497 ] sys_status.via_step = 4 sys_status.via_time = 649622062.0 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 = [ 0.0 7.3 0.0 6.5 ] 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.9 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622063.5 154 points before latest (index = 87): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 1 16 13 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 = 2 RA_SCOOP sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 17 RA_MOV_CARTESIAN sys_status.act_args = 0.000 0.000 0.150 0.000 2 sys_status.task_cmd = 17 RA_MOV_CARTESIAN sys_status.task_args = 0.000 0.000 0.150 0.000 2 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.169 0.678 0.790 ] sys_status.via.x = [ 1.345 -0.985 0.831 1.497 ] sys_status.via_step = 4 sys_status.via_time = 649622062.0 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 = [ 0.0 0.0 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.9 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622063.6 153 points before latest (index = 88): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 1 16 13 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 = 2 RA_SCOOP sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 17 RA_MOV_CARTESIAN sys_status.act_args = 0.000 0.000 0.150 0.000 2 sys_status.task_cmd = 17 RA_MOV_CARTESIAN sys_status.task_args = 0.000 0.000 0.150 0.000 2 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.169 0.678 0.790 ] sys_status.via.x = [ 1.345 -0.985 0.831 1.497 ] sys_status.via_step = 4 sys_status.via_time = 649622062.0 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 = [ 0.0 6.3 1.4 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.9 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622063.7 152 points before latest (index = 89): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 1 16 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 = 2 RA_SCOOP sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 17 RA_MOV_CARTESIAN sys_status.act_args = 0.000 0.000 0.150 0.000 2 sys_status.task_cmd = 17 RA_MOV_CARTESIAN sys_status.task_args = 0.000 0.000 0.150 0.000 2 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.169 0.678 0.790 ] sys_status.via.x = [ 1.345 -0.985 0.831 1.497 ] sys_status.via_step = 4 sys_status.via_time = 649622062.0 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 = [ 0.0 6.6 1.1 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.9 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622063.8 151 points before latest (index = 90): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 1 18 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 = 2 RA_SCOOP sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 17 RA_MOV_CARTESIAN sys_status.act_args = 0.000 0.000 0.150 0.000 2 sys_status.task_cmd = 17 RA_MOV_CARTESIAN sys_status.task_args = 0.000 0.000 0.150 0.000 2 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.169 0.678 0.790 ] sys_status.via.x = [ 1.345 -0.985 0.831 1.497 ] sys_status.via_step = 4 sys_status.via_time = 649622062.0 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 = [ 0.0 6.1 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.4 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622064.0 150 points before latest (index = 91): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 1 17 14 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 = 2 RA_SCOOP sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 17 RA_MOV_CARTESIAN sys_status.act_args = 0.000 0.000 0.150 0.000 2 sys_status.task_cmd = 17 RA_MOV_CARTESIAN sys_status.task_args = 0.000 0.000 0.150 0.000 2 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.169 0.678 0.790 ] sys_status.via.x = [ 1.345 -0.985 0.831 1.497 ] sys_status.via_step = 4 sys_status.via_time = 649622062.0 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 = [ 0.0 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.4 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622064.1 149 points before latest (index = 92): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 1 16 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 = 2 RA_SCOOP sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 17 RA_MOV_CARTESIAN sys_status.act_args = 0.000 0.000 0.150 0.000 2 sys_status.task_cmd = 17 RA_MOV_CARTESIAN sys_status.task_args = 0.000 0.000 0.150 0.000 2 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.169 0.678 0.790 ] sys_status.via.x = [ 1.345 -0.985 0.831 1.497 ] sys_status.via_step = 4 sys_status.via_time = 649622062.0 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 = [ 0.0 8.1 0.4 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.4 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622064.2 148 points before latest (index = 93): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 1 15 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 = 2 RA_SCOOP sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 17 RA_MOV_CARTESIAN sys_status.act_args = 0.000 0.000 0.150 0.000 2 sys_status.task_cmd = 17 RA_MOV_CARTESIAN sys_status.task_args = 0.000 0.000 0.150 0.000 2 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.169 0.678 0.790 ] sys_status.via.x = [ 1.345 -0.985 0.831 1.497 ] sys_status.via_step = 4 sys_status.via_time = 649622062.0 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 = [ 0.0 6.4 1.4 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.4 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622064.3 147 points before latest (index = 94): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 1 15 13 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 = 2 RA_SCOOP sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 17 RA_MOV_CARTESIAN sys_status.act_args = 0.000 0.000 0.150 0.000 2 sys_status.task_cmd = 17 RA_MOV_CARTESIAN sys_status.task_args = 0.000 0.000 0.150 0.000 2 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.169 0.678 0.790 ] sys_status.via.x = [ 1.345 -0.985 0.831 1.497 ] sys_status.via_step = 4 sys_status.via_time = 649622062.0 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 = [ 0.0 0.5 1.6 3.4 ] 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.4 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622064.4 146 points before latest (index = 95): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 1 15 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 = 2 RA_SCOOP sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 17 RA_MOV_CARTESIAN sys_status.act_args = 0.000 0.000 0.150 0.000 2 sys_status.task_cmd = 17 RA_MOV_CARTESIAN sys_status.task_args = 0.000 0.000 0.150 0.000 2 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.169 0.678 0.790 ] sys_status.via.x = [ 1.345 -0.985 0.831 1.497 ] sys_status.via_step = 4 sys_status.via_time = 649622062.0 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 = [ 0.0 6.8 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.4 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622064.5 145 points before latest (index = 96): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 1 16 14 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 = 2 RA_SCOOP sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 17 RA_MOV_CARTESIAN sys_status.act_args = 0.000 0.000 0.150 0.000 2 sys_status.task_cmd = 17 RA_MOV_CARTESIAN sys_status.task_args = 0.000 0.000 0.150 0.000 2 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.169 0.678 0.790 ] sys_status.via.x = [ 1.345 -0.985 0.831 1.497 ] sys_status.via_step = 4 sys_status.via_time = 649622062.0 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 = [ 0.0 6.6 0.0 6.5 ] 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.4 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622064.6 144 points before latest (index = 97): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 1 17 13 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 = 2 RA_SCOOP sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 17 RA_MOV_CARTESIAN sys_status.act_args = 0.000 0.000 0.150 0.000 2 sys_status.task_cmd = 17 RA_MOV_CARTESIAN sys_status.task_args = 0.000 0.000 0.150 0.000 2 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.169 0.678 0.790 ] sys_status.via.x = [ 1.345 -0.985 0.831 1.497 ] sys_status.via_step = 4 sys_status.via_time = 649622062.0 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 = [ 0.0 0.0 1.4 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.4 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622064.7 143 points before latest (index = 98): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 1 16 13 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 = 2 RA_SCOOP sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 17 RA_MOV_CARTESIAN sys_status.act_args = 0.000 0.000 0.150 0.000 2 sys_status.task_cmd = 17 RA_MOV_CARTESIAN sys_status.task_args = 0.000 0.000 0.150 0.000 2 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.169 0.678 0.790 ] sys_status.via.x = [ 1.345 -0.985 0.831 1.497 ] sys_status.via_step = 4 sys_status.via_time = 649622062.0 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 = [ 0.0 0.0 1.0 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.4 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622064.8 142 points before latest (index = 99): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 1 17 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 = 2 RA_SCOOP sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 17 RA_MOV_CARTESIAN sys_status.act_args = 0.000 0.000 0.150 0.000 2 sys_status.task_cmd = 17 RA_MOV_CARTESIAN sys_status.task_args = 0.000 0.000 0.150 0.000 2 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.169 0.678 0.790 ] sys_status.via.x = [ 1.345 -0.985 0.831 1.497 ] sys_status.via_step = 4 sys_status.via_time = 649622062.0 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 = [ 0.0 9.4 1.8 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.4 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622065.0 141 points before latest (index = 100): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 1 17 14 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 = 2 RA_SCOOP sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 17 RA_MOV_CARTESIAN sys_status.act_args = 0.000 0.000 0.150 0.000 2 sys_status.task_cmd = 17 RA_MOV_CARTESIAN sys_status.task_args = 0.000 0.000 0.150 0.000 2 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.169 0.678 0.790 ] sys_status.via.x = [ 1.345 -0.985 0.831 1.497 ] sys_status.via_step = 4 sys_status.via_time = 649622062.0 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 = [ 0.0 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.4 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622065.1 140 points before latest (index = 101): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 1 16 14 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 = 2 RA_SCOOP sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 17 RA_MOV_CARTESIAN sys_status.act_args = 0.000 0.000 0.150 0.000 2 sys_status.task_cmd = 17 RA_MOV_CARTESIAN sys_status.task_args = 0.000 0.000 0.150 0.000 2 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.169 0.678 0.790 ] sys_status.via.x = [ 1.345 -0.985 0.831 1.497 ] sys_status.via_step = 4 sys_status.via_time = 649622062.0 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 = [ 0.0 7.6 1.8 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.4 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622065.2 139 points before latest (index = 102): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 1 15 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 = 2 RA_SCOOP sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 17 RA_MOV_CARTESIAN sys_status.act_args = 0.000 0.000 0.150 0.000 2 sys_status.task_cmd = 17 RA_MOV_CARTESIAN sys_status.task_args = 0.000 0.000 0.150 0.000 2 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.169 0.678 0.790 ] sys_status.via.x = [ 1.345 -0.985 0.831 1.497 ] sys_status.via_step = 4 sys_status.via_time = 649622062.0 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 = [ 0.0 7.2 1.0 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.4 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622065.3 138 points before latest (index = 103): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 1 15 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 = 2 RA_SCOOP sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 17 RA_MOV_CARTESIAN sys_status.act_args = 0.000 0.000 0.150 0.000 2 sys_status.task_cmd = 17 RA_MOV_CARTESIAN sys_status.task_args = 0.000 0.000 0.150 0.000 2 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.169 0.678 0.790 ] sys_status.via.x = [ 1.345 -0.985 0.831 1.497 ] sys_status.via_step = 4 sys_status.via_time = 649622062.0 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 = [ 0.0 4.6 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.4 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622065.4 137 points before latest (index = 104): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 1 15 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 = 2 RA_SCOOP sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 17 RA_MOV_CARTESIAN sys_status.act_args = 0.000 0.000 0.150 0.000 2 sys_status.task_cmd = 17 RA_MOV_CARTESIAN sys_status.task_args = 0.000 0.000 0.150 0.000 2 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.169 0.678 0.790 ] sys_status.via.x = [ 1.345 -0.985 0.831 1.497 ] sys_status.via_step = 4 sys_status.via_time = 649622062.0 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 = [ 0.0 7.9 1.2 3.4 ] 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.4 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622065.5 136 points before latest (index = 105): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 1 14 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 = 2 RA_SCOOP sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 17 RA_MOV_CARTESIAN sys_status.act_args = 0.000 0.000 0.150 0.000 2 sys_status.task_cmd = 17 RA_MOV_CARTESIAN sys_status.task_args = 0.000 0.000 0.150 0.000 2 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.169 0.678 0.790 ] sys_status.via.x = [ 1.345 -0.985 0.831 1.497 ] sys_status.via_step = 4 sys_status.via_time = 649622062.0 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 = [ 0.0 7.5 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.4 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622065.6 135 points before latest (index = 106): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 1 12 13 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 = 2 RA_SCOOP sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 17 RA_MOV_CARTESIAN sys_status.act_args = 0.000 0.000 0.150 0.000 2 sys_status.task_cmd = 17 RA_MOV_CARTESIAN sys_status.task_args = 0.000 0.000 0.150 0.000 2 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.169 0.678 0.790 ] sys_status.via.x = [ 1.345 -0.985 0.831 1.497 ] sys_status.via_step = 4 sys_status.via_time = 649622062.0 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 = [ 0.0 6.9 1.7 6.5 ] 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.4 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622065.7 134 points before latest (index = 107): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 1 11 12 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 = 2 RA_SCOOP sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 17 RA_MOV_CARTESIAN sys_status.act_args = 0.000 0.000 0.150 0.000 2 sys_status.task_cmd = 17 RA_MOV_CARTESIAN sys_status.task_args = 0.000 0.000 0.150 0.000 2 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.169 0.678 0.790 ] sys_status.via.x = [ 1.345 -0.985 0.831 1.497 ] sys_status.via_step = 4 sys_status.via_time = 649622062.0 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 = [ 0.0 7.6 0.3 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.4 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622065.8 133 points before latest (index = 108): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 1 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 = 2 RA_SCOOP sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 17 RA_MOV_CARTESIAN sys_status.act_args = 0.000 0.000 0.150 0.000 2 sys_status.task_cmd = 17 RA_MOV_CARTESIAN sys_status.task_args = 0.000 0.000 0.150 0.000 2 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.169 0.678 0.790 ] sys_status.via.x = [ 1.345 -0.985 0.831 1.497 ] sys_status.via_step = 4 sys_status.via_time = 649622062.0 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 = [ 0.0 6.7 1.7 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.4 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622065.9 132 points before latest (index = 109): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 1 8 10 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 = 2 RA_SCOOP sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 17 RA_MOV_CARTESIAN sys_status.act_args = 0.000 0.000 0.150 0.000 2 sys_status.task_cmd = 17 RA_MOV_CARTESIAN sys_status.task_args = 0.000 0.000 0.150 0.000 2 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.169 0.678 0.790 ] sys_status.via.x = [ 1.345 -0.985 0.831 1.497 ] sys_status.via_step = 4 sys_status.via_time = 649622062.0 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 = [ 0.0 0.0 1.0 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.4 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622066.0 131 points before latest (index = 110): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 1 7 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 = 2 RA_SCOOP sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 17 RA_MOV_CARTESIAN sys_status.act_args = 0.000 0.000 0.150 0.000 2 sys_status.task_cmd = 17 RA_MOV_CARTESIAN sys_status.task_args = 0.000 0.000 0.150 0.000 2 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.169 0.678 0.790 ] sys_status.via.x = [ 1.345 -0.985 0.831 1.497 ] sys_status.via_step = 4 sys_status.via_time = 649622062.0 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 = [ 0.0 9.0 2.3 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.4 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622066.2 130 points before latest (index = 111): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 1 9 8 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 = 2 RA_SCOOP sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 17 RA_MOV_CARTESIAN sys_status.act_args = 0.000 0.000 0.150 0.000 2 sys_status.task_cmd = 17 RA_MOV_CARTESIAN sys_status.task_args = 0.000 0.000 0.150 0.000 2 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.169 0.678 0.790 ] sys_status.via.x = [ 1.345 -0.985 0.831 1.497 ] sys_status.via_step = 4 sys_status.via_time = 649622062.0 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 = [ 0.0 0.0 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.4 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622066.3 129 points before latest (index = 112): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 1 10 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 = 2 RA_SCOOP sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 17 RA_MOV_CARTESIAN sys_status.act_args = 0.000 0.000 0.150 0.000 2 sys_status.task_cmd = 17 RA_MOV_CARTESIAN sys_status.task_args = 0.000 0.000 0.150 0.000 2 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.169 0.678 0.790 ] sys_status.via.x = [ 1.345 -0.985 0.831 1.497 ] sys_status.via_step = 4 sys_status.via_time = 649622062.0 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 = [ 0.0 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.4 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622066.4 128 points before latest (index = 113): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 1 11 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 = 2 RA_SCOOP sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 17 RA_MOV_CARTESIAN sys_status.act_args = 0.000 0.000 0.150 0.000 2 sys_status.task_cmd = 17 RA_MOV_CARTESIAN sys_status.task_args = 0.000 0.000 0.150 0.000 2 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.169 0.678 0.790 ] sys_status.via.x = [ 1.345 -0.985 0.831 1.497 ] sys_status.via_step = 4 sys_status.via_time = 649622062.0 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 = [ 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.4 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622066.5 127 points before latest (index = 114): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 1 11 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 = 2 RA_SCOOP sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 17 RA_MOV_CARTESIAN sys_status.act_args = 0.000 0.000 0.150 0.000 2 sys_status.task_cmd = 17 RA_MOV_CARTESIAN sys_status.task_args = 0.000 0.000 0.150 0.000 2 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.169 0.678 0.790 ] sys_status.via.x = [ 1.345 -0.985 0.831 1.497 ] sys_status.via_step = 4 sys_status.via_time = 649622062.0 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 = [ 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.4 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622066.8 126 points before latest (index = 115): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 1 11 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 = 2 RA_SCOOP sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 17 RA_MOV_CARTESIAN sys_status.act_args = 0.000 0.000 0.150 0.000 2 sys_status.task_cmd = 17 RA_MOV_CARTESIAN sys_status.task_args = 0.000 0.000 0.150 0.000 2 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.169 0.678 0.790 ] sys_status.via.x = [ 1.345 -0.985 0.831 1.497 ] sys_status.via_step = 4 sys_status.via_time = 649622062.0 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 = [ 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.4 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622066.8 125 points before latest (index = 116): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 1 11 11 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 = 2 RA_SCOOP 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 = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.169 0.678 0.790 ] sys_status.via.x = [ 1.345 -0.985 0.831 1.497 ] sys_status.via_step = 4 sys_status.via_time = 649622062.0 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 = 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.4 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622067.5 124 points before latest (index = 117): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 1 11 11 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 = 2 RA_SCOOP 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 = 9039 14183 5071 2223 sys_status.task_cmd = 11 RA_CALIBRATE sys_status.task_args = sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.169 0.678 0.790 ] sys_status.via.x = [ 1.345 -0.985 0.831 1.497 ] sys_status.via_step = 4 sys_status.via_time = 649622062.0 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 = 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.4 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622067.9 123 points before latest (index = 118): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 1 11 11 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 = 2 RA_SCOOP 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 = 9040 14178 5071 2224 sys_status.task_cmd = 11 RA_CALIBRATE sys_status.task_args = sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.169 0.678 0.790 ] sys_status.via.x = [ 1.345 -0.985 0.831 1.497 ] sys_status.via_step = 4 sys_status.via_time = 649622062.0 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 = 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.4 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622068.2 122 points before latest (index = 119): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 1 11 11 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 = 2 RA_SCOOP 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 = 9041 14178 5072 2225 sys_status.task_cmd = 11 RA_CALIBRATE sys_status.task_args = sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.169 0.678 0.790 ] sys_status.via.x = [ 1.345 -0.985 0.831 1.497 ] sys_status.via_step = 4 sys_status.via_time = 649622062.0 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 = 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.4 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622068.5 121 points before latest (index = 120): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 1 11 11 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 = 2 RA_SCOOP 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 = 9042 14178 5072 2224 sys_status.task_cmd = 11 RA_CALIBRATE sys_status.task_args = sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.169 0.678 0.790 ] sys_status.via.x = [ 1.345 -0.985 0.831 1.497 ] sys_status.via_step = 4 sys_status.via_time = 649622062.0 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 = 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.4 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622068.9 120 points before latest (index = 121): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 1 11 11 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 = 2 RA_SCOOP 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 = 172 260 273 190 sys_status.task_cmd = 11 RA_CALIBRATE sys_status.task_args = sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.169 0.678 0.790 ] sys_status.via.x = [ 1.345 -0.985 0.831 1.497 ] sys_status.via_step = 4 sys_status.via_time = 649622062.0 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 = 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.4 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622069.1 119 points before latest (index = 122): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 1 11 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 = 2 RA_SCOOP 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 = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.169 0.678 0.790 ] sys_status.via.x = [ 1.345 -0.985 0.831 1.497 ] sys_status.via_step = 4 sys_status.via_time = 649622062.0 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 = 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.4 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622069.4 118 points before latest (index = 123): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 1 11 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 = 2 RA_SCOOP 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 = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.169 0.678 0.790 ] sys_status.via.x = [ 1.345 -0.985 0.831 1.497 ] sys_status.via_step = 4 sys_status.via_time = 649622062.0 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 = 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.4 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622069.4 117 points before latest (index = 124): 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 = 2 RA_SCOOP sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 17 RA_MOV_CARTESIAN sys_status.act_args = 0.000 0.000 0.035 0.000 2 sys_status.task_cmd = 17 RA_MOV_CARTESIAN sys_status.task_args = 0.000 0.000 0.035 0.000 2 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.168 0.678 0.793 ] sys_status.via.x = [ 1.346 -0.985 0.830 1.499 ] sys_status.via_step = 0 sys_status.via_time = 649622070.0 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 = [ 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.4 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622070.0 116 points before latest (index = 125): 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 = 2 RA_SCOOP sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 17 RA_MOV_CARTESIAN sys_status.act_args = 0.000 0.000 0.035 0.000 2 sys_status.task_cmd = 17 RA_MOV_CARTESIAN sys_status.task_args = 0.000 0.000 0.035 0.000 2 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.215 0.614 0.811 ] sys_status.via.x = [ 1.348 -0.986 0.865 1.499 ] sys_status.via_step = 1 sys_status.via_time = 649622070.0 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 = [ 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.4 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622070.1 115 points before latest (index = 126): sys_status.curr_limit = [ 172 260 210 190 ] sys_status.mtr_volt = [ 1 2 2 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 = 2 RA_SCOOP sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 17 RA_MOV_CARTESIAN sys_status.act_args = 0.000 0.000 0.035 0.000 2 sys_status.task_cmd = 17 RA_MOV_CARTESIAN sys_status.task_args = 0.000 0.000 0.035 0.000 2 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.215 0.614 0.811 ] sys_status.via.x = [ 1.348 -0.986 0.865 1.499 ] sys_status.via_step = 1 sys_status.via_time = 649622070.0 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 = [ 0.0 1.8 0.2 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.4 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622070.2 114 points before latest (index = 127): sys_status.curr_limit = [ 172 260 210 190 ] sys_status.mtr_volt = [ 1 4 4 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 = 2 RA_SCOOP sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 17 RA_MOV_CARTESIAN sys_status.act_args = 0.000 0.000 0.035 0.000 2 sys_status.task_cmd = 17 RA_MOV_CARTESIAN sys_status.task_args = 0.000 0.000 0.035 0.000 2 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.215 0.614 0.811 ] sys_status.via.x = [ 1.348 -0.986 0.865 1.499 ] sys_status.via_step = 1 sys_status.via_time = 649622070.0 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 = [ 0.0 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.4 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622070.3 113 points before latest (index = 128): sys_status.curr_limit = [ 172 260 210 190 ] sys_status.mtr_volt = [ 1 6 6 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 = 2 RA_SCOOP sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 17 RA_MOV_CARTESIAN sys_status.act_args = 0.000 0.000 0.035 0.000 2 sys_status.task_cmd = 17 RA_MOV_CARTESIAN sys_status.task_args = 0.000 0.000 0.035 0.000 2 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.215 0.614 0.811 ] sys_status.via.x = [ 1.348 -0.986 0.865 1.499 ] sys_status.via_step = 1 sys_status.via_time = 649622070.0 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 = [ 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.4 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622070.5 112 points before latest (index = 129): sys_status.curr_limit = [ 172 260 210 190 ] sys_status.mtr_volt = [ 1 7 9 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 = 2 RA_SCOOP sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 17 RA_MOV_CARTESIAN sys_status.act_args = 0.000 0.000 0.035 0.000 2 sys_status.task_cmd = 17 RA_MOV_CARTESIAN sys_status.task_args = 0.000 0.000 0.035 0.000 2 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.215 0.614 0.811 ] sys_status.via.x = [ 1.348 -0.986 0.865 1.499 ] sys_status.via_step = 1 sys_status.via_time = 649622070.0 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 = [ 0.0 0.0 0.0 3.7 ] 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.4 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622070.6 111 points before latest (index = 130): sys_status.curr_limit = [ 172 260 210 190 ] sys_status.mtr_volt = [ 1 8 10 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 = 2 RA_SCOOP sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 17 RA_MOV_CARTESIAN sys_status.act_args = 0.000 0.000 0.035 0.000 2 sys_status.task_cmd = 17 RA_MOV_CARTESIAN sys_status.task_args = 0.000 0.000 0.035 0.000 2 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.215 0.614 0.811 ] sys_status.via.x = [ 1.348 -0.986 0.865 1.499 ] sys_status.via_step = 1 sys_status.via_time = 649622070.0 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 = [ 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.4 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622070.7 110 points before latest (index = 131): sys_status.curr_limit = [ 172 260 210 190 ] sys_status.mtr_volt = [ 1 9 11 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 = 2 RA_SCOOP sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 17 RA_MOV_CARTESIAN sys_status.act_args = 0.000 0.000 0.035 0.000 2 sys_status.task_cmd = 17 RA_MOV_CARTESIAN sys_status.task_args = 0.000 0.000 0.035 0.000 2 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.215 0.614 0.811 ] sys_status.via.x = [ 1.348 -0.986 0.865 1.499 ] sys_status.via_step = 1 sys_status.via_time = 649622070.0 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 = [ 0.0 0.0 0.0 6.5 ] 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.4 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622070.8 109 points before latest (index = 132): sys_status.curr_limit = [ 172 260 210 190 ] sys_status.mtr_volt = [ 1 11 11 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 = 2 RA_SCOOP sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 17 RA_MOV_CARTESIAN sys_status.act_args = 0.000 0.000 0.035 0.000 2 sys_status.task_cmd = 17 RA_MOV_CARTESIAN sys_status.task_args = 0.000 0.000 0.035 0.000 2 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.215 0.614 0.811 ] sys_status.via.x = [ 1.348 -0.986 0.865 1.499 ] sys_status.via_step = 1 sys_status.via_time = 649622070.0 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 = [ 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.4 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622070.9 108 points before latest (index = 133): sys_status.curr_limit = [ 172 260 210 190 ] sys_status.mtr_volt = [ 1 12 13 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 = 2 RA_SCOOP sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 17 RA_MOV_CARTESIAN sys_status.act_args = 0.000 0.000 0.035 0.000 2 sys_status.task_cmd = 17 RA_MOV_CARTESIAN sys_status.task_args = 0.000 0.000 0.035 0.000 2 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.215 0.614 0.811 ] sys_status.via.x = [ 1.348 -0.986 0.865 1.499 ] sys_status.via_step = 1 sys_status.via_time = 649622070.0 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 = [ 0.0 0.0 1.5 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.4 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622071.0 107 points before latest (index = 134): sys_status.curr_limit = [ 172 260 210 190 ] sys_status.mtr_volt = [ 1 13 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 = 2 RA_SCOOP sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 17 RA_MOV_CARTESIAN sys_status.act_args = 0.000 0.000 0.035 0.000 2 sys_status.task_cmd = 17 RA_MOV_CARTESIAN sys_status.task_args = 0.000 0.000 0.035 0.000 2 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.215 0.614 0.811 ] sys_status.via.x = [ 1.348 -0.986 0.865 1.499 ] sys_status.via_step = 1 sys_status.via_time = 649622070.0 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 = [ 0.0 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.4 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622071.1 106 points before latest (index = 135): sys_status.curr_limit = [ 172 260 210 190 ] sys_status.mtr_volt = [ 1 15 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 = 2 RA_SCOOP sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 17 RA_MOV_CARTESIAN sys_status.act_args = 0.000 0.000 0.035 0.000 2 sys_status.task_cmd = 17 RA_MOV_CARTESIAN sys_status.task_args = 0.000 0.000 0.035 0.000 2 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.215 0.614 0.811 ] sys_status.via.x = [ 1.348 -0.986 0.865 1.499 ] sys_status.via_step = 1 sys_status.via_time = 649622070.0 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 = [ 0.0 0.0 0.0 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.4 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622071.2 105 points before latest (index = 136): sys_status.curr_limit = [ 172 260 210 190 ] sys_status.mtr_volt = [ 1 16 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 = 2 RA_SCOOP sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 17 RA_MOV_CARTESIAN sys_status.act_args = 0.000 0.000 0.035 0.000 2 sys_status.task_cmd = 17 RA_MOV_CARTESIAN sys_status.task_args = 0.000 0.000 0.035 0.000 2 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.215 0.614 0.811 ] sys_status.via.x = [ 1.348 -0.986 0.865 1.499 ] sys_status.via_step = 1 sys_status.via_time = 649622070.0 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 = [ 0.0 0.0 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.4 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622071.3 104 points before latest (index = 137): sys_status.curr_limit = [ 172 260 210 190 ] sys_status.mtr_volt = [ 1 18 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 = 2 RA_SCOOP sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 17 RA_MOV_CARTESIAN sys_status.act_args = 0.000 0.000 0.035 0.000 2 sys_status.task_cmd = 17 RA_MOV_CARTESIAN sys_status.task_args = 0.000 0.000 0.035 0.000 2 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.215 0.614 0.811 ] sys_status.via.x = [ 1.348 -0.986 0.865 1.499 ] sys_status.via_step = 1 sys_status.via_time = 649622070.0 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 = [ 0.0 0.0 1.7 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.4 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622071.5 103 points before latest (index = 138): sys_status.curr_limit = [ 172 260 210 190 ] sys_status.mtr_volt = [ 1 18 15 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 = 2 RA_SCOOP sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 17 RA_MOV_CARTESIAN sys_status.act_args = 0.000 0.000 0.035 0.000 2 sys_status.task_cmd = 17 RA_MOV_CARTESIAN sys_status.task_args = 0.000 0.000 0.035 0.000 2 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.215 0.614 0.811 ] sys_status.via.x = [ 1.348 -0.986 0.865 1.499 ] sys_status.via_step = 1 sys_status.via_time = 649622070.0 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 = [ 0.0 0.0 0.0 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.4 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622071.6 102 points before latest (index = 139): sys_status.curr_limit = [ 172 260 210 190 ] sys_status.mtr_volt = [ 1 18 15 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 = 2 RA_SCOOP sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 17 RA_MOV_CARTESIAN sys_status.act_args = 0.000 0.000 0.035 0.000 2 sys_status.task_cmd = 17 RA_MOV_CARTESIAN sys_status.task_args = 0.000 0.000 0.035 0.000 2 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.215 0.614 0.811 ] sys_status.via.x = [ 1.348 -0.986 0.865 1.499 ] sys_status.via_step = 1 sys_status.via_time = 649622070.0 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 = [ 0.0 6.7 1.9 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.4 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622071.7 101 points before latest (index = 140): sys_status.curr_limit = [ 172 260 210 190 ] sys_status.mtr_volt = [ 1 18 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 = 2 RA_SCOOP sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 17 RA_MOV_CARTESIAN sys_status.act_args = 0.000 0.000 0.035 0.000 2 sys_status.task_cmd = 17 RA_MOV_CARTESIAN sys_status.task_args = 0.000 0.000 0.035 0.000 2 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.215 0.614 0.811 ] sys_status.via.x = [ 1.348 -0.986 0.865 1.499 ] sys_status.via_step = 1 sys_status.via_time = 649622070.0 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 = [ 0.0 7.1 1.4 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.4 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622071.8 100 points before latest (index = 141): sys_status.curr_limit = [ 172 260 210 190 ] sys_status.mtr_volt = [ 1 18 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 = 2 RA_SCOOP sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 17 RA_MOV_CARTESIAN sys_status.act_args = 0.000 0.000 0.035 0.000 2 sys_status.task_cmd = 17 RA_MOV_CARTESIAN sys_status.task_args = 0.000 0.000 0.035 0.000 2 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.215 0.614 0.811 ] sys_status.via.x = [ 1.348 -0.986 0.865 1.499 ] sys_status.via_step = 1 sys_status.via_time = 649622070.0 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 = [ 0.0 6.3 1.5 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.4 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622071.9 99 points before latest (index = 142): sys_status.curr_limit = [ 172 260 210 190 ] sys_status.mtr_volt = [ 1 18 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 = 2 RA_SCOOP sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 17 RA_MOV_CARTESIAN sys_status.act_args = 0.000 0.000 0.035 0.000 2 sys_status.task_cmd = 17 RA_MOV_CARTESIAN sys_status.task_args = 0.000 0.000 0.035 0.000 2 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.215 0.614 0.811 ] sys_status.via.x = [ 1.348 -0.986 0.865 1.499 ] sys_status.via_step = 1 sys_status.via_time = 649622070.0 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 = [ 0.0 6.9 1.9 3.7 ] 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.4 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622072.0 98 points before latest (index = 143): sys_status.curr_limit = [ 172 260 210 190 ] sys_status.mtr_volt = [ 1 17 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 = 2 RA_SCOOP sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 17 RA_MOV_CARTESIAN sys_status.act_args = 0.000 0.000 0.035 0.000 2 sys_status.task_cmd = 17 RA_MOV_CARTESIAN sys_status.task_args = 0.000 0.000 0.035 0.000 2 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.215 0.614 0.811 ] sys_status.via.x = [ 1.348 -0.986 0.865 1.499 ] sys_status.via_step = 1 sys_status.via_time = 649622070.0 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 = [ 0.0 6.7 1.9 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.4 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622072.1 97 points before latest (index = 144): sys_status.curr_limit = [ 172 260 210 190 ] sys_status.mtr_volt = [ 1 17 14 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 = 2 RA_SCOOP sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 17 RA_MOV_CARTESIAN sys_status.act_args = 0.000 0.000 0.035 0.000 2 sys_status.task_cmd = 17 RA_MOV_CARTESIAN sys_status.task_args = 0.000 0.000 0.035 0.000 2 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.215 0.614 0.811 ] sys_status.via.x = [ 1.348 -0.986 0.865 1.499 ] sys_status.via_step = 1 sys_status.via_time = 649622070.0 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 = [ 0.0 10.0 1.2 6.0 ] 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.4 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622072.2 96 points before latest (index = 145): sys_status.curr_limit = [ 172 260 210 190 ] sys_status.mtr_volt = [ 1 17 14 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 = 2 RA_SCOOP sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 17 RA_MOV_CARTESIAN sys_status.act_args = 0.000 0.000 0.035 0.000 2 sys_status.task_cmd = 17 RA_MOV_CARTESIAN sys_status.task_args = 0.000 0.000 0.035 0.000 2 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.215 0.614 0.811 ] sys_status.via.x = [ 1.348 -0.986 0.865 1.499 ] sys_status.via_step = 1 sys_status.via_time = 649622070.0 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 = [ 0.0 7.6 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.4 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622072.3 95 points before latest (index = 146): sys_status.curr_limit = [ 172 260 210 190 ] sys_status.mtr_volt = [ 1 17 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 = 2 RA_SCOOP sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 17 RA_MOV_CARTESIAN sys_status.act_args = 0.000 0.000 0.035 0.000 2 sys_status.task_cmd = 17 RA_MOV_CARTESIAN sys_status.task_args = 0.000 0.000 0.035 0.000 2 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.215 0.614 0.811 ] sys_status.via.x = [ 1.348 -0.986 0.865 1.499 ] sys_status.via_step = 1 sys_status.via_time = 649622070.0 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 = [ 0.0 7.8 1.4 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.4 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622072.4 94 points before latest (index = 147): sys_status.curr_limit = [ 172 260 210 190 ] sys_status.mtr_volt = [ 1 18 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 = 2 RA_SCOOP sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 17 RA_MOV_CARTESIAN sys_status.act_args = 0.000 0.000 0.035 0.000 2 sys_status.task_cmd = 17 RA_MOV_CARTESIAN sys_status.task_args = 0.000 0.000 0.035 0.000 2 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.215 0.614 0.811 ] sys_status.via.x = [ 1.348 -0.986 0.865 1.499 ] sys_status.via_step = 1 sys_status.via_time = 649622070.0 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 = [ 0.0 7.6 1.3 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.4 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622072.6 93 points before latest (index = 148): sys_status.curr_limit = [ 172 260 210 190 ] sys_status.mtr_volt = [ 1 17 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 = 2 RA_SCOOP sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 17 RA_MOV_CARTESIAN sys_status.act_args = 0.000 0.000 0.035 0.000 2 sys_status.task_cmd = 17 RA_MOV_CARTESIAN sys_status.task_args = 0.000 0.000 0.035 0.000 2 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.215 0.614 0.811 ] sys_status.via.x = [ 1.348 -0.986 0.865 1.499 ] sys_status.via_step = 1 sys_status.via_time = 649622070.0 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 = [ 0.0 0.0 0.0 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.4 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622072.7 92 points before latest (index = 149): sys_status.curr_limit = [ 172 260 210 190 ] sys_status.mtr_volt = [ 1 16 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 = 2 RA_SCOOP sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 17 RA_MOV_CARTESIAN sys_status.act_args = 0.000 0.000 0.035 0.000 2 sys_status.task_cmd = 17 RA_MOV_CARTESIAN sys_status.task_args = 0.000 0.000 0.035 0.000 2 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.215 0.614 0.811 ] sys_status.via.x = [ 1.348 -0.986 0.865 1.499 ] sys_status.via_step = 1 sys_status.via_time = 649622070.0 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 = [ 0.0 11.6 2.3 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.4 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622072.8 91 points before latest (index = 150): sys_status.curr_limit = [ 172 260 210 190 ] sys_status.mtr_volt = [ 1 16 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 = 2 RA_SCOOP sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 17 RA_MOV_CARTESIAN sys_status.act_args = 0.000 0.000 0.035 0.000 2 sys_status.task_cmd = 17 RA_MOV_CARTESIAN sys_status.task_args = 0.000 0.000 0.035 0.000 2 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.215 0.614 0.811 ] sys_status.via.x = [ 1.348 -0.986 0.865 1.499 ] sys_status.via_step = 1 sys_status.via_time = 649622070.0 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 = [ 0.0 6.4 1.3 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.4 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622072.9 90 points before latest (index = 151): sys_status.curr_limit = [ 172 260 210 190 ] sys_status.mtr_volt = [ 1 16 13 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 = 2 RA_SCOOP sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 17 RA_MOV_CARTESIAN sys_status.act_args = 0.000 0.000 0.035 0.000 2 sys_status.task_cmd = 17 RA_MOV_CARTESIAN sys_status.task_args = 0.000 0.000 0.035 0.000 2 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.215 0.614 0.811 ] sys_status.via.x = [ 1.348 -0.986 0.865 1.499 ] sys_status.via_step = 1 sys_status.via_time = 649622070.0 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 = [ 0.0 6.8 1.9 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.4 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622073.0 89 points before latest (index = 152): sys_status.curr_limit = [ 172 260 210 190 ] sys_status.mtr_volt = [ 1 15 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 = 2 RA_SCOOP sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 17 RA_MOV_CARTESIAN sys_status.act_args = 0.000 0.000 0.035 0.000 2 sys_status.task_cmd = 17 RA_MOV_CARTESIAN sys_status.task_args = 0.000 0.000 0.035 0.000 2 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.215 0.614 0.811 ] sys_status.via.x = [ 1.348 -0.986 0.865 1.499 ] sys_status.via_step = 1 sys_status.via_time = 649622070.0 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 = [ 0.0 6.3 1.5 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.4 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622073.1 88 points before latest (index = 153): sys_status.curr_limit = [ 172 260 210 190 ] sys_status.mtr_volt = [ 1 13 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 = 2 RA_SCOOP sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 17 RA_MOV_CARTESIAN sys_status.act_args = 0.000 0.000 0.035 0.000 2 sys_status.task_cmd = 17 RA_MOV_CARTESIAN sys_status.task_args = 0.000 0.000 0.035 0.000 2 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.215 0.614 0.811 ] sys_status.via.x = [ 1.348 -0.986 0.865 1.499 ] sys_status.via_step = 1 sys_status.via_time = 649622070.0 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 = [ 0.0 8.4 0.0 3.7 ] 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.4 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622073.2 87 points before latest (index = 154): sys_status.curr_limit = [ 172 260 210 190 ] sys_status.mtr_volt = [ 1 12 13 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 = 2 RA_SCOOP sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 17 RA_MOV_CARTESIAN sys_status.act_args = 0.000 0.000 0.035 0.000 2 sys_status.task_cmd = 17 RA_MOV_CARTESIAN sys_status.task_args = 0.000 0.000 0.035 0.000 2 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.215 0.614 0.811 ] sys_status.via.x = [ 1.348 -0.986 0.865 1.499 ] sys_status.via_step = 1 sys_status.via_time = 649622070.0 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 = [ 0.0 6.2 1.8 3.7 ] 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.4 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622073.3 86 points before latest (index = 155): sys_status.curr_limit = [ 172 260 210 190 ] sys_status.mtr_volt = [ 1 11 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 = 2 RA_SCOOP sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 17 RA_MOV_CARTESIAN sys_status.act_args = 0.000 0.000 0.035 0.000 2 sys_status.task_cmd = 17 RA_MOV_CARTESIAN sys_status.task_args = 0.000 0.000 0.035 0.000 2 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.215 0.614 0.811 ] sys_status.via.x = [ 1.348 -0.986 0.865 1.499 ] sys_status.via_step = 1 sys_status.via_time = 649622070.0 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 = [ 0.0 6.3 0.4 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.4 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622073.4 85 points before latest (index = 156): sys_status.curr_limit = [ 172 260 210 190 ] sys_status.mtr_volt = [ 1 9 11 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 = 2 RA_SCOOP sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 17 RA_MOV_CARTESIAN sys_status.act_args = 0.000 0.000 0.035 0.000 2 sys_status.task_cmd = 17 RA_MOV_CARTESIAN sys_status.task_args = 0.000 0.000 0.035 0.000 2 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.215 0.614 0.811 ] sys_status.via.x = [ 1.348 -0.986 0.865 1.499 ] sys_status.via_step = 1 sys_status.via_time = 649622070.0 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 = [ 0.0 10.7 1.9 6.5 ] 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.4 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622073.6 84 points before latest (index = 157): sys_status.curr_limit = [ 172 260 210 190 ] sys_status.mtr_volt = [ 1 7 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 = 2 RA_SCOOP sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 17 RA_MOV_CARTESIAN sys_status.act_args = 0.000 0.000 0.035 0.000 2 sys_status.task_cmd = 17 RA_MOV_CARTESIAN sys_status.task_args = 0.000 0.000 0.035 0.000 2 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.215 0.614 0.811 ] sys_status.via.x = [ 1.348 -0.986 0.865 1.499 ] sys_status.via_step = 1 sys_status.via_time = 649622070.0 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 = [ 0.0 6.1 0.9 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.4 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622073.7 83 points before latest (index = 158): sys_status.curr_limit = [ 172 260 210 190 ] sys_status.mtr_volt = [ 1 7 7 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 = 2 RA_SCOOP sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 17 RA_MOV_CARTESIAN sys_status.act_args = 0.000 0.000 0.035 0.000 2 sys_status.task_cmd = 17 RA_MOV_CARTESIAN sys_status.task_args = 0.000 0.000 0.035 0.000 2 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.215 0.614 0.811 ] sys_status.via.x = [ 1.348 -0.986 0.865 1.499 ] sys_status.via_step = 1 sys_status.via_time = 649622070.0 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 = [ 0.0 0.0 1.9 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.4 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622073.8 82 points before latest (index = 159): sys_status.curr_limit = [ 172 260 210 190 ] sys_status.mtr_volt = [ 1 8 8 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 = 2 RA_SCOOP sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 17 RA_MOV_CARTESIAN sys_status.act_args = 0.000 0.000 0.035 0.000 2 sys_status.task_cmd = 17 RA_MOV_CARTESIAN sys_status.task_args = 0.000 0.000 0.035 0.000 2 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.215 0.614 0.811 ] sys_status.via.x = [ 1.348 -0.986 0.865 1.499 ] sys_status.via_step = 1 sys_status.via_time = 649622070.0 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 = [ 0.0 0.0 0.0 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.4 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622073.9 81 points before latest (index = 160): sys_status.curr_limit = [ 172 260 210 190 ] sys_status.mtr_volt = [ 1 10 9 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 = 2 RA_SCOOP sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 17 RA_MOV_CARTESIAN sys_status.act_args = 0.000 0.000 0.035 0.000 2 sys_status.task_cmd = 17 RA_MOV_CARTESIAN sys_status.task_args = 0.000 0.000 0.035 0.000 2 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.215 0.614 0.811 ] sys_status.via.x = [ 1.348 -0.986 0.865 1.499 ] sys_status.via_step = 1 sys_status.via_time = 649622070.0 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 = [ 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.4 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622074.0 80 points before latest (index = 161): sys_status.curr_limit = [ 172 260 210 190 ] sys_status.mtr_volt = [ 1 10 9 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 = 2 RA_SCOOP sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 17 RA_MOV_CARTESIAN sys_status.act_args = 0.000 0.000 0.035 0.000 2 sys_status.task_cmd = 17 RA_MOV_CARTESIAN sys_status.task_args = 0.000 0.000 0.035 0.000 2 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.215 0.614 0.811 ] sys_status.via.x = [ 1.348 -0.986 0.865 1.499 ] sys_status.via_step = 1 sys_status.via_time = 649622070.0 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 = [ 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.4 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622074.3 79 points before latest (index = 162): sys_status.curr_limit = [ 172 260 210 190 ] sys_status.mtr_volt = [ 1 10 9 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 = 2 RA_SCOOP sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 17 RA_MOV_CARTESIAN sys_status.act_args = 0.000 0.000 0.035 0.000 2 sys_status.task_cmd = 17 RA_MOV_CARTESIAN sys_status.task_args = 0.000 0.000 0.035 0.000 2 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.215 0.614 0.811 ] sys_status.via.x = [ 1.348 -0.986 0.865 1.499 ] sys_status.via_step = 1 sys_status.via_time = 649622070.0 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 = [ 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.4 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622074.3 78 points before latest (index = 163): sys_status.curr_limit = [ 172 260 210 190 ] sys_status.mtr_volt = [ 1 10 9 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 = 2 RA_SCOOP 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 = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.215 0.614 0.811 ] sys_status.via.x = [ 1.348 -0.986 0.865 1.499 ] sys_status.via_step = 1 sys_status.via_time = 649622070.0 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 = 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.4 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622075.0 77 points before latest (index = 164): sys_status.curr_limit = [ 172 260 210 190 ] sys_status.mtr_volt = [ 1 10 9 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 = 2 RA_SCOOP 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 = 9039 14417 4866 2247 sys_status.task_cmd = 11 RA_CALIBRATE sys_status.task_args = sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.215 0.614 0.811 ] sys_status.via.x = [ 1.348 -0.986 0.865 1.499 ] sys_status.via_step = 1 sys_status.via_time = 649622070.0 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 = 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.4 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622075.4 76 points before latest (index = 165): sys_status.curr_limit = [ 172 260 210 190 ] sys_status.mtr_volt = [ 1 10 9 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 = 2 RA_SCOOP 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 = 9040 14426 4866 2248 sys_status.task_cmd = 11 RA_CALIBRATE sys_status.task_args = sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.215 0.614 0.811 ] sys_status.via.x = [ 1.348 -0.986 0.865 1.499 ] sys_status.via_step = 1 sys_status.via_time = 649622070.0 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 = 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.4 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622075.7 75 points before latest (index = 166): sys_status.curr_limit = [ 172 260 210 190 ] sys_status.mtr_volt = [ 1 10 9 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 = 2 RA_SCOOP 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 = 9041 14426 4864 2249 sys_status.task_cmd = 11 RA_CALIBRATE sys_status.task_args = sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.215 0.614 0.811 ] sys_status.via.x = [ 1.348 -0.986 0.865 1.499 ] sys_status.via_step = 1 sys_status.via_time = 649622070.0 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 = 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.4 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622076.0 74 points before latest (index = 167): sys_status.curr_limit = [ 172 260 210 190 ] sys_status.mtr_volt = [ 1 10 9 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 = 2 RA_SCOOP 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 = 9042 14426 4864 2243 sys_status.task_cmd = 11 RA_CALIBRATE sys_status.task_args = sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.215 0.614 0.811 ] sys_status.via.x = [ 1.348 -0.986 0.865 1.499 ] sys_status.via_step = 1 sys_status.via_time = 649622070.0 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 = 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.4 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622076.4 73 points before latest (index = 168): sys_status.curr_limit = [ 172 260 210 190 ] sys_status.mtr_volt = [ 1 10 9 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 = 2 RA_SCOOP 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 = 172 260 210 190 sys_status.task_cmd = 11 RA_CALIBRATE sys_status.task_args = sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.215 0.614 0.811 ] sys_status.via.x = [ 1.348 -0.986 0.865 1.499 ] sys_status.via_step = 1 sys_status.via_time = 649622070.0 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 = 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.4 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622076.6 72 points before latest (index = 169): sys_status.curr_limit = [ 172 260 210 190 ] sys_status.mtr_volt = [ 1 10 9 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 = 2 RA_SCOOP 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 = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.215 0.614 0.811 ] sys_status.via.x = [ 1.348 -0.986 0.865 1.499 ] sys_status.via_step = 1 sys_status.via_time = 649622070.0 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 = 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.9 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622076.9 71 points before latest (index = 170): sys_status.curr_limit = [ 172 260 210 190 ] sys_status.mtr_volt = [ 1 10 9 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 = 2 RA_SCOOP 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 = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.215 0.614 0.811 ] sys_status.via.x = [ 1.348 -0.986 0.865 1.499 ] sys_status.via_step = 1 sys_status.via_time = 649622070.0 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 = 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.9 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622076.9 70 points before latest (index = 171): sys_status.curr_limit = [ 172 260 210 190 ] sys_status.mtr_volt = [ 1 10 9 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 = 2 RA_SCOOP 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 = 26 RA_SET_ONE_PARAM sys_status.task_args = 2 48 0.00000000 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.215 0.614 0.811 ] sys_status.via.x = [ 1.348 -0.986 0.865 1.499 ] sys_status.via_step = 1 sys_status.via_time = 649622070.0 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 = 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.9 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622407.0 69 points before latest (index = 172): sys_status.curr_limit = [ 172 260 210 190 ] sys_status.mtr_volt = [ 1 10 9 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 = 2 RA_SCOOP 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 = 26 RA_SET_ONE_PARAM sys_status.task_args = 2 49 0.00000000 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.215 0.614 0.811 ] sys_status.via.x = [ 1.348 -0.986 0.865 1.499 ] sys_status.via_step = 1 sys_status.via_time = 649622070.0 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 = 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.9 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622407.5 68 points before latest (index = 173): sys_status.curr_limit = [ 172 260 210 190 ] sys_status.mtr_volt = [ 1 10 9 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 = 2 RA_SCOOP 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 = 26 RA_SET_ONE_PARAM sys_status.task_args = 2 50 0.00000000 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.215 0.614 0.811 ] sys_status.via.x = [ 1.348 -0.986 0.865 1.499 ] sys_status.via_step = 1 sys_status.via_time = 649622070.0 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 = 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.9 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622408.0 67 points before latest (index = 174): sys_status.curr_limit = [ 172 260 210 190 ] sys_status.mtr_volt = [ 1 10 9 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 = 2 RA_SCOOP 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 = 26 RA_SET_ONE_PARAM sys_status.task_args = 2 51 1.00000000 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.215 0.614 0.811 ] sys_status.via.x = [ 1.348 -0.986 0.865 1.499 ] sys_status.via_step = 1 sys_status.via_time = 649622070.0 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 = 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.9 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622408.5 66 points before latest (index = 175): sys_status.curr_limit = [ 172 260 210 190 ] sys_status.mtr_volt = [ 1 10 9 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 = 2 RA_SCOOP 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 = 26 RA_SET_ONE_PARAM sys_status.task_args = 11 33 1.00000000 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.215 0.614 0.811 ] sys_status.via.x = [ 1.348 -0.986 0.865 1.499 ] sys_status.via_step = 1 sys_status.via_time = 649622070.0 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 = 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.9 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622409.0 65 points before latest (index = 176): sys_status.curr_limit = [ 172 260 210 190 ] sys_status.mtr_volt = [ 1 10 9 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 = 2 RA_SCOOP 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 = 26 RA_SET_ONE_PARAM sys_status.task_args = 11 34 1.00000000 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.215 0.614 0.811 ] sys_status.via.x = [ 1.348 -0.986 0.865 1.499 ] sys_status.via_step = 1 sys_status.via_time = 649622070.0 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 = 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.9 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622409.5 64 points before latest (index = 177): sys_status.curr_limit = [ 172 260 210 190 ] sys_status.mtr_volt = [ 1 10 9 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 = 2 RA_SCOOP 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 = 26 RA_SET_ONE_PARAM sys_status.task_args = 11 35 1.00000000 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.215 0.614 0.811 ] sys_status.via.x = [ 1.348 -0.986 0.865 1.499 ] sys_status.via_step = 1 sys_status.via_time = 649622070.0 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 = 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.9 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622410.0 63 points before latest (index = 178): sys_status.curr_limit = [ 172 260 210 190 ] sys_status.mtr_volt = [ 1 10 9 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 = 2 RA_SCOOP 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 = 26 RA_SET_ONE_PARAM sys_status.task_args = 11 36 1.00000000 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.215 0.614 0.811 ] sys_status.via.x = [ 1.348 -0.986 0.865 1.499 ] sys_status.via_step = 1 sys_status.via_time = 649622070.0 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 = 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.9 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622410.5 62 points before latest (index = 179): sys_status.curr_limit = [ 172 260 210 190 ] sys_status.mtr_volt = [ 1 10 9 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 = 2 RA_SCOOP 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 = 26 RA_SET_ONE_PARAM sys_status.task_args = 9 16 0.00000000 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.215 0.614 0.811 ] sys_status.via.x = [ 1.348 -0.986 0.865 1.499 ] sys_status.via_step = 1 sys_status.via_time = 649622070.0 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 = 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.9 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622411.0 61 points before latest (index = 180): sys_status.curr_limit = [ 172 260 210 190 ] sys_status.mtr_volt = [ 1 10 9 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 = 2 RA_SCOOP 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 = 26 RA_SET_ONE_PARAM sys_status.task_args = 9 17 0.00000000 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.215 0.614 0.811 ] sys_status.via.x = [ 1.348 -0.986 0.865 1.499 ] sys_status.via_step = 1 sys_status.via_time = 649622070.0 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 = 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.9 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622411.5 60 points before latest (index = 181): sys_status.curr_limit = [ 172 260 210 190 ] sys_status.mtr_volt = [ 1 10 9 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 = 2 RA_SCOOP 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 = 26 RA_SET_ONE_PARAM sys_status.task_args = 9 18 0.00000000 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.215 0.614 0.811 ] sys_status.via.x = [ 1.348 -0.986 0.865 1.499 ] sys_status.via_step = 1 sys_status.via_time = 649622070.0 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 = 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.9 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622412.0 59 points before latest (index = 182): sys_status.curr_limit = [ 172 260 210 190 ] sys_status.mtr_volt = [ 1 10 9 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 = 2 RA_SCOOP 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 = 26 RA_SET_ONE_PARAM sys_status.task_args = 9 19 0.00000000 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.215 0.614 0.811 ] sys_status.via.x = [ 1.348 -0.986 0.865 1.499 ] sys_status.via_step = 1 sys_status.via_time = 649622070.0 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 = 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.9 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622412.5 58 points before latest (index = 183): sys_status.curr_limit = [ 172 260 210 190 ] sys_status.mtr_volt = [ 1 10 9 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 = 2 RA_SCOOP 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 = 26 RA_SET_ONE_PARAM sys_status.task_args = 9 0 95.00000000 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.215 0.614 0.811 ] sys_status.via.x = [ 1.348 -0.986 0.865 1.499 ] sys_status.via_step = 1 sys_status.via_time = 649622070.0 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 = 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.9 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622413.0 57 points before latest (index = 184): sys_status.curr_limit = [ 172 260 210 190 ] sys_status.mtr_volt = [ 1 10 9 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 = 2 RA_SCOOP 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 = 26 RA_SET_ONE_PARAM sys_status.task_args = 9 1 96.00000000 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.215 0.614 0.811 ] sys_status.via.x = [ 1.348 -0.986 0.865 1.499 ] sys_status.via_step = 1 sys_status.via_time = 649622070.0 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 = 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.9 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622413.5 56 points before latest (index = 185): sys_status.curr_limit = [ 172 260 210 190 ] sys_status.mtr_volt = [ 1 10 9 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 = 2 RA_SCOOP 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 = 26 RA_SET_ONE_PARAM sys_status.task_args = 9 2 51.00000000 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.215 0.614 0.811 ] sys_status.via.x = [ 1.348 -0.986 0.865 1.499 ] sys_status.via_step = 1 sys_status.via_time = 649622070.0 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 = 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.9 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622414.0 55 points before latest (index = 186): sys_status.curr_limit = [ 172 260 210 190 ] sys_status.mtr_volt = [ 1 10 9 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 = 2 RA_SCOOP 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 = 26 RA_SET_ONE_PARAM sys_status.task_args = 9 3 100.00000000 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.215 0.614 0.811 ] sys_status.via.x = [ 1.348 -0.986 0.865 1.499 ] sys_status.via_step = 1 sys_status.via_time = 649622070.0 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 = 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.9 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622414.5 54 points before latest (index = 187): sys_status.curr_limit = [ 172 260 210 190 ] sys_status.mtr_volt = [ 1 10 9 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 = 2 RA_SCOOP 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 = 26 RA_SET_ONE_PARAM sys_status.task_args = 8 8 32.00000000 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.215 0.614 0.811 ] sys_status.via.x = [ 1.348 -0.986 0.865 1.499 ] sys_status.via_step = 1 sys_status.via_time = 649622070.0 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 = 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.9 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622415.0 53 points before latest (index = 188): sys_status.curr_limit = [ 172 260 210 190 ] sys_status.mtr_volt = [ 1 10 9 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 = 2 RA_SCOOP 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 = 26 RA_SET_ONE_PARAM sys_status.task_args = 8 9 43.45000076 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.215 0.614 0.811 ] sys_status.via.x = [ 1.348 -0.986 0.865 1.499 ] sys_status.via_step = 1 sys_status.via_time = 649622070.0 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 = 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.9 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622415.5 52 points before latest (index = 189): sys_status.curr_limit = [ 172 260 210 190 ] sys_status.mtr_volt = [ 1 10 9 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 = 2 RA_SCOOP 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 = 26 RA_SET_ONE_PARAM sys_status.task_args = 8 10 17.00000000 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.215 0.614 0.811 ] sys_status.via.x = [ 1.348 -0.986 0.865 1.499 ] sys_status.via_step = 1 sys_status.via_time = 649622070.0 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 = 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.9 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622416.0 51 points before latest (index = 190): sys_status.curr_limit = [ 172 260 210 190 ] sys_status.mtr_volt = [ 1 10 9 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 = 2 RA_SCOOP 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 = 26 RA_SET_ONE_PARAM sys_status.task_args = 8 11 10.50000000 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.215 0.614 0.811 ] sys_status.via.x = [ 1.348 -0.986 0.865 1.499 ] sys_status.via_step = 1 sys_status.via_time = 649622070.0 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 = 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.9 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622416.5 50 points before latest (index = 191): sys_status.curr_limit = [ 172 260 210 190 ] sys_status.mtr_volt = [ 1 10 9 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 = 2 RA_SCOOP 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 = 26 RA_SET_ONE_PARAM sys_status.task_args = 8 12 32.00000000 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.215 0.614 0.811 ] sys_status.via.x = [ 1.348 -0.986 0.865 1.499 ] sys_status.via_step = 1 sys_status.via_time = 649622070.0 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 = 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.9 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622417.0 49 points before latest (index = 192): sys_status.curr_limit = [ 172 260 210 190 ] sys_status.mtr_volt = [ 1 10 9 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 = 2 RA_SCOOP 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 = 26 RA_SET_ONE_PARAM sys_status.task_args = 8 13 43.45000076 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.215 0.614 0.811 ] sys_status.via.x = [ 1.348 -0.986 0.865 1.499 ] sys_status.via_step = 1 sys_status.via_time = 649622070.0 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 = 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.9 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622417.5 48 points before latest (index = 193): sys_status.curr_limit = [ 172 260 210 190 ] sys_status.mtr_volt = [ 1 10 9 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 = 2 RA_SCOOP 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 = 26 RA_SET_ONE_PARAM sys_status.task_args = 8 14 17.00000000 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.215 0.614 0.811 ] sys_status.via.x = [ 1.348 -0.986 0.865 1.499 ] sys_status.via_step = 1 sys_status.via_time = 649622070.0 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 = 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.9 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622418.0 47 points before latest (index = 194): sys_status.curr_limit = [ 172 260 210 190 ] sys_status.mtr_volt = [ 1 10 9 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 = 2 RA_SCOOP 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 = 26 RA_SET_ONE_PARAM sys_status.task_args = 8 15 10.50000000 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.215 0.614 0.811 ] sys_status.via.x = [ 1.348 -0.986 0.865 1.499 ] sys_status.via_step = 1 sys_status.via_time = 649622070.0 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 = 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.9 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622418.5 46 points before latest (index = 195): sys_status.curr_limit = [ 172 260 210 190 ] sys_status.mtr_volt = [ 1 10 9 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 = 2 RA_SCOOP 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 = 12 1 sys_status.task_cmd = 23 RA_SEND_DATA sys_status.task_args = 12 1 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.215 0.614 0.811 ] sys_status.via.x = [ 1.348 -0.986 0.865 1.499 ] sys_status.via_step = 1 sys_status.via_time = 649622070.0 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 = 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.9 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622419.1 45 points before latest (index = 196): sys_status.curr_limit = [ 172 260 210 190 ] sys_status.mtr_volt = [ 1 10 9 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 = 2 RA_SCOOP 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 = 12 1 sys_status.task_cmd = 23 RA_SEND_DATA sys_status.task_args = 12 1 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.215 0.614 0.811 ] sys_status.via.x = [ 1.348 -0.986 0.865 1.499 ] sys_status.via_step = 1 sys_status.via_time = 649622070.0 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 = 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -10.9 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622419.1 44 points before latest (index = 197): sys_status.curr_limit = [ 172 260 210 190 ] sys_status.mtr_volt = [ 1 10 9 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 = 2 RA_SCOOP 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 = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.215 0.614 0.811 ] sys_status.via.x = [ 1.348 -0.986 0.865 1.499 ] sys_status.via_step = 1 sys_status.via_time = 649622070.0 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 = 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -8.6 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622420.3 43 points before latest (index = 198): sys_status.curr_limit = [ 172 260 210 190 ] sys_status.mtr_volt = [ 1 10 9 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 = 2 RA_SCOOP 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 = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.215 0.614 0.811 ] sys_status.via.x = [ 1.348 -0.986 0.865 1.499 ] sys_status.via_step = 1 sys_status.via_time = 649622070.0 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 = 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -8.6 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622420.5 42 points before latest (index = 199): sys_status.curr_limit = [ 172 260 210 190 ] sys_status.mtr_volt = [ 1 10 9 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 = 2 RA_SCOOP 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 = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.215 0.614 0.811 ] sys_status.via.x = [ 1.348 -0.986 0.865 1.499 ] sys_status.via_step = 1 sys_status.via_time = 649622070.0 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 = 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -8.6 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622420.7 41 points before latest (index = 200): sys_status.curr_limit = [ 172 260 210 190 ] sys_status.mtr_volt = [ 1 10 9 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 = 2 RA_SCOOP 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 = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.215 0.614 0.811 ] sys_status.via.x = [ 1.348 -0.986 0.865 1.499 ] sys_status.via_step = 1 sys_status.via_time = 649622070.0 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 = 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -8.6 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622420.9 40 points before latest (index = 201): sys_status.curr_limit = [ 172 260 210 190 ] sys_status.mtr_volt = [ 1 10 9 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 = 2 RA_SCOOP 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 = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.215 0.614 0.811 ] sys_status.via.x = [ 1.348 -0.986 0.865 1.499 ] sys_status.via_step = 1 sys_status.via_time = 649622070.0 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 = 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -8.6 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622421.7 39 points before latest (index = 202): sys_status.curr_limit = [ 172 260 210 190 ] sys_status.mtr_volt = [ 1 10 9 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 = 2 RA_SCOOP 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 = 13 1 sys_status.task_cmd = 23 RA_SEND_DATA sys_status.task_args = 13 1 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.215 0.614 0.811 ] sys_status.via.x = [ 1.348 -0.986 0.865 1.499 ] sys_status.via_step = 1 sys_status.via_time = 649622070.0 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 = 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -8.6 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622422.1 38 points before latest (index = 203): sys_status.curr_limit = [ 172 260 210 190 ] sys_status.mtr_volt = [ 1 10 9 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 = 2 RA_SCOOP 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 = 13 1 sys_status.task_cmd = 23 RA_SEND_DATA sys_status.task_args = 13 1 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.215 0.614 0.811 ] sys_status.via.x = [ 1.348 -0.986 0.865 1.499 ] sys_status.via_step = 1 sys_status.via_time = 649622070.0 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 = 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -8.6 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622422.1 37 points before latest (index = 204): sys_status.curr_limit = [ 172 260 210 190 ] sys_status.mtr_volt = [ 1 10 9 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 = 2 RA_SCOOP 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 = 14 4 sys_status.task_cmd = 23 RA_SEND_DATA sys_status.task_args = 14 4 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.215 0.614 0.811 ] sys_status.via.x = [ 1.348 -0.986 0.865 1.499 ] sys_status.via_step = 1 sys_status.via_time = 649622070.0 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 = 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -8.6 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622422.7 36 points before latest (index = 205): sys_status.curr_limit = [ 172 260 210 190 ] sys_status.mtr_volt = [ 1 10 9 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 = 2 RA_SCOOP 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 = 14 4 sys_status.task_cmd = 23 RA_SEND_DATA sys_status.task_args = 14 4 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.215 0.614 0.811 ] sys_status.via.x = [ 1.348 -0.986 0.865 1.499 ] sys_status.via_step = 1 sys_status.via_time = 649622070.0 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 = 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -8.6 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622422.7 35 points before latest (index = 206): sys_status.curr_limit = [ 172 260 210 190 ] sys_status.mtr_volt = [ 1 10 9 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 = 2 RA_SCOOP 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 = 15 3 sys_status.task_cmd = 23 RA_SEND_DATA sys_status.task_args = 15 3 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.215 0.614 0.811 ] sys_status.via.x = [ 1.348 -0.986 0.865 1.499 ] sys_status.via_step = 1 sys_status.via_time = 649622070.0 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 = 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -8.6 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622423.1 34 points before latest (index = 207): sys_status.curr_limit = [ 172 260 210 190 ] sys_status.mtr_volt = [ 1 10 9 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 = 2 RA_SCOOP 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 = 15 3 sys_status.task_cmd = 23 RA_SEND_DATA sys_status.task_args = 15 3 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.215 0.614 0.811 ] sys_status.via.x = [ 1.348 -0.986 0.865 1.499 ] sys_status.via_step = 1 sys_status.via_time = 649622070.0 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 = 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -8.6 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622423.7 33 points before latest (index = 208): sys_status.curr_limit = [ 172 260 210 190 ] sys_status.mtr_volt = [ 1 10 9 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 = 2 RA_SCOOP 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 = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.215 0.614 0.811 ] sys_status.via.x = [ 1.348 -0.986 0.865 1.499 ] sys_status.via_step = 1 sys_status.via_time = 649622070.0 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 = 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 = 649621838.8 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -8.6 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622436.7 32 points before latest (index = 209): sys_status.curr_limit = [ 172 260 210 190 ] sys_status.mtr_volt = [ 1 10 9 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 = 2 RA_SCOOP 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 = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.215 0.614 0.811 ] sys_status.via.x = [ 1.348 -0.986 0.865 1.499 ] sys_status.via_step = 1 sys_status.via_time = 649622070.0 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 = 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 = 649622436.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -8.6 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622437.7 31 points before latest (index = 210): sys_status.curr_limit = [ 172 260 210 190 ] sys_status.mtr_volt = [ 1 10 9 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 = 2 RA_SCOOP 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 = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.215 0.614 0.811 ] sys_status.via.x = [ 1.348 -0.986 0.865 1.499 ] sys_status.via_step = 1 sys_status.via_time = 649622070.0 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 = 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 = 649622436.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -8.6 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622437.7 30 points before latest (index = 211): sys_status.curr_limit = [ 95 96 51 100 ] 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 = 2 RA_SCOOP sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 17 RA_MOV_CARTESIAN sys_status.act_args = 0.000 0.000 0.005 0.000 2 sys_status.task_cmd = 18 RA_MOVE_GUARDED sys_status.task_args = 0.000 0.000 0.005 0.000 5 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.217 0.613 0.809 ] sys_status.via.x = [ 1.347 -0.986 0.867 1.499 ] sys_status.via_step = 0 sys_status.via_time = 649622439.3 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 = 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 = 649622436.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -8.6 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622439.3 29 points before latest (index = 212): sys_status.curr_limit = [ 95 96 51 100 ] 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 = 2 RA_SCOOP sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 17 RA_MOV_CARTESIAN sys_status.act_args = 0.000 0.000 0.005 0.000 2 sys_status.task_cmd = 18 RA_MOVE_GUARDED sys_status.task_args = 0.000 0.000 0.005 0.000 5 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.224 0.603 0.812 ] sys_status.via.x = [ 1.347 -0.986 0.872 1.499 ] sys_status.via_step = 1 sys_status.via_time = 649622439.3 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 = 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 = 649622436.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -8.6 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622439.4 28 points before latest (index = 213): sys_status.curr_limit = [ 95 96 51 100 ] sys_status.mtr_volt = [ 1 2 2 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 = 2 RA_SCOOP sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 17 RA_MOV_CARTESIAN sys_status.act_args = 0.000 0.000 0.005 0.000 2 sys_status.task_cmd = 18 RA_MOVE_GUARDED sys_status.task_args = 0.000 0.000 0.005 0.000 5 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.224 0.603 0.812 ] sys_status.via.x = [ 1.347 -0.986 0.872 1.499 ] sys_status.via_step = 1 sys_status.via_time = 649622439.3 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 = 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 1.7 0.6 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 = 649622436.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -8.6 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622439.5 27 points before latest (index = 214): sys_status.curr_limit = [ 95 96 51 100 ] sys_status.mtr_volt = [ 1 4 4 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 = 2 RA_SCOOP sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 17 RA_MOV_CARTESIAN sys_status.act_args = 0.000 0.000 0.005 0.000 2 sys_status.task_cmd = 18 RA_MOVE_GUARDED sys_status.task_args = 0.000 0.000 0.005 0.000 5 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.224 0.603 0.812 ] sys_status.via.x = [ 1.347 -0.986 0.872 1.499 ] sys_status.via_step = 1 sys_status.via_time = 649622439.3 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 = 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 0.8 ] 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 = 649622436.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -8.6 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622439.6 26 points before latest (index = 215): sys_status.curr_limit = [ 95 96 51 100 ] sys_status.mtr_volt = [ 1 6 6 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 = 2 RA_SCOOP sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 17 RA_MOV_CARTESIAN sys_status.act_args = 0.000 0.000 0.005 0.000 2 sys_status.task_cmd = 18 RA_MOVE_GUARDED sys_status.task_args = 0.000 0.000 0.005 0.000 5 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.224 0.603 0.812 ] sys_status.via.x = [ 1.347 -0.986 0.872 1.499 ] sys_status.via_step = 1 sys_status.via_time = 649622439.3 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 = 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 0.8 ] 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 = 649622436.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -8.6 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622439.8 25 points before latest (index = 216): sys_status.curr_limit = [ 95 96 51 100 ] sys_status.mtr_volt = [ 1 8 8 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 = 2 RA_SCOOP sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 17 RA_MOV_CARTESIAN sys_status.act_args = 0.000 0.000 0.005 0.000 2 sys_status.task_cmd = 18 RA_MOVE_GUARDED sys_status.task_args = 0.000 0.000 0.005 0.000 5 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.224 0.603 0.812 ] sys_status.via.x = [ 1.347 -0.986 0.872 1.499 ] sys_status.via_step = 1 sys_status.via_time = 649622439.3 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 = 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 0.8 ] 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 = 649622436.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -8.6 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622439.9 24 points before latest (index = 217): sys_status.curr_limit = [ 95 96 51 100 ] sys_status.mtr_volt = [ 1 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 = 2 RA_SCOOP sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 17 RA_MOV_CARTESIAN sys_status.act_args = 0.000 0.000 0.005 0.000 2 sys_status.task_cmd = 18 RA_MOVE_GUARDED sys_status.task_args = 0.000 0.000 0.005 0.000 5 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.224 0.603 0.812 ] sys_status.via.x = [ 1.347 -0.986 0.872 1.499 ] sys_status.via_step = 1 sys_status.via_time = 649622439.3 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 = 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 0.8 ] 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 = 649622436.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -8.6 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622440.0 23 points before latest (index = 218): sys_status.curr_limit = [ 95 96 51 100 ] sys_status.mtr_volt = [ 1 9 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 = 2 RA_SCOOP sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 17 RA_MOV_CARTESIAN sys_status.act_args = 0.000 0.000 0.005 0.000 2 sys_status.task_cmd = 18 RA_MOVE_GUARDED sys_status.task_args = 0.000 0.000 0.005 0.000 5 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.224 0.603 0.812 ] sys_status.via.x = [ 1.347 -0.986 0.872 1.499 ] sys_status.via_step = 1 sys_status.via_time = 649622439.3 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 = 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 6.2 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 = 649622436.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -8.6 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622440.1 22 points before latest (index = 219): sys_status.curr_limit = [ 95 96 51 100 ] sys_status.mtr_volt = [ 1 9 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 = 2 RA_SCOOP sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 17 RA_MOV_CARTESIAN sys_status.act_args = 0.000 0.000 0.005 0.000 2 sys_status.task_cmd = 18 RA_MOVE_GUARDED sys_status.task_args = 0.000 0.000 0.005 0.000 5 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.224 0.603 0.812 ] sys_status.via.x = [ 1.347 -0.986 0.872 1.499 ] sys_status.via_step = 1 sys_status.via_time = 649622439.3 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 = 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 2.0 3.4 ] 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 = 649622436.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -8.6 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622440.2 21 points before latest (index = 220): sys_status.curr_limit = [ 95 96 51 100 ] sys_status.mtr_volt = [ 1 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 = 2 RA_SCOOP sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 17 RA_MOV_CARTESIAN sys_status.act_args = 0.000 0.000 0.005 0.000 2 sys_status.task_cmd = 18 RA_MOVE_GUARDED sys_status.task_args = 0.000 0.000 0.005 0.000 5 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.224 0.603 0.812 ] sys_status.via.x = [ 1.347 -0.986 0.872 1.499 ] sys_status.via_step = 1 sys_status.via_time = 649622439.3 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 = 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 6.6 1.0 3.4 ] 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 = 649622436.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -8.6 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622440.3 20 points before latest (index = 221): sys_status.curr_limit = [ 95 96 51 100 ] sys_status.mtr_volt = [ 1 7 7 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 = 2 RA_SCOOP sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 17 RA_MOV_CARTESIAN sys_status.act_args = 0.000 0.000 0.005 0.000 2 sys_status.task_cmd = 18 RA_MOVE_GUARDED sys_status.task_args = 0.000 0.000 0.005 0.000 5 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.224 0.603 0.812 ] sys_status.via.x = [ 1.347 -0.986 0.872 1.499 ] sys_status.via_step = 1 sys_status.via_time = 649622439.3 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 = 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 6.4 0.1 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 = 649622436.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -8.6 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622440.4 19 points before latest (index = 222): sys_status.curr_limit = [ 95 96 51 100 ] sys_status.mtr_volt = [ 1 7 7 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 = 2 RA_SCOOP sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 17 RA_MOV_CARTESIAN sys_status.act_args = 0.000 0.000 0.005 0.000 2 sys_status.task_cmd = 18 RA_MOVE_GUARDED sys_status.task_args = 0.000 0.000 0.005 0.000 5 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.224 0.603 0.812 ] sys_status.via.x = [ 1.347 -0.986 0.872 1.499 ] sys_status.via_step = 1 sys_status.via_time = 649622439.3 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 = 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 9.9 2.4 6.5 ] 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 = 649622436.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -8.6 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622440.5 18 points before latest (index = 223): sys_status.curr_limit = [ 95 96 51 100 ] sys_status.mtr_volt = [ 1 5 5 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 = 2 RA_SCOOP sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 17 RA_MOV_CARTESIAN sys_status.act_args = 0.000 0.000 0.005 0.000 2 sys_status.task_cmd = 18 RA_MOVE_GUARDED sys_status.task_args = 0.000 0.000 0.005 0.000 5 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.224 0.603 0.812 ] sys_status.via.x = [ 1.347 -0.986 0.872 1.499 ] sys_status.via_step = 1 sys_status.via_time = 649622439.3 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 = 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 7.3 1.2 6.5 ] 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 = 649622436.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -8.6 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622440.6 17 points before latest (index = 224): sys_status.curr_limit = [ 95 96 51 100 ] sys_status.mtr_volt = [ 1 4 4 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 = 2 RA_SCOOP sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 17 RA_MOV_CARTESIAN sys_status.act_args = 0.000 0.000 0.005 0.000 2 sys_status.task_cmd = 18 RA_MOVE_GUARDED sys_status.task_args = 0.000 0.000 0.005 0.000 5 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.224 0.603 0.812 ] sys_status.via.x = [ 1.347 -0.986 0.872 1.499 ] sys_status.via_step = 1 sys_status.via_time = 649622439.3 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 = 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 = 649622436.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -8.6 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622440.8 16 points before latest (index = 225): sys_status.curr_limit = [ 95 96 51 100 ] sys_status.mtr_volt = [ 1 4 4 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 = 2 RA_SCOOP sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 17 RA_MOV_CARTESIAN sys_status.act_args = 0.000 0.000 0.005 0.000 2 sys_status.task_cmd = 18 RA_MOVE_GUARDED sys_status.task_args = 0.000 0.000 0.005 0.000 5 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.224 0.603 0.812 ] sys_status.via.x = [ 1.347 -0.986 0.872 1.499 ] sys_status.via_step = 1 sys_status.via_time = 649622439.3 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 = 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 = 649622436.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -8.6 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622440.9 15 points before latest (index = 226): sys_status.curr_limit = [ 95 96 51 100 ] sys_status.mtr_volt = [ 1 4 4 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 = 2 RA_SCOOP sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 17 RA_MOV_CARTESIAN sys_status.act_args = 0.000 0.000 0.005 0.000 2 sys_status.task_cmd = 18 RA_MOVE_GUARDED sys_status.task_args = 0.000 0.000 0.005 0.000 5 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.224 0.603 0.812 ] sys_status.via.x = [ 1.347 -0.986 0.872 1.499 ] sys_status.via_step = 1 sys_status.via_time = 649622439.3 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 = 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 = 649622436.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -8.6 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622441.0 14 points before latest (index = 227): sys_status.curr_limit = [ 95 96 51 100 ] sys_status.mtr_volt = [ 1 4 4 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 = 2 RA_SCOOP sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 17 RA_MOV_CARTESIAN sys_status.act_args = 0.000 0.000 0.005 0.000 2 sys_status.task_cmd = 18 RA_MOVE_GUARDED sys_status.task_args = 0.000 0.000 0.005 0.000 5 sys_status.target.q = [ 0.770 -0.474 1.693 0.137 ] sys_status.target.x = [ 0.479 0.733 -0.173 1.222 ] sys_status.via.q = [ -0.715 0.224 0.603 0.812 ] sys_status.via.x = [ 1.347 -0.986 0.872 1.499 ] sys_status.via_step = 1 sys_status.via_time = 649622439.3 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 = 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 = 649622436.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -8.6 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622441.3 13 points before latest (index = 228): sys_status.curr_limit = [ 95 96 51 100 ] sys_status.mtr_volt = [ 1 4 4 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 = 2 RA_SCOOP sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 17 RA_MOV_CARTESIAN sys_status.act_args = 0.000 0.000 0.005 0.000 2 sys_status.task_cmd = 18 RA_MOVE_GUARDED sys_status.task_args = 0.000 0.000 0.005 0.000 5 sys_status.target.q = [ -0.715 0.224 0.603 0.812 ] sys_status.target.x = [ 1.344 -0.985 0.877 1.502 ] sys_status.via.q = [ -0.715 0.224 0.603 0.812 ] sys_status.via.x = [ 1.347 -0.986 0.872 1.499 ] sys_status.via_step = 1 sys_status.via_time = 649622439.3 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 = 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 = 649622436.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -8.6 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622441.3 12 points before latest (index = 229): sys_status.curr_limit = [ 95 96 51 100 ] sys_status.mtr_volt = [ 1 4 4 2 ] 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 = 2 RA_SCOOP 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 = [ -0.715 0.224 0.603 0.812 ] sys_status.target.x = [ 1.344 -0.985 0.877 1.502 ] sys_status.via.q = [ -0.715 0.224 0.603 0.812 ] sys_status.via.x = [ 1.347 -0.986 0.872 1.499 ] sys_status.via_step = 1 sys_status.via_time = 649622439.3 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 = 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 = 649622436.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -8.6 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622442.1 11 points before latest (index = 230): sys_status.curr_limit = [ 95 96 51 100 ] sys_status.mtr_volt = [ 1 4 4 2 ] 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 = 2 RA_SCOOP 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 = 9039 14462 4832 2249 sys_status.task_cmd = 11 RA_CALIBRATE sys_status.task_args = sys_status.target.q = [ -0.715 0.224 0.603 0.812 ] sys_status.target.x = [ 1.344 -0.985 0.877 1.502 ] sys_status.via.q = [ -0.715 0.224 0.603 0.812 ] sys_status.via.x = [ 1.347 -0.986 0.872 1.499 ] sys_status.via_step = 1 sys_status.via_time = 649622439.3 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 = 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 = 649622436.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -8.6 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622442.4 10 points before latest (index = 231): sys_status.curr_limit = [ 95 96 51 100 ] sys_status.mtr_volt = [ 1 4 4 2 ] 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 = 2 RA_SCOOP 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 = 9038 14463 4831 2250 sys_status.task_cmd = 11 RA_CALIBRATE sys_status.task_args = sys_status.target.q = [ -0.715 0.224 0.603 0.812 ] sys_status.target.x = [ 1.344 -0.985 0.877 1.502 ] sys_status.via.q = [ -0.715 0.224 0.603 0.812 ] sys_status.via.x = [ 1.347 -0.986 0.872 1.499 ] sys_status.via_step = 1 sys_status.via_time = 649622439.3 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 = 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 = 649622436.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -8.6 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622442.7 9 points before latest (index = 232): sys_status.curr_limit = [ 95 96 51 100 ] sys_status.mtr_volt = [ 1 4 4 2 ] 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 = 2 RA_SCOOP 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 = 9037 14463 4840 2251 sys_status.task_cmd = 11 RA_CALIBRATE sys_status.task_args = sys_status.target.q = [ -0.715 0.224 0.603 0.812 ] sys_status.target.x = [ 1.344 -0.985 0.877 1.502 ] sys_status.via.q = [ -0.715 0.224 0.603 0.812 ] sys_status.via.x = [ 1.347 -0.986 0.872 1.499 ] sys_status.via_step = 1 sys_status.via_time = 649622439.3 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 = 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 = 649622436.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -8.6 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622443.1 8 points before latest (index = 233): sys_status.curr_limit = [ 95 96 51 100 ] sys_status.mtr_volt = [ 1 4 4 2 ] 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 = 2 RA_SCOOP 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 = 9036 14463 4839 2246 sys_status.task_cmd = 11 RA_CALIBRATE sys_status.task_args = sys_status.target.q = [ -0.715 0.224 0.603 0.812 ] sys_status.target.x = [ 1.344 -0.985 0.877 1.502 ] sys_status.via.q = [ -0.715 0.224 0.603 0.812 ] sys_status.via.x = [ 1.347 -0.986 0.872 1.499 ] sys_status.via_step = 1 sys_status.via_time = 649622439.3 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 = 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 = 649622436.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -8.6 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622443.4 7 points before latest (index = 234): sys_status.curr_limit = [ 95 96 51 100 ] sys_status.mtr_volt = [ 1 4 4 2 ] 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 = 2 RA_SCOOP 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 = 95 96 51 100 sys_status.task_cmd = 11 RA_CALIBRATE sys_status.task_args = sys_status.target.q = [ -0.715 0.224 0.603 0.812 ] sys_status.target.x = [ 1.344 -0.985 0.877 1.502 ] sys_status.via.q = [ -0.715 0.224 0.603 0.812 ] sys_status.via.x = [ 1.347 -0.986 0.872 1.499 ] sys_status.via_step = 1 sys_status.via_time = 649622439.3 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 = 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 = 649622436.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -8.6 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622443.7 6 points before latest (index = 235): sys_status.curr_limit = [ 95 96 51 100 ] sys_status.mtr_volt = [ 1 4 4 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 = 2 RA_SCOOP 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 = [ -0.715 0.224 0.603 0.812 ] sys_status.target.x = [ 1.344 -0.985 0.877 1.502 ] sys_status.via.q = [ -0.715 0.224 0.603 0.812 ] sys_status.via.x = [ 1.347 -0.986 0.872 1.499 ] sys_status.via_step = 1 sys_status.via_time = 649622439.3 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 = 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 = 649622436.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -8.6 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622444.0 5 points before latest (index = 236): sys_status.curr_limit = [ 95 96 51 100 ] sys_status.mtr_volt = [ 1 4 4 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 = 2 RA_SCOOP 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 = [ -0.715 0.224 0.603 0.812 ] sys_status.target.x = [ 1.344 -0.985 0.877 1.502 ] sys_status.via.q = [ -0.715 0.224 0.603 0.812 ] sys_status.via.x = [ 1.347 -0.986 0.872 1.499 ] sys_status.via_step = 1 sys_status.via_time = 649622439.3 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 = 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 = 649622436.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -8.6 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622444.0 4 points before latest (index = 237): sys_status.curr_limit = [ 95 96 51 100 ] sys_status.mtr_volt = [ 1 4 4 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 = 2 RA_SCOOP 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 = 16 1 sys_status.task_cmd = 23 RA_SEND_DATA sys_status.task_args = 16 1 sys_status.target.q = [ -0.715 0.224 0.603 0.812 ] sys_status.target.x = [ 1.344 -0.985 0.877 1.502 ] sys_status.via.q = [ -0.715 0.224 0.603 0.812 ] sys_status.via.x = [ 1.347 -0.986 0.872 1.499 ] sys_status.via_step = 1 sys_status.via_time = 649622439.3 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 = 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 = 649622436.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -8.6 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622444.6 3 points before latest (index = 238): sys_status.curr_limit = [ 95 96 51 100 ] sys_status.mtr_volt = [ 1 4 4 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 = 2 RA_SCOOP 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 = 16 1 sys_status.task_cmd = 23 RA_SEND_DATA sys_status.task_args = 16 1 sys_status.target.q = [ -0.715 0.224 0.603 0.812 ] sys_status.target.x = [ 1.344 -0.985 0.877 1.502 ] sys_status.via.q = [ -0.715 0.224 0.603 0.812 ] sys_status.via.x = [ 1.347 -0.986 0.872 1.499 ] sys_status.via_step = 1 sys_status.via_time = 649622439.3 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 = 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 = 649622436.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -8.6 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622444.6 2 points before latest (index = 239): sys_status.curr_limit = [ 95 96 51 100 ] sys_status.mtr_volt = [ 1 4 4 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 = 2 RA_SCOOP 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 = 17 4 sys_status.task_cmd = 23 RA_SEND_DATA sys_status.task_args = 17 4 sys_status.target.q = [ -0.715 0.224 0.603 0.812 ] sys_status.target.x = [ 1.344 -0.985 0.877 1.502 ] sys_status.via.q = [ -0.715 0.224 0.603 0.812 ] sys_status.via.x = [ 1.347 -0.986 0.872 1.499 ] sys_status.via_step = 1 sys_status.via_time = 649622439.3 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 = 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 = 649622436.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -8.6 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622445.2 1 points before latest (index = 240): sys_status.curr_limit = [ 95 96 51 100 ] sys_status.mtr_volt = [ 1 4 4 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 = 2 RA_SCOOP 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 = 17 4 sys_status.task_cmd = 23 RA_SEND_DATA sys_status.task_args = 17 4 sys_status.target.q = [ -0.715 0.224 0.603 0.812 ] sys_status.target.x = [ 1.344 -0.985 0.877 1.502 ] sys_status.via.q = [ -0.715 0.224 0.603 0.812 ] sys_status.via.x = [ 1.347 -0.986 0.872 1.499 ] sys_status.via_step = 1 sys_status.via_time = 649622439.3 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 = 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 = 649622436.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -8.6 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622445.2 0 points before latest (index = 241): sys_status.curr_limit = [ 95 96 51 100 ] sys_status.mtr_volt = [ 1 4 4 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 = 2 RA_SCOOP 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 = 18 0 sys_status.task_cmd = 23 RA_SEND_DATA sys_status.task_args = 18 0 sys_status.target.q = [ -0.715 0.224 0.603 0.812 ] sys_status.target.x = [ 1.344 -0.985 0.877 1.502 ] sys_status.via.q = [ -0.715 0.224 0.603 0.812 ] sys_status.via.x = [ 1.347 -0.986 0.872 1.499 ] sys_status.via_step = 1 sys_status.via_time = 649622439.3 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 = 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 = 649622436.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = -8.6 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 649622445.8