299 points before latest (index = 133): sys_status.curr_limit = [ 110 325 273 190 ] sys_status.mtr_volt = [ 15 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 = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.766 -0.980 2.060 0.121 0 sys_status.task_cmd = 49 RA_MOVE_ONE_JNT sys_status.task_args = 0 0.200 1 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.766 -0.980 2.060 0.121 ] sys_status.via.x = [ 0.549 -0.260 -0.537 1.081 ] sys_status.via_step = 4 sys_status.via_time = 706529515.2 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.4 0.0 0.0 0.0 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.5 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529517.7 298 points before latest (index = 134): sys_status.curr_limit = [ 110 325 273 190 ] sys_status.mtr_volt = [ 15 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 = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.766 -0.980 2.060 0.121 0 sys_status.task_cmd = 49 RA_MOVE_ONE_JNT sys_status.task_args = 0 0.200 1 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.766 -0.980 2.060 0.121 ] sys_status.via.x = [ 0.549 -0.260 -0.537 1.081 ] sys_status.via_step = 4 sys_status.via_time = 706529515.2 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.4 0.0 0.0 0.0 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.5 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529517.8 297 points before latest (index = 135): sys_status.curr_limit = [ 110 325 273 190 ] sys_status.mtr_volt = [ 16 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 = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.766 -0.980 2.060 0.121 0 sys_status.task_cmd = 49 RA_MOVE_ONE_JNT sys_status.task_args = 0 0.200 1 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.766 -0.980 2.060 0.121 ] sys_status.via.x = [ 0.549 -0.260 -0.537 1.081 ] sys_status.via_step = 4 sys_status.via_time = 706529515.2 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.7 0.0 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.5 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529517.9 296 points before latest (index = 136): sys_status.curr_limit = [ 110 325 273 190 ] sys_status.mtr_volt = [ 17 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 = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.766 -0.980 2.060 0.121 0 sys_status.task_cmd = 49 RA_MOVE_ONE_JNT sys_status.task_args = 0 0.200 1 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.766 -0.980 2.060 0.121 ] sys_status.via.x = [ 0.549 -0.260 -0.537 1.081 ] sys_status.via_step = 4 sys_status.via_time = 706529515.2 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.8 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.5 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529518.1 295 points before latest (index = 137): sys_status.curr_limit = [ 110 325 273 190 ] sys_status.mtr_volt = [ 18 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 = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.766 -0.980 2.060 0.121 0 sys_status.task_cmd = 49 RA_MOVE_ONE_JNT sys_status.task_args = 0 0.200 1 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.766 -0.980 2.060 0.121 ] sys_status.via.x = [ 0.549 -0.260 -0.537 1.081 ] sys_status.via_step = 4 sys_status.via_time = 706529515.2 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.6 0.0 0.0 0.0 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.5 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529518.2 294 points before latest (index = 138): sys_status.curr_limit = [ 110 325 273 190 ] sys_status.mtr_volt = [ 16 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 = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.766 -0.980 2.060 0.121 0 sys_status.task_cmd = 49 RA_MOVE_ONE_JNT sys_status.task_args = 0 0.200 1 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.766 -0.980 2.060 0.121 ] sys_status.via.x = [ 0.549 -0.260 -0.537 1.081 ] sys_status.via_step = 4 sys_status.via_time = 706529515.2 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.8 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.5 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529518.3 293 points before latest (index = 139): sys_status.curr_limit = [ 110 325 273 190 ] sys_status.mtr_volt = [ 14 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 = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.766 -0.980 2.060 0.121 0 sys_status.task_cmd = 49 RA_MOVE_ONE_JNT sys_status.task_args = 0 0.200 1 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.766 -0.980 2.060 0.121 ] sys_status.via.x = [ 0.549 -0.260 -0.537 1.081 ] sys_status.via_step = 4 sys_status.via_time = 706529515.2 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 1.9 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.5 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529518.4 292 points before latest (index = 140): sys_status.curr_limit = [ 110 325 273 190 ] sys_status.mtr_volt = [ 12 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 = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.766 -0.980 2.060 0.121 0 sys_status.task_cmd = 49 RA_MOVE_ONE_JNT sys_status.task_args = 0 0.200 1 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.766 -0.980 2.060 0.121 ] sys_status.via.x = [ 0.549 -0.260 -0.537 1.081 ] sys_status.via_step = 4 sys_status.via_time = 706529515.2 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.3 0.0 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.5 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529518.5 291 points before latest (index = 141): sys_status.curr_limit = [ 110 325 273 190 ] sys_status.mtr_volt = [ 10 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 = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.766 -0.980 2.060 0.121 0 sys_status.task_cmd = 49 RA_MOVE_ONE_JNT sys_status.task_args = 0 0.200 1 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.766 -0.980 2.060 0.121 ] sys_status.via.x = [ 0.549 -0.260 -0.537 1.081 ] sys_status.via_step = 4 sys_status.via_time = 706529515.2 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.2 0.0 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.5 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529518.6 290 points before latest (index = 142): sys_status.curr_limit = [ 110 325 273 190 ] sys_status.mtr_volt = [ 9 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 = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.766 -0.980 2.060 0.121 0 sys_status.task_cmd = 49 RA_MOVE_ONE_JNT sys_status.task_args = 0 0.200 1 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.766 -0.980 2.060 0.121 ] sys_status.via.x = [ 0.549 -0.260 -0.537 1.081 ] sys_status.via_step = 4 sys_status.via_time = 706529515.2 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.3 0.0 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.5 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529518.7 289 points before latest (index = 143): sys_status.curr_limit = [ 110 325 273 190 ] sys_status.mtr_volt = [ 8 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 = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.766 -0.980 2.060 0.121 0 sys_status.task_cmd = 49 RA_MOVE_ONE_JNT sys_status.task_args = 0 0.200 1 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.766 -0.980 2.060 0.121 ] sys_status.via.x = [ 0.549 -0.260 -0.537 1.081 ] sys_status.via_step = 4 sys_status.via_time = 706529515.2 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.6 0.0 0.0 0.0 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.5 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529518.8 288 points before latest (index = 144): sys_status.curr_limit = [ 110 325 273 190 ] sys_status.mtr_volt = [ 7 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 = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.766 -0.980 2.060 0.121 0 sys_status.task_cmd = 49 RA_MOVE_ONE_JNT sys_status.task_args = 0 0.200 1 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.766 -0.980 2.060 0.121 ] sys_status.via.x = [ 0.549 -0.260 -0.537 1.081 ] sys_status.via_step = 4 sys_status.via_time = 706529515.2 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.2 0.0 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.5 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529519.0 287 points before latest (index = 145): sys_status.curr_limit = [ 110 325 273 190 ] sys_status.mtr_volt = [ 8 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 = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.766 -0.980 2.060 0.121 0 sys_status.task_cmd = 49 RA_MOVE_ONE_JNT sys_status.task_args = 0 0.200 1 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.766 -0.980 2.060 0.121 ] sys_status.via.x = [ 0.549 -0.260 -0.537 1.081 ] sys_status.via_step = 4 sys_status.via_time = 706529515.2 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.5 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529519.1 286 points before latest (index = 146): sys_status.curr_limit = [ 110 325 273 190 ] sys_status.mtr_volt = [ 8 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 = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.766 -0.980 2.060 0.121 0 sys_status.task_cmd = 49 RA_MOVE_ONE_JNT sys_status.task_args = 0 0.200 1 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.766 -0.980 2.060 0.121 ] sys_status.via.x = [ 0.549 -0.260 -0.537 1.081 ] sys_status.via_step = 4 sys_status.via_time = 706529515.2 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.5 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529519.4 285 points before latest (index = 147): sys_status.curr_limit = [ 110 325 273 190 ] sys_status.mtr_volt = [ 8 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 = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.766 -0.980 2.060 0.121 0 sys_status.task_cmd = 49 RA_MOVE_ONE_JNT sys_status.task_args = 0 0.200 1 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.766 -0.980 2.060 0.121 ] sys_status.via.x = [ 0.549 -0.260 -0.537 1.081 ] sys_status.via_step = 4 sys_status.via_time = 706529515.2 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.5 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529519.4 284 points before latest (index = 148): sys_status.curr_limit = [ 110 325 273 190 ] sys_status.mtr_volt = [ 8 1 1 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 = 3 RA_IDC 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 = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.766 -0.980 2.060 0.121 ] sys_status.via.x = [ 0.549 -0.260 -0.537 1.081 ] sys_status.via_step = 4 sys_status.via_time = 706529515.2 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529622.9 283 points before latest (index = 149): sys_status.curr_limit = [ 110 325 273 190 ] sys_status.mtr_volt = [ 8 1 1 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 = 3 RA_IDC 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 = 9247 8334 9471 1369 sys_status.task_cmd = 11 RA_CALIBRATE sys_status.task_args = sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.766 -0.980 2.060 0.121 ] sys_status.via.x = [ 0.549 -0.260 -0.537 1.081 ] sys_status.via_step = 4 sys_status.via_time = 706529515.2 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529623.3 282 points before latest (index = 150): sys_status.curr_limit = [ 110 325 273 190 ] sys_status.mtr_volt = [ 8 1 1 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 = 3 RA_IDC 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 = 9247 8331 9472 1370 sys_status.task_cmd = 11 RA_CALIBRATE sys_status.task_args = sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.766 -0.980 2.060 0.121 ] sys_status.via.x = [ 0.549 -0.260 -0.537 1.081 ] sys_status.via_step = 4 sys_status.via_time = 706529515.2 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529623.6 281 points before latest (index = 151): sys_status.curr_limit = [ 110 325 273 190 ] sys_status.mtr_volt = [ 8 1 1 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 = 3 RA_IDC 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 = 9247 8332 9469 1371 sys_status.task_cmd = 11 RA_CALIBRATE sys_status.task_args = sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.766 -0.980 2.060 0.121 ] sys_status.via.x = [ 0.549 -0.260 -0.537 1.081 ] sys_status.via_step = 4 sys_status.via_time = 706529515.2 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529623.9 280 points before latest (index = 152): sys_status.curr_limit = [ 110 325 273 190 ] sys_status.mtr_volt = [ 8 1 1 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 = 3 RA_IDC 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 = 9247 8333 9470 1368 sys_status.task_cmd = 11 RA_CALIBRATE sys_status.task_args = sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.766 -0.980 2.060 0.121 ] sys_status.via.x = [ 0.549 -0.260 -0.537 1.081 ] sys_status.via_step = 4 sys_status.via_time = 706529515.2 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529624.3 279 points before latest (index = 153): sys_status.curr_limit = [ 110 325 273 190 ] sys_status.mtr_volt = [ 8 1 1 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 = 3 RA_IDC 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 = 110 325 273 190 sys_status.task_cmd = 11 RA_CALIBRATE sys_status.task_args = sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.766 -0.980 2.060 0.121 ] sys_status.via.x = [ 0.549 -0.260 -0.537 1.081 ] sys_status.via_step = 4 sys_status.via_time = 706529515.2 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529624.5 278 points before latest (index = 154): sys_status.curr_limit = [ 110 325 273 190 ] sys_status.mtr_volt = [ 8 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 = 3 RA_IDC 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 = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.766 -0.980 2.060 0.121 ] sys_status.via.x = [ 0.549 -0.260 -0.537 1.081 ] sys_status.via_step = 4 sys_status.via_time = 706529515.2 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529624.8 277 points before latest (index = 155): sys_status.curr_limit = [ 110 325 273 190 ] sys_status.mtr_volt = [ 8 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 = 3 RA_IDC 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 = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.766 -0.980 2.060 0.121 ] sys_status.via.x = [ 0.549 -0.260 -0.537 1.081 ] sys_status.via_step = 4 sys_status.via_time = 706529515.2 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 1 1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529624.8 276 points before latest (index = 156): 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 = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.766 -0.980 2.060 0.121 ] sys_status.via.x = [ 0.549 -0.260 -0.537 1.081 ] sys_status.via_step = 0 sys_status.via_time = 706529625.5 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529625.5 275 points before latest (index = 157): 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 = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.737 -0.953 2.038 0.113 ] sys_status.via.x = [ 0.571 -0.257 -0.522 1.086 ] sys_status.via_step = 1 sys_status.via_time = 706529625.5 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529625.6 274 points before latest (index = 158): 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 = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.708 -0.926 2.016 0.106 ] sys_status.via.x = [ 0.593 -0.253 -0.507 1.091 ] sys_status.via_step = 2 sys_status.via_time = 706529625.6 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 = [ 0.6 1.0 0.2 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529625.7 273 points before latest (index = 159): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 2 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 = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.708 -0.926 2.016 0.106 ] sys_status.via.x = [ 0.593 -0.253 -0.507 1.091 ] sys_status.via_step = 2 sys_status.via_time = 706529625.6 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 = [ 0.7 1.0 0.2 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529625.8 272 points before latest (index = 160): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 3 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 = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.708 -0.926 2.016 0.106 ] sys_status.via.x = [ 0.593 -0.253 -0.507 1.091 ] sys_status.via_step = 2 sys_status.via_time = 706529625.6 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 = [ 0.6 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529625.9 271 points before latest (index = 161): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 6 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 = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.708 -0.926 2.016 0.106 ] sys_status.via.x = [ 0.593 -0.253 -0.507 1.091 ] sys_status.via_step = 2 sys_status.via_time = 706529625.6 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 = [ 9.8 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529626.1 270 points before latest (index = 162): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 9 8 9 2 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.708 -0.926 2.016 0.106 ] sys_status.via.x = [ 0.593 -0.253 -0.507 1.091 ] sys_status.via_step = 2 sys_status.via_time = 706529625.6 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 = [ 18.7 0.0 0.0 0.0 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529626.2 269 points before latest (index = 163): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 11 10 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 = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.708 -0.926 2.016 0.106 ] sys_status.via.x = [ 0.593 -0.253 -0.507 1.091 ] sys_status.via_step = 2 sys_status.via_time = 706529625.6 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 -1 -1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 3.1 0.0 0.0 4.0 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529626.3 268 points before latest (index = 164): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 11 10 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 = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.708 -0.926 2.016 0.106 ] sys_status.via.x = [ 0.593 -0.253 -0.507 1.091 ] sys_status.via_step = 2 sys_status.via_time = 706529625.6 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 -1 -1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.1 0.0 0.0 0.0 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529626.4 267 points before latest (index = 165): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 11 11 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 = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.708 -0.926 2.016 0.106 ] sys_status.via.x = [ 0.593 -0.253 -0.507 1.091 ] sys_status.via_step = 2 sys_status.via_time = 706529625.6 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 -1 -1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 1.9 3.5 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529626.5 266 points before latest (index = 166): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 12 12 9 2 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.708 -0.926 2.016 0.106 ] sys_status.via.x = [ 0.593 -0.253 -0.507 1.091 ] sys_status.via_step = 2 sys_status.via_time = 706529625.6 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 -1 -1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.1 0.0 3.1 0.4 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529626.6 265 points before latest (index = 167): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 13 13 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 = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.708 -0.926 2.016 0.106 ] sys_status.via.x = [ 0.593 -0.253 -0.507 1.091 ] sys_status.via_step = 2 sys_status.via_time = 706529625.6 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 -1 -1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.5 0.0 0.3 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529626.7 264 points before latest (index = 168): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 14 14 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 = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.708 -0.926 2.016 0.106 ] sys_status.via.x = [ 0.593 -0.253 -0.507 1.091 ] sys_status.via_step = 2 sys_status.via_time = 706529625.6 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 -1 -1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.6 0.0 1.3 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529626.8 263 points before latest (index = 169): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 15 16 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 = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.708 -0.926 2.016 0.106 ] sys_status.via.x = [ 0.593 -0.253 -0.507 1.091 ] sys_status.via_step = 2 sys_status.via_time = 706529625.6 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 -1 -1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.4 0.0 0.4 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529626.9 262 points before latest (index = 170): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 15 17 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 = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.708 -0.926 2.016 0.106 ] sys_status.via.x = [ 0.593 -0.253 -0.507 1.091 ] sys_status.via_step = 2 sys_status.via_time = 706529625.6 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 -1 -1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.6 0.0 0.2 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529627.0 261 points before latest (index = 171): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 14 18 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 = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.708 -0.926 2.016 0.106 ] sys_status.via.x = [ 0.593 -0.253 -0.507 1.091 ] sys_status.via_step = 2 sys_status.via_time = 706529625.6 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 -1 -1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.3 0.0 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529627.2 260 points before latest (index = 172): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 13 19 8 3 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.708 -0.926 2.016 0.106 ] sys_status.via.x = [ 0.593 -0.253 -0.507 1.091 ] sys_status.via_step = 2 sys_status.via_time = 706529625.6 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 -1 -1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.4 0.0 0.0 3.1 ] 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529627.3 259 points before latest (index = 173): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 13 20 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 = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.708 -0.926 2.016 0.106 ] sys_status.via.x = [ 0.593 -0.253 -0.507 1.091 ] sys_status.via_step = 2 sys_status.via_time = 706529625.6 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 -1 -1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.5 0.0 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529627.4 258 points before latest (index = 174): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 13 19 8 3 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.708 -0.926 2.016 0.106 ] sys_status.via.x = [ 0.593 -0.253 -0.507 1.091 ] sys_status.via_step = 2 sys_status.via_time = 706529625.6 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 -1 -1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.5 0.0 0.0 0.4 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529627.5 257 points before latest (index = 175): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 13 17 7 2 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.708 -0.926 2.016 0.106 ] sys_status.via.x = [ 0.593 -0.253 -0.507 1.091 ] sys_status.via_step = 2 sys_status.via_time = 706529625.6 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 -1 -1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.8 7.2 2.1 0.2 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529627.6 256 points before latest (index = 176): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 13 17 7 1 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.708 -0.926 2.016 0.106 ] sys_status.via.x = [ 0.593 -0.253 -0.507 1.091 ] sys_status.via_step = 2 sys_status.via_time = 706529625.6 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 -1 -1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.6 4.0 3.3 0.0 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529627.7 255 points before latest (index = 177): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 13 17 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 = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.708 -0.926 2.016 0.106 ] sys_status.via.x = [ 0.593 -0.253 -0.507 1.091 ] sys_status.via_step = 2 sys_status.via_time = 706529625.6 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 -1 -1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.3 5.0 0.1 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529627.8 254 points before latest (index = 178): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 13 17 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 = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.708 -0.926 2.016 0.106 ] sys_status.via.x = [ 0.593 -0.253 -0.507 1.091 ] sys_status.via_step = 2 sys_status.via_time = 706529625.6 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 -1 -1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.5 5.0 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529627.9 253 points before latest (index = 179): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 13 17 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 = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.708 -0.926 2.016 0.106 ] sys_status.via.x = [ 0.593 -0.253 -0.507 1.091 ] sys_status.via_step = 2 sys_status.via_time = 706529625.6 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 -1 -1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.8 5.5 0.3 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529628.0 252 points before latest (index = 180): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 13 16 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 = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.680 -0.899 1.995 0.098 ] sys_status.via.x = [ 0.615 -0.248 -0.491 1.096 ] sys_status.via_step = 3 sys_status.via_time = 706529628.1 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 -1 -1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.6 5.3 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529628.1 251 points before latest (index = 181): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 14 16 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 = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.680 -0.899 1.995 0.098 ] sys_status.via.x = [ 0.615 -0.248 -0.491 1.096 ] sys_status.via_step = 3 sys_status.via_time = 706529628.1 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 -1 -1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.3 6.6 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529628.2 250 points before latest (index = 182): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 14 17 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 = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.680 -0.899 1.995 0.098 ] sys_status.via.x = [ 0.615 -0.248 -0.491 1.096 ] sys_status.via_step = 3 sys_status.via_time = 706529628.1 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 -1 -1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.4 4.8 0.3 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529628.3 249 points before latest (index = 183): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 14 17 9 2 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.680 -0.899 1.995 0.098 ] sys_status.via.x = [ 0.615 -0.248 -0.491 1.096 ] sys_status.via_step = 3 sys_status.via_time = 706529628.1 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 -1 -1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.6 0.0 0.1 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529628.5 248 points before latest (index = 184): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 15 18 9 2 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.680 -0.899 1.995 0.098 ] sys_status.via.x = [ 0.615 -0.248 -0.491 1.096 ] sys_status.via_step = 3 sys_status.via_time = 706529628.1 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 -1 -1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.8 5.3 0.0 0.0 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529628.6 247 points before latest (index = 185): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 14 17 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 = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.680 -0.899 1.995 0.098 ] sys_status.via.x = [ 0.615 -0.248 -0.491 1.096 ] sys_status.via_step = 3 sys_status.via_time = 706529628.1 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 -1 -1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.6 0.0 0.3 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529628.7 246 points before latest (index = 186): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 12 16 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 = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.680 -0.899 1.995 0.098 ] sys_status.via.x = [ 0.615 -0.248 -0.491 1.096 ] sys_status.via_step = 3 sys_status.via_time = 706529628.1 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 -1 -1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.1 8.1 1.5 0.4 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529628.8 245 points before latest (index = 187): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 12 16 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 = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.680 -0.899 1.995 0.098 ] sys_status.via.x = [ 0.615 -0.248 -0.491 1.096 ] sys_status.via_step = 3 sys_status.via_time = 706529628.1 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 -1 -1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.7 4.8 0.0 0.0 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529628.9 244 points before latest (index = 188): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 13 16 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 = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.680 -0.899 1.995 0.098 ] sys_status.via.x = [ 0.615 -0.248 -0.491 1.096 ] sys_status.via_step = 3 sys_status.via_time = 706529628.1 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 -1 -1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.5 5.9 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529629.0 243 points before latest (index = 189): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 13 17 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 = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.680 -0.899 1.995 0.098 ] sys_status.via.x = [ 0.615 -0.248 -0.491 1.096 ] sys_status.via_step = 3 sys_status.via_time = 706529628.1 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 -1 -1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.5 5.7 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529629.1 242 points before latest (index = 190): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 14 17 9 2 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.680 -0.899 1.995 0.098 ] sys_status.via.x = [ 0.615 -0.248 -0.491 1.096 ] sys_status.via_step = 3 sys_status.via_time = 706529628.1 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 -1 -1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.6 0.0 0.4 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529629.2 241 points before latest (index = 191): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 14 17 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 = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.680 -0.899 1.995 0.098 ] sys_status.via.x = [ 0.615 -0.248 -0.491 1.096 ] sys_status.via_step = 3 sys_status.via_time = 706529628.1 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 -1 -1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.7 5.1 0.0 3.2 ] 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529629.3 240 points before latest (index = 192): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 13 16 8 3 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.680 -0.899 1.995 0.098 ] sys_status.via.x = [ 0.615 -0.248 -0.491 1.096 ] sys_status.via_step = 3 sys_status.via_time = 706529628.1 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 -1 -1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.3 5.0 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529629.5 239 points before latest (index = 193): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 13 16 9 4 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.680 -0.899 1.995 0.098 ] sys_status.via.x = [ 0.615 -0.248 -0.491 1.096 ] sys_status.via_step = 3 sys_status.via_time = 706529628.1 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 -1 -1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.3 5.1 2.7 5.6 ] 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529629.6 238 points before latest (index = 194): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 13 16 9 4 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.680 -0.899 1.995 0.098 ] sys_status.via.x = [ 0.615 -0.248 -0.491 1.096 ] sys_status.via_step = 3 sys_status.via_time = 706529628.1 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 -1 -1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.5 5.3 0.0 0.0 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529629.7 237 points before latest (index = 195): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 16 20 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 = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.651 -0.872 1.973 0.090 ] sys_status.via.x = [ 0.637 -0.242 -0.474 1.101 ] sys_status.via_step = 4 sys_status.via_time = 706529629.7 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 5.5 0.3 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529629.8 236 points before latest (index = 196): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 16 20 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 = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.651 -0.872 1.973 0.090 ] sys_status.via.x = [ 0.637 -0.242 -0.474 1.101 ] sys_status.via_step = 4 sys_status.via_time = 706529629.7 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 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529629.9 235 points before latest (index = 197): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 15 19 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 = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.651 -0.872 1.973 0.090 ] sys_status.via.x = [ 0.637 -0.242 -0.474 1.101 ] sys_status.via_step = 4 sys_status.via_time = 706529629.7 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 = [ 2.4 4.3 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529630.0 234 points before latest (index = 198): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 15 17 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 = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.651 -0.872 1.973 0.090 ] sys_status.via.x = [ 0.637 -0.242 -0.474 1.101 ] sys_status.via_step = 4 sys_status.via_time = 706529629.7 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 = [ 2.4 7.1 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529630.1 233 points before latest (index = 199): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 14 17 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 = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.651 -0.872 1.973 0.090 ] sys_status.via.x = [ 0.637 -0.242 -0.474 1.101 ] sys_status.via_step = 4 sys_status.via_time = 706529629.7 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 5.3 2.1 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529630.3 232 points before latest (index = 200): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 13 16 9 2 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.651 -0.872 1.973 0.090 ] sys_status.via.x = [ 0.637 -0.242 -0.474 1.101 ] sys_status.via_step = 4 sys_status.via_time = 706529629.7 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 5.7 0.6 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529630.4 231 points before latest (index = 201): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 15 17 9 2 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.651 -0.872 1.973 0.090 ] sys_status.via.x = [ 0.637 -0.242 -0.474 1.101 ] sys_status.via_step = 4 sys_status.via_time = 706529629.7 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 = [ 2.6 8.6 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529630.5 230 points before latest (index = 202): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 14 16 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 = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.651 -0.872 1.973 0.090 ] sys_status.via.x = [ 0.637 -0.242 -0.474 1.101 ] sys_status.via_step = 4 sys_status.via_time = 706529629.7 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 0.1 3.3 ] 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529630.6 229 points before latest (index = 203): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 13 16 8 3 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.651 -0.872 1.973 0.090 ] sys_status.via.x = [ 0.637 -0.242 -0.474 1.101 ] sys_status.via_step = 4 sys_status.via_time = 706529629.7 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 5.3 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529630.7 228 points before latest (index = 204): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 13 16 9 4 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.651 -0.872 1.973 0.090 ] sys_status.via.x = [ 0.637 -0.242 -0.474 1.101 ] sys_status.via_step = 4 sys_status.via_time = 706529629.7 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 5.7 3.1 5.6 ] 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529630.8 227 points before latest (index = 205): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 12 16 9 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 = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.651 -0.872 1.973 0.090 ] sys_status.via.x = [ 0.637 -0.242 -0.474 1.101 ] sys_status.via_step = 4 sys_status.via_time = 706529629.7 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 5.9 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529630.9 226 points before latest (index = 206): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 13 16 8 3 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.651 -0.872 1.973 0.090 ] sys_status.via.x = [ 0.637 -0.242 -0.474 1.101 ] sys_status.via_step = 4 sys_status.via_time = 706529629.7 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 5.9 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529631.0 225 points before latest (index = 207): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 13 16 9 2 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.651 -0.872 1.973 0.090 ] sys_status.via.x = [ 0.637 -0.242 -0.474 1.101 ] sys_status.via_step = 4 sys_status.via_time = 706529629.7 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 5.9 2.9 0.0 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529631.1 224 points before latest (index = 208): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 13 16 9 2 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.651 -0.872 1.973 0.090 ] sys_status.via.x = [ 0.637 -0.242 -0.474 1.101 ] sys_status.via_step = 4 sys_status.via_time = 706529629.7 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 5.3 0.0 1.0 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529631.2 223 points before latest (index = 209): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 16 19 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 = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.622 -0.845 1.951 0.083 ] sys_status.via.x = [ 0.658 -0.234 -0.457 1.105 ] sys_status.via_step = 5 sys_status.via_time = 706529631.3 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 -1 -1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.8 5.3 0.7 0.3 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529631.4 222 points before latest (index = 210): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 17 20 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 = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.622 -0.845 1.951 0.083 ] sys_status.via.x = [ 0.658 -0.234 -0.457 1.105 ] sys_status.via_step = 5 sys_status.via_time = 706529631.3 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 -1 -1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 3.1 0.0 0.0 0.4 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529631.5 221 points before latest (index = 211): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 16 19 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 = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.622 -0.845 1.951 0.083 ] sys_status.via.x = [ 0.658 -0.234 -0.457 1.105 ] sys_status.via_step = 5 sys_status.via_time = 706529631.3 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 -1 -1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.5 0.0 0.0 0.3 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529631.6 220 points before latest (index = 212): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 15 17 9 2 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.622 -0.845 1.951 0.083 ] sys_status.via.x = [ 0.658 -0.234 -0.457 1.105 ] sys_status.via_step = 5 sys_status.via_time = 706529631.3 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 -1 -1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.5 9.6 3.3 0.0 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529631.7 219 points before latest (index = 213): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 13 16 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 = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.622 -0.845 1.951 0.083 ] sys_status.via.x = [ 0.658 -0.234 -0.457 1.105 ] sys_status.via_step = 5 sys_status.via_time = 706529631.3 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 -1 -1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.4 5.3 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529631.8 218 points before latest (index = 214): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 13 16 9 2 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.622 -0.845 1.951 0.083 ] sys_status.via.x = [ 0.658 -0.234 -0.457 1.105 ] sys_status.via_step = 5 sys_status.via_time = 706529631.3 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 -1 -1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.3 8.5 0.5 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529631.9 217 points before latest (index = 215): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 12 16 9 2 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.622 -0.845 1.951 0.083 ] sys_status.via.x = [ 0.658 -0.234 -0.457 1.105 ] sys_status.via_step = 5 sys_status.via_time = 706529631.3 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 -1 -1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.8 5.7 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529632.0 216 points before latest (index = 216): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 12 15 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 = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.622 -0.845 1.951 0.083 ] sys_status.via.x = [ 0.658 -0.234 -0.457 1.105 ] sys_status.via_step = 5 sys_status.via_time = 706529631.3 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 -1 -1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.5 5.7 0.8 3.1 ] 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529632.1 215 points before latest (index = 217): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 13 15 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 = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.622 -0.845 1.951 0.083 ] sys_status.via.x = [ 0.658 -0.234 -0.457 1.105 ] sys_status.via_step = 5 sys_status.via_time = 706529631.3 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 -1 -1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.4 4.0 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529632.3 214 points before latest (index = 218): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 14 16 9 4 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.622 -0.845 1.951 0.083 ] sys_status.via.x = [ 0.658 -0.234 -0.457 1.105 ] sys_status.via_step = 5 sys_status.via_time = 706529631.3 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 -1 -1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.6 5.5 0.7 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529632.4 213 points before latest (index = 219): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 15 17 9 4 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.622 -0.845 1.951 0.083 ] sys_status.via.x = [ 0.658 -0.234 -0.457 1.105 ] sys_status.via_step = 5 sys_status.via_time = 706529631.3 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 -1 -1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.7 0.0 0.6 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529632.5 212 points before latest (index = 220): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 14 17 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 = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.622 -0.845 1.951 0.083 ] sys_status.via.x = [ 0.658 -0.234 -0.457 1.105 ] sys_status.via_step = 5 sys_status.via_time = 706529631.3 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 -1 -1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.6 0.0 0.2 0.1 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529632.6 211 points before latest (index = 221): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 13 16 9 2 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.622 -0.845 1.951 0.083 ] sys_status.via.x = [ 0.658 -0.234 -0.457 1.105 ] sys_status.via_step = 5 sys_status.via_time = 706529631.3 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 -1 -1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.0 6.1 0.3 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529632.7 210 points before latest (index = 222): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 13 16 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 = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.622 -0.845 1.951 0.083 ] sys_status.via.x = [ 0.658 -0.234 -0.457 1.105 ] sys_status.via_step = 5 sys_status.via_time = 706529631.3 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 -1 -1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.3 5.5 0.5 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529632.8 209 points before latest (index = 223): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 13 16 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 = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.622 -0.845 1.951 0.083 ] sys_status.via.x = [ 0.658 -0.234 -0.457 1.105 ] sys_status.via_step = 5 sys_status.via_time = 706529631.3 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 -1 -1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.2 6.0 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529632.9 208 points before latest (index = 224): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 18 22 12 3 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.593 -0.818 1.929 0.075 ] sys_status.via.x = [ 0.679 -0.225 -0.439 1.110 ] sys_status.via_step = 6 sys_status.via_time = 706529632.9 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 -1 -1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 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 5.5 0.3 0.8 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529633.0 207 points before latest (index = 225): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 19 22 12 3 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.593 -0.818 1.929 0.075 ] sys_status.via.x = [ 0.679 -0.225 -0.439 1.110 ] sys_status.via_step = 6 sys_status.via_time = 706529632.9 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 -1 -1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 3.1 0.0 0.0 0.0 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529633.1 206 points before latest (index = 226): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 16 19 10 4 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.593 -0.818 1.929 0.075 ] sys_status.via.x = [ 0.679 -0.225 -0.439 1.110 ] sys_status.via_step = 6 sys_status.via_time = 706529632.9 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 -1 -1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.4 5.8 0.1 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529633.3 205 points before latest (index = 227): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 15 17 9 4 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.593 -0.818 1.929 0.075 ] sys_status.via.x = [ 0.679 -0.225 -0.439 1.110 ] sys_status.via_step = 6 sys_status.via_time = 706529632.9 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 -1 -1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 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 5.2 6.2 0.0 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529633.4 204 points before latest (index = 228): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 14 17 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 = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.593 -0.818 1.929 0.075 ] sys_status.via.x = [ 0.679 -0.225 -0.439 1.110 ] sys_status.via_step = 6 sys_status.via_time = 706529632.9 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 -1 -1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 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 0.0 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529633.5 203 points before latest (index = 229): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 14 17 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 = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.593 -0.818 1.929 0.075 ] sys_status.via.x = [ 0.679 -0.225 -0.439 1.110 ] sys_status.via_step = 6 sys_status.via_time = 706529632.9 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 -1 -1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.4 5.9 0.1 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529633.6 202 points before latest (index = 230): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 13 15 9 2 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.593 -0.818 1.929 0.075 ] sys_status.via.x = [ 0.679 -0.225 -0.439 1.110 ] sys_status.via_step = 6 sys_status.via_time = 706529632.9 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 -1 -1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 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 5.3 0.0 0.0 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529633.7 201 points before latest (index = 231): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 12 15 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 = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.593 -0.818 1.929 0.075 ] sys_status.via.x = [ 0.679 -0.225 -0.439 1.110 ] sys_status.via_step = 6 sys_status.via_time = 706529632.9 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 -1 -1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 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 9.2 3.1 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529633.8 200 points before latest (index = 232): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 13 15 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 = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.593 -0.818 1.929 0.075 ] sys_status.via.x = [ 0.679 -0.225 -0.439 1.110 ] sys_status.via_step = 6 sys_status.via_time = 706529632.9 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 -1 -1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.4 6.0 0.3 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529633.9 199 points before latest (index = 233): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 13 15 9 2 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.593 -0.818 1.929 0.075 ] sys_status.via.x = [ 0.679 -0.225 -0.439 1.110 ] sys_status.via_step = 6 sys_status.via_time = 706529632.9 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 -1 -1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 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 6.0 3.2 0.0 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529634.0 198 points before latest (index = 234): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 13 15 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 = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.593 -0.818 1.929 0.075 ] sys_status.via.x = [ 0.679 -0.225 -0.439 1.110 ] sys_status.via_step = 6 sys_status.via_time = 706529632.9 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 -1 -1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 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 5.5 0.0 3.1 ] 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529634.1 197 points before latest (index = 235): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 14 16 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 = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.593 -0.818 1.929 0.075 ] sys_status.via.x = [ 0.679 -0.225 -0.439 1.110 ] sys_status.via_step = 6 sys_status.via_time = 706529632.9 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 -1 -1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 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 5.8 0.0 0.0 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529634.2 196 points before latest (index = 236): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 13 16 9 4 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.593 -0.818 1.929 0.075 ] sys_status.via.x = [ 0.679 -0.225 -0.439 1.110 ] sys_status.via_step = 6 sys_status.via_time = 706529632.9 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 -1 -1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.3 0.0 0.3 5.6 ] 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529634.4 195 points before latest (index = 237): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 13 16 9 4 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.593 -0.818 1.929 0.075 ] sys_status.via.x = [ 0.679 -0.225 -0.439 1.110 ] sys_status.via_step = 6 sys_status.via_time = 706529632.9 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 -1 -1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 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 5.5 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529634.5 194 points before latest (index = 238): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 19 22 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 = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.564 -0.792 1.907 0.068 ] sys_status.via.x = [ 0.700 -0.214 -0.421 1.115 ] sys_status.via_step = 7 sys_status.via_time = 706529634.5 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 = [ 2.5 5.3 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529634.6 193 points before latest (index = 239): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 18 21 11 1 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.564 -0.792 1.907 0.068 ] sys_status.via.x = [ 0.700 -0.214 -0.421 1.115 ] sys_status.via_step = 7 sys_status.via_time = 706529634.5 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 = [ 3.2 0.0 0.0 0.0 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529634.7 192 points before latest (index = 240): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 17 19 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 = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.564 -0.792 1.907 0.068 ] sys_status.via.x = [ 0.700 -0.214 -0.421 1.115 ] sys_status.via_step = 7 sys_status.via_time = 706529634.5 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 5.6 2.5 1.3 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529634.8 191 points before latest (index = 241): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 15 17 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 = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.564 -0.792 1.907 0.068 ] sys_status.via.x = [ 0.700 -0.214 -0.421 1.115 ] sys_status.via_step = 7 sys_status.via_time = 706529634.5 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 = [ 2.5 10.4 2.0 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529634.9 190 points before latest (index = 242): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 13 16 9 2 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.564 -0.792 1.907 0.068 ] sys_status.via.x = [ 0.700 -0.214 -0.421 1.115 ] sys_status.via_step = 7 sys_status.via_time = 706529634.5 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 5.9 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529635.0 189 points before latest (index = 243): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 12 15 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 = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.564 -0.792 1.907 0.068 ] sys_status.via.x = [ 0.700 -0.214 -0.421 1.115 ] sys_status.via_step = 7 sys_status.via_time = 706529634.5 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 -1 -1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.2 9.0 2.5 3.1 ] 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529635.1 188 points before latest (index = 244): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 12 16 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 = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.564 -0.792 1.907 0.068 ] sys_status.via.x = [ 0.700 -0.214 -0.421 1.115 ] sys_status.via_step = 7 sys_status.via_time = 706529634.5 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 = [ 2.5 5.7 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529635.3 187 points before latest (index = 245): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 13 16 9 4 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.564 -0.792 1.907 0.068 ] sys_status.via.x = [ 0.700 -0.214 -0.421 1.115 ] sys_status.via_step = 7 sys_status.via_time = 706529634.5 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 = [ 2.5 0.0 0.3 5.6 ] 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529635.4 186 points before latest (index = 246): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 14 17 9 4 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.564 -0.792 1.907 0.068 ] sys_status.via.x = [ 0.700 -0.214 -0.421 1.115 ] sys_status.via_step = 7 sys_status.via_time = 706529634.5 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 = [ 2.6 6.2 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529635.5 185 points before latest (index = 247): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 14 15 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 = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.564 -0.792 1.907 0.068 ] sys_status.via.x = [ 0.700 -0.214 -0.421 1.115 ] sys_status.via_step = 7 sys_status.via_time = 706529634.5 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 -1 -1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.4 0.0 0.2 0.1 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529635.6 184 points before latest (index = 248): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 13 15 9 2 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.564 -0.792 1.907 0.068 ] sys_status.via.x = [ 0.700 -0.214 -0.421 1.115 ] sys_status.via_step = 7 sys_status.via_time = 706529634.5 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 -1 -1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.4 8.1 0.1 0.4 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529635.7 183 points before latest (index = 249): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 13 15 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 = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.564 -0.792 1.907 0.068 ] sys_status.via.x = [ 0.700 -0.214 -0.421 1.115 ] sys_status.via_step = 7 sys_status.via_time = 706529634.5 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 = [ 2.5 5.8 0.3 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529635.8 182 points before latest (index = 250): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 14 16 9 2 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.564 -0.792 1.907 0.068 ] sys_status.via.x = [ 0.700 -0.214 -0.421 1.115 ] sys_status.via_step = 7 sys_status.via_time = 706529634.5 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 6.8 0.1 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529635.9 181 points before latest (index = 251): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 14 16 9 2 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.564 -0.792 1.907 0.068 ] sys_status.via.x = [ 0.700 -0.214 -0.421 1.115 ] sys_status.via_step = 7 sys_status.via_time = 706529634.5 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 = [ 2.5 0.0 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529636.0 180 points before latest (index = 252): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 18 21 11 3 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.535 -0.765 1.885 0.060 ] sys_status.via.x = [ 0.720 -0.202 -0.403 1.120 ] sys_status.via_step = 8 sys_status.via_time = 706529636.1 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 -1 -1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.5 5.9 0.3 3.1 ] 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529636.1 179 points before latest (index = 253): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 18 22 11 3 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.535 -0.765 1.885 0.060 ] sys_status.via.x = [ 0.720 -0.202 -0.403 1.120 ] sys_status.via_step = 8 sys_status.via_time = 706529636.1 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 -1 -1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.9 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529636.3 178 points before latest (index = 254): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 17 20 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 = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.535 -0.765 1.885 0.060 ] sys_status.via.x = [ 0.720 -0.202 -0.403 1.120 ] sys_status.via_step = 8 sys_status.via_time = 706529636.1 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 -1 -1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 1.7 0.0 0.5 5.7 ] 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529636.4 177 points before latest (index = 255): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 16 19 10 4 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.535 -0.765 1.885 0.060 ] sys_status.via.x = [ 0.720 -0.202 -0.403 1.120 ] sys_status.via_step = 8 sys_status.via_time = 706529636.1 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 -1 -1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.3 11.9 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529636.5 176 points before latest (index = 256): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 13 16 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 = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.535 -0.765 1.885 0.060 ] sys_status.via.x = [ 0.720 -0.202 -0.403 1.120 ] sys_status.via_step = 8 sys_status.via_time = 706529636.1 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 -1 -1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.1 6.1 2.5 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529636.6 175 points before latest (index = 257): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 12 15 9 2 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.535 -0.765 1.885 0.060 ] sys_status.via.x = [ 0.720 -0.202 -0.403 1.120 ] sys_status.via_step = 8 sys_status.via_time = 706529636.1 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 -1 -1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.2 12.1 3.8 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529636.7 174 points before latest (index = 258): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 11 15 9 2 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.535 -0.765 1.885 0.060 ] sys_status.via.x = [ 0.720 -0.202 -0.403 1.120 ] sys_status.via_step = 8 sys_status.via_time = 706529636.1 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 -1 -1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.5 5.3 0.1 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529636.8 173 points before latest (index = 259): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 12 15 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 = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.535 -0.765 1.885 0.060 ] sys_status.via.x = [ 0.720 -0.202 -0.403 1.120 ] sys_status.via_step = 8 sys_status.via_time = 706529636.1 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 -1 -1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 1.9 6.0 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529636.9 172 points before latest (index = 260): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 13 15 9 2 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.535 -0.765 1.885 0.060 ] sys_status.via.x = [ 0.720 -0.202 -0.403 1.120 ] sys_status.via_step = 8 sys_status.via_time = 706529636.1 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 -1 -1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.1 5.8 2.5 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529637.0 171 points before latest (index = 261): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 14 15 9 2 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.535 -0.765 1.885 0.060 ] sys_status.via.x = [ 0.720 -0.202 -0.403 1.120 ] sys_status.via_step = 8 sys_status.via_time = 706529636.1 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 -1 -1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.3 6.0 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529637.1 170 points before latest (index = 262): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 14 16 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 = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.535 -0.765 1.885 0.060 ] sys_status.via.x = [ 0.720 -0.202 -0.403 1.120 ] sys_status.via_step = 8 sys_status.via_time = 706529636.1 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 -1 -1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 1.8 6.8 0.2 3.5 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529637.3 169 points before latest (index = 263): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 14 17 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 = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.535 -0.765 1.885 0.060 ] sys_status.via.x = [ 0.720 -0.202 -0.403 1.120 ] sys_status.via_step = 8 sys_status.via_time = 706529636.1 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 -1 -1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.1 0.0 0.2 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529637.4 168 points before latest (index = 264): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 14 17 9 4 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.535 -0.765 1.885 0.060 ] sys_status.via.x = [ 0.720 -0.202 -0.403 1.120 ] sys_status.via_step = 8 sys_status.via_time = 706529636.1 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 -1 -1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.4 0.0 0.0 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529637.5 167 points before latest (index = 265): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 14 17 9 4 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.535 -0.765 1.885 0.060 ] sys_status.via.x = [ 0.720 -0.202 -0.403 1.120 ] sys_status.via_step = 8 sys_status.via_time = 706529636.1 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 -1 -1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.3 6.1 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529637.6 166 points before latest (index = 266): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 18 21 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 = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.507 -0.738 1.863 0.053 ] sys_status.via.x = [ 0.740 -0.189 -0.384 1.125 ] sys_status.via_step = 9 sys_status.via_time = 706529637.6 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 -1 -1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.3 6.4 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529637.7 165 points before latest (index = 267): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 18 21 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 = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.507 -0.738 1.863 0.053 ] sys_status.via.x = [ 0.740 -0.189 -0.384 1.125 ] sys_status.via_step = 9 sys_status.via_time = 706529637.6 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 -1 -1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.6 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529637.8 164 points before latest (index = 268): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 16 18 11 1 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.507 -0.738 1.863 0.053 ] sys_status.via.x = [ 0.740 -0.189 -0.384 1.125 ] sys_status.via_step = 9 sys_status.via_time = 706529637.6 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 -1 -1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.3 6.4 0.9 0.4 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529637.9 163 points before latest (index = 269): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 15 16 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 = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.507 -0.738 1.863 0.053 ] sys_status.via.x = [ 0.740 -0.189 -0.384 1.125 ] sys_status.via_step = 9 sys_status.via_time = 706529637.6 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 -1 -1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.1 10.5 0.2 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529638.0 162 points before latest (index = 270): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 14 16 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 = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.507 -0.738 1.863 0.053 ] sys_status.via.x = [ 0.740 -0.189 -0.384 1.125 ] sys_status.via_step = 9 sys_status.via_time = 706529637.6 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 -1 -1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.3 5.9 2.4 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529638.1 161 points before latest (index = 271): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 13 16 9 2 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.507 -0.738 1.863 0.053 ] sys_status.via.x = [ 0.740 -0.189 -0.384 1.125 ] sys_status.via_step = 9 sys_status.via_time = 706529637.6 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 -1 -1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.0 6.2 0.2 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529638.2 160 points before latest (index = 272): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 12 16 9 2 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.507 -0.738 1.863 0.053 ] sys_status.via.x = [ 0.740 -0.189 -0.384 1.125 ] sys_status.via_step = 9 sys_status.via_time = 706529637.6 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 -1 -1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.6 6.0 2.5 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529638.4 159 points before latest (index = 273): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 12 16 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 = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.507 -0.738 1.863 0.053 ] sys_status.via.x = [ 0.740 -0.189 -0.384 1.125 ] sys_status.via_step = 9 sys_status.via_time = 706529637.6 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 -1 -1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.4 6.0 0.1 3.1 ] 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529638.5 158 points before latest (index = 274): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 14 16 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 = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.507 -0.738 1.863 0.053 ] sys_status.via.x = [ 0.740 -0.189 -0.384 1.125 ] sys_status.via_step = 9 sys_status.via_time = 706529637.6 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 -1 -1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.4 5.5 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529638.6 157 points before latest (index = 275): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 14 16 8 4 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.507 -0.738 1.863 0.053 ] sys_status.via.x = [ 0.740 -0.189 -0.384 1.125 ] sys_status.via_step = 9 sys_status.via_time = 706529637.6 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 -1 -1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.9 5.7 0.1 5.6 ] 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529638.7 156 points before latest (index = 276): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 13 15 9 4 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.507 -0.738 1.863 0.053 ] sys_status.via.x = [ 0.740 -0.189 -0.384 1.125 ] sys_status.via_step = 9 sys_status.via_time = 706529637.6 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 -1 -1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.4 6.2 3.7 0.0 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529638.8 155 points before latest (index = 277): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 13 16 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 = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.507 -0.738 1.863 0.053 ] sys_status.via.x = [ 0.740 -0.189 -0.384 1.125 ] sys_status.via_step = 9 sys_status.via_time = 706529637.6 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 -1 -1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.5 9.3 0.0 0.0 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529638.9 154 points before latest (index = 278): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 14 16 9 2 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.507 -0.738 1.863 0.053 ] sys_status.via.x = [ 0.740 -0.189 -0.384 1.125 ] sys_status.via_step = 9 sys_status.via_time = 706529637.6 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 -1 -1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.6 0.0 0.3 1.0 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529639.0 153 points before latest (index = 279): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 14 16 9 2 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.507 -0.738 1.863 0.053 ] sys_status.via.x = [ 0.740 -0.189 -0.384 1.125 ] sys_status.via_step = 9 sys_status.via_time = 706529637.6 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 -1 -1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.4 5.9 0.5 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529639.1 152 points before latest (index = 280): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 17 21 11 3 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.478 -0.711 1.841 0.045 ] sys_status.via.x = [ 0.759 -0.175 -0.364 1.130 ] sys_status.via_step = 10 sys_status.via_time = 706529639.1 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 -1 -1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.6 5.9 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529639.2 151 points before latest (index = 281): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 18 22 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 = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.478 -0.711 1.841 0.045 ] sys_status.via.x = [ 0.759 -0.175 -0.364 1.130 ] sys_status.via_step = 10 sys_status.via_time = 706529639.1 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 -1 -1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.6 0.0 0.0 0.0 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529639.3 150 points before latest (index = 282): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 17 20 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 = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.478 -0.711 1.841 0.045 ] sys_status.via.x = [ 0.759 -0.175 -0.364 1.130 ] sys_status.via_step = 10 sys_status.via_time = 706529639.1 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 -1 -1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.5 0.0 0.0 1.1 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529639.5 149 points before latest (index = 283): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 15 18 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 = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.478 -0.711 1.841 0.045 ] sys_status.via.x = [ 0.759 -0.175 -0.364 1.130 ] sys_status.via_step = 10 sys_status.via_time = 706529639.1 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 -1 -1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.4 6.3 2.8 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529639.6 148 points before latest (index = 284): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 13 16 9 2 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.478 -0.711 1.841 0.045 ] sys_status.via.x = [ 0.759 -0.175 -0.364 1.130 ] sys_status.via_step = 10 sys_status.via_time = 706529639.1 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 -1 -1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.3 7.6 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529639.7 147 points before latest (index = 285): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 12 15 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 = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.478 -0.711 1.841 0.045 ] sys_status.via.x = [ 0.759 -0.175 -0.364 1.130 ] sys_status.via_step = 10 sys_status.via_time = 706529639.1 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 -1 -1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.0 6.0 2.8 0.0 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529639.8 146 points before latest (index = 286): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 12 14 9 2 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.478 -0.711 1.841 0.045 ] sys_status.via.x = [ 0.759 -0.175 -0.364 1.130 ] sys_status.via_step = 10 sys_status.via_time = 706529639.1 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 -1 -1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.7 9.7 3.9 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529639.9 145 points before latest (index = 287): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 13 15 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 = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.478 -0.711 1.841 0.045 ] sys_status.via.x = [ 0.759 -0.175 -0.364 1.130 ] sys_status.via_step = 10 sys_status.via_time = 706529639.1 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 -1 -1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.7 6.5 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529640.0 144 points before latest (index = 288): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 13 15 9 2 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.478 -0.711 1.841 0.045 ] sys_status.via.x = [ 0.759 -0.175 -0.364 1.130 ] sys_status.via_step = 10 sys_status.via_time = 706529639.1 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 -1 -1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.6 0.0 0.8 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529640.1 143 points before latest (index = 289): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 13 16 9 2 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.478 -0.711 1.841 0.045 ] sys_status.via.x = [ 0.759 -0.175 -0.364 1.130 ] sys_status.via_step = 10 sys_status.via_time = 706529639.1 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 -1 -1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.0 7.1 0.6 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529640.3 142 points before latest (index = 290): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 14 16 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 = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.478 -0.711 1.841 0.045 ] sys_status.via.x = [ 0.759 -0.175 -0.364 1.130 ] sys_status.via_step = 10 sys_status.via_time = 706529639.1 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 -1 -1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.5 0.0 0.5 4.0 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529640.4 141 points before latest (index = 291): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 15 18 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 = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.478 -0.711 1.841 0.045 ] sys_status.via.x = [ 0.759 -0.175 -0.364 1.130 ] sys_status.via_step = 10 sys_status.via_time = 706529639.1 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 -1 -1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.6 6.8 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529640.5 140 points before latest (index = 292): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 14 16 9 4 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.478 -0.711 1.841 0.045 ] sys_status.via.x = [ 0.759 -0.175 -0.364 1.130 ] sys_status.via_step = 10 sys_status.via_time = 706529639.1 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 -1 -1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.3 0.0 0.0 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529640.6 139 points before latest (index = 293): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 14 16 9 4 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.478 -0.711 1.841 0.045 ] sys_status.via.x = [ 0.759 -0.175 -0.364 1.130 ] sys_status.via_step = 10 sys_status.via_time = 706529639.1 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 -1 -1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.2 0.0 3.9 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529640.7 138 points before latest (index = 294): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 18 21 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 = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.449 -0.684 1.819 0.038 ] sys_status.via.x = [ 0.777 -0.160 -0.344 1.135 ] sys_status.via_step = 11 sys_status.via_time = 706529640.7 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 6.2 0.8 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529640.8 137 points before latest (index = 295): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 18 22 11 1 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.449 -0.684 1.819 0.038 ] sys_status.via.x = [ 0.777 -0.160 -0.344 1.135 ] sys_status.via_step = 11 sys_status.via_time = 706529640.7 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 = [ 2.6 0.0 0.0 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529640.9 136 points before latest (index = 296): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 16 20 11 1 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.449 -0.684 1.819 0.038 ] sys_status.via.x = [ 0.777 -0.160 -0.344 1.135 ] sys_status.via_step = 11 sys_status.via_time = 706529640.7 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 0.0 3.5 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 1.6 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 = 706529641.0 135 points before latest (index = 297): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 15 18 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 = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.449 -0.684 1.819 0.038 ] sys_status.via.x = [ 0.777 -0.160 -0.344 1.135 ] sys_status.via_step = 11 sys_status.via_time = 706529640.7 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 6.2 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 1.6 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 = 706529641.1 134 points before latest (index = 298): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 14 16 9 2 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.449 -0.684 1.819 0.038 ] sys_status.via.x = [ 0.777 -0.160 -0.344 1.135 ] sys_status.via_step = 11 sys_status.via_time = 706529640.7 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 = [ 2.6 12.0 3.5 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 1.6 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 = 706529641.2 133 points before latest (index = 299): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 13 16 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 = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.449 -0.684 1.819 0.038 ] sys_status.via.x = [ 0.777 -0.160 -0.344 1.135 ] sys_status.via_step = 11 sys_status.via_time = 706529640.7 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 5.9 2.5 3.1 ] 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 1.6 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 = 706529641.4 132 points before latest (index = 0): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 13 15 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 = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.449 -0.684 1.819 0.038 ] sys_status.via.x = [ 0.777 -0.160 -0.344 1.135 ] sys_status.via_step = 11 sys_status.via_time = 706529640.7 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 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 1.6 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 = 706529641.5 131 points before latest (index = 1): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 13 16 9 4 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.449 -0.684 1.819 0.038 ] sys_status.via.x = [ 0.777 -0.160 -0.344 1.135 ] sys_status.via_step = 11 sys_status.via_time = 706529640.7 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 10.6 0.3 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 1.6 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 = 706529641.6 130 points before latest (index = 2): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 13 16 9 4 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.449 -0.684 1.819 0.038 ] sys_status.via.x = [ 0.777 -0.160 -0.344 1.135 ] sys_status.via_step = 11 sys_status.via_time = 706529640.7 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 0.1 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 1.6 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 = 706529641.7 129 points before latest (index = 3): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 13 15 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 = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.449 -0.684 1.819 0.038 ] sys_status.via.x = [ 0.777 -0.160 -0.344 1.135 ] sys_status.via_step = 11 sys_status.via_time = 706529640.7 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 7.2 0.6 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 1.6 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 = 706529641.8 128 points before latest (index = 4): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 14 15 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 = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.449 -0.684 1.819 0.038 ] sys_status.via.x = [ 0.777 -0.160 -0.344 1.135 ] sys_status.via_step = 11 sys_status.via_time = 706529640.7 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 = [ 2.6 6.8 0.3 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 1.6 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 = 706529641.9 127 points before latest (index = 5): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 13 16 9 2 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.449 -0.684 1.819 0.038 ] sys_status.via.x = [ 0.777 -0.160 -0.344 1.135 ] sys_status.via_step = 11 sys_status.via_time = 706529640.7 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 = [ 2.6 6.9 0.7 0.1 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 1.6 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 = 706529642.0 126 points before latest (index = 6): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 13 16 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 = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.449 -0.684 1.819 0.038 ] sys_status.via.x = [ 0.777 -0.160 -0.344 1.135 ] sys_status.via_step = 11 sys_status.via_time = 706529640.7 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 0.0 0.7 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 1.6 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 = 706529642.1 125 points before latest (index = 7): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 13 16 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 = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.449 -0.684 1.819 0.038 ] sys_status.via.x = [ 0.777 -0.160 -0.344 1.135 ] sys_status.via_step = 11 sys_status.via_time = 706529640.7 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 = [ 2.6 7.0 0.5 1.2 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 1.6 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 = 706529642.2 124 points before latest (index = 8): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 18 20 11 3 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.420 -0.657 1.798 0.030 ] sys_status.via.x = [ 0.795 -0.143 -0.324 1.140 ] sys_status.via_step = 12 sys_status.via_time = 706529642.3 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 -1 -1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.5 7.0 0.5 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 1.6 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 = 706529642.4 123 points before latest (index = 9): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 18 21 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 = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.420 -0.657 1.798 0.030 ] sys_status.via.x = [ 0.795 -0.143 -0.324 1.140 ] sys_status.via_step = 12 sys_status.via_time = 706529642.3 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 -1 -1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 3.2 0.0 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 1.6 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 = 706529642.5 122 points before latest (index = 10): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 17 20 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 = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.420 -0.657 1.798 0.030 ] sys_status.via.x = [ 0.795 -0.143 -0.324 1.140 ] sys_status.via_step = 12 sys_status.via_time = 706529642.3 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 -1 -1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.2 0.0 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 1.6 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 = 706529642.6 121 points before latest (index = 11): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 15 18 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 = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.420 -0.657 1.798 0.030 ] sys_status.via.x = [ 0.795 -0.143 -0.324 1.140 ] sys_status.via_step = 12 sys_status.via_time = 706529642.3 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 -1 -1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.7 6.2 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 1.6 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 = 706529642.7 120 points before latest (index = 12): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 13 15 9 2 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.420 -0.657 1.798 0.030 ] sys_status.via.x = [ 0.795 -0.143 -0.324 1.140 ] sys_status.via_step = 12 sys_status.via_time = 706529642.3 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 -1 -1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.3 0.0 6.0 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 1.6 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 = 706529642.8 119 points before latest (index = 13): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 12 15 9 2 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.420 -0.657 1.798 0.030 ] sys_status.via.x = [ 0.795 -0.143 -0.324 1.140 ] sys_status.via_step = 12 sys_status.via_time = 706529642.3 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 -1 -1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.2 6.0 0.2 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 1.6 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 = 706529642.9 118 points before latest (index = 14): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 13 15 9 2 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.420 -0.657 1.798 0.030 ] sys_status.via.x = [ 0.795 -0.143 -0.324 1.140 ] sys_status.via_step = 12 sys_status.via_time = 706529642.3 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 -1 -1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.2 6.4 0.2 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 1.6 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 = 706529643.0 117 points before latest (index = 15): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 13 15 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 = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.420 -0.657 1.798 0.030 ] sys_status.via.x = [ 0.795 -0.143 -0.324 1.140 ] sys_status.via_step = 12 sys_status.via_time = 706529642.3 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 -1 -1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.3 6.0 0.3 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 1.6 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 = 706529643.1 116 points before latest (index = 16): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 14 16 9 2 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.420 -0.657 1.798 0.030 ] sys_status.via.x = [ 0.795 -0.143 -0.324 1.140 ] sys_status.via_step = 12 sys_status.via_time = 706529642.3 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 -1 -1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 1.9 5.7 0.0 1.0 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 1.6 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 = 706529643.2 115 points before latest (index = 17): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 14 16 9 2 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.420 -0.657 1.798 0.030 ] sys_status.via.x = [ 0.795 -0.143 -0.324 1.140 ] sys_status.via_step = 12 sys_status.via_time = 706529642.3 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 -1 -1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.6 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 1.6 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 = 706529643.4 114 points before latest (index = 18): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 14 17 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 = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.420 -0.657 1.798 0.030 ] sys_status.via.x = [ 0.795 -0.143 -0.324 1.140 ] sys_status.via_step = 12 sys_status.via_time = 706529642.3 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 -1 -1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.0 6.0 0.6 3.1 ] 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 1.6 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 = 706529643.5 113 points before latest (index = 19): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 14 17 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 = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.420 -0.657 1.798 0.030 ] sys_status.via.x = [ 0.795 -0.143 -0.324 1.140 ] sys_status.via_step = 12 sys_status.via_time = 706529642.3 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 -1 -1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.7 0.0 0.0 0.0 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 1.6 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 = 706529643.6 112 points before latest (index = 20): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 13 17 9 4 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.420 -0.657 1.798 0.030 ] sys_status.via.x = [ 0.795 -0.143 -0.324 1.140 ] sys_status.via_step = 12 sys_status.via_time = 706529642.3 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 -1 -1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.1 5.9 2.5 5.6 ] 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 1.6 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 = 706529643.7 111 points before latest (index = 21): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 13 15 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 = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.420 -0.657 1.798 0.030 ] sys_status.via.x = [ 0.795 -0.143 -0.324 1.140 ] sys_status.via_step = 12 sys_status.via_time = 706529642.3 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 -1 -1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 1.9 6.8 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 1.6 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 = 706529643.8 110 points before latest (index = 22): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 13 15 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 = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.420 -0.657 1.798 0.030 ] sys_status.via.x = [ 0.795 -0.143 -0.324 1.140 ] sys_status.via_step = 12 sys_status.via_time = 706529642.3 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 -1 -1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.5 6.4 0.3 1.0 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 1.6 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 = 706529643.9 109 points before latest (index = 23): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 18 22 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 = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.391 -0.631 1.776 0.023 ] sys_status.via.x = [ 0.812 -0.126 -0.303 1.145 ] sys_status.via_step = 13 sys_status.via_time = 706529643.9 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 -1 -1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 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 6.0 0.4 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 1.6 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 = 706529644.0 108 points before latest (index = 24): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 19 22 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 = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.391 -0.631 1.776 0.023 ] sys_status.via.x = [ 0.812 -0.126 -0.303 1.145 ] sys_status.via_step = 13 sys_status.via_time = 706529643.9 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 -1 -1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.2 0.0 0.0 1.1 ] 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 1.6 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 = 706529644.1 107 points before latest (index = 25): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 18 21 11 1 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.391 -0.631 1.776 0.023 ] sys_status.via.x = [ 0.812 -0.126 -0.303 1.145 ] sys_status.via_step = 13 sys_status.via_time = 706529643.9 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 -1 -1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 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 7.1 0.7 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529644.2 106 points before latest (index = 26): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 15 18 9 2 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.391 -0.631 1.776 0.023 ] sys_status.via.x = [ 0.812 -0.126 -0.303 1.145 ] sys_status.via_step = 13 sys_status.via_time = 706529643.9 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 -1 -1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 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 11.7 3.6 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529644.3 105 points before latest (index = 27): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 14 16 9 2 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.391 -0.631 1.776 0.023 ] sys_status.via.x = [ 0.812 -0.126 -0.303 1.145 ] sys_status.via_step = 13 sys_status.via_time = 706529643.9 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 -1 -1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 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 6.3 4.9 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529644.5 104 points before latest (index = 28): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 13 16 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 = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.391 -0.631 1.776 0.023 ] sys_status.via.x = [ 0.812 -0.126 -0.303 1.145 ] sys_status.via_step = 13 sys_status.via_time = 706529643.9 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 -1 -1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.2 0.0 0.5 3.5 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529644.6 103 points before latest (index = 29): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 12 14 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 = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.391 -0.631 1.776 0.023 ] sys_status.via.x = [ 0.812 -0.126 -0.303 1.145 ] sys_status.via_step = 13 sys_status.via_time = 706529643.9 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 -1 -1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 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 6.8 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529644.7 102 points before latest (index = 30): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 12 15 9 4 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.391 -0.631 1.776 0.023 ] sys_status.via.x = [ 0.812 -0.126 -0.303 1.145 ] sys_status.via_step = 13 sys_status.via_time = 706529643.9 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 -1 -1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.4 6.5 0.5 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529644.8 101 points before latest (index = 31): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 12 15 9 4 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.391 -0.631 1.776 0.023 ] sys_status.via.x = [ 0.812 -0.126 -0.303 1.145 ] sys_status.via_step = 13 sys_status.via_time = 706529643.9 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 -1 -1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.7 0.0 0.5 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529644.9 100 points before latest (index = 32): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 13 16 8 3 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.391 -0.631 1.776 0.023 ] sys_status.via.x = [ 0.812 -0.126 -0.303 1.145 ] sys_status.via_step = 13 sys_status.via_time = 706529643.9 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 -1 -1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 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 7.3 0.7 0.1 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529645.0 99 points before latest (index = 33): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 14 15 9 2 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.391 -0.631 1.776 0.023 ] sys_status.via.x = [ 0.812 -0.126 -0.303 1.145 ] sys_status.via_step = 13 sys_status.via_time = 706529643.9 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 -1 -1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.6 0.0 3.9 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529645.1 98 points before latest (index = 34): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 14 15 9 2 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.391 -0.631 1.776 0.023 ] sys_status.via.x = [ 0.812 -0.126 -0.303 1.145 ] sys_status.via_step = 13 sys_status.via_time = 706529643.9 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 -1 -1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 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 8.6 0.0 0.3 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529645.3 97 points before latest (index = 35): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 14 15 9 2 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.391 -0.631 1.776 0.023 ] sys_status.via.x = [ 0.812 -0.126 -0.303 1.145 ] sys_status.via_step = 13 sys_status.via_time = 706529643.9 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 -1 -1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 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 6.4 0.2 0.1 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529645.4 96 points before latest (index = 36): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 19 23 12 3 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.363 -0.604 1.754 0.015 ] sys_status.via.x = [ 0.828 -0.107 -0.281 1.150 ] sys_status.via_step = 14 sys_status.via_time = 706529645.4 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 6.0 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529645.5 95 points before latest (index = 37): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 18 23 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 = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.363 -0.604 1.754 0.015 ] sys_status.via.x = [ 0.828 -0.107 -0.281 1.150 ] sys_status.via_step = 14 sys_status.via_time = 706529645.4 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 -1 -1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.7 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529645.6 94 points before latest (index = 38): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 16 20 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 = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.363 -0.604 1.754 0.015 ] sys_status.via.x = [ 0.828 -0.107 -0.281 1.150 ] sys_status.via_step = 14 sys_status.via_time = 706529645.4 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 -1 -1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.0 6.6 0.3 0.8 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529645.7 93 points before latest (index = 39): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 14 17 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 = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.363 -0.604 1.754 0.015 ] sys_status.via.x = [ 0.828 -0.107 -0.281 1.150 ] sys_status.via_step = 14 sys_status.via_time = 706529645.4 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 -1 -1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.4 6.2 4.8 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529645.8 92 points before latest (index = 40): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 13 15 9 2 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.363 -0.604 1.754 0.015 ] sys_status.via.x = [ 0.828 -0.107 -0.281 1.150 ] sys_status.via_step = 14 sys_status.via_time = 706529645.4 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 -1 -1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.1 0.0 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529645.9 91 points before latest (index = 41): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 13 15 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 = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.363 -0.604 1.754 0.015 ] sys_status.via.x = [ 0.828 -0.107 -0.281 1.150 ] sys_status.via_step = 14 sys_status.via_time = 706529645.4 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 -1 -1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.2 6.0 2.6 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529646.0 90 points before latest (index = 42): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 13 15 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 = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.363 -0.604 1.754 0.015 ] sys_status.via.x = [ 0.828 -0.107 -0.281 1.150 ] sys_status.via_step = 14 sys_status.via_time = 706529645.4 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 6.4 3.8 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529646.1 89 points before latest (index = 43): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 13 16 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 = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.363 -0.604 1.754 0.015 ] sys_status.via.x = [ 0.828 -0.107 -0.281 1.150 ] sys_status.via_step = 14 sys_status.via_time = 706529645.4 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 -1 -1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.0 6.8 0.0 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529646.3 88 points before latest (index = 44): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 14 16 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 = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.363 -0.604 1.754 0.015 ] sys_status.via.x = [ 0.828 -0.107 -0.281 1.150 ] sys_status.via_step = 14 sys_status.via_time = 706529645.4 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 0.0 0.1 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529646.4 87 points before latest (index = 45): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 14 17 9 2 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.363 -0.604 1.754 0.015 ] sys_status.via.x = [ 0.828 -0.107 -0.281 1.150 ] sys_status.via_step = 14 sys_status.via_time = 706529645.4 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 -1 -1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.3 7.3 0.3 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529646.5 86 points before latest (index = 46): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 13 16 9 2 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.363 -0.604 1.754 0.015 ] sys_status.via.x = [ 0.828 -0.107 -0.281 1.150 ] sys_status.via_step = 14 sys_status.via_time = 706529645.4 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 -1 -1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 1.5 0.0 0.6 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529646.6 85 points before latest (index = 47): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 13 16 9 2 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.363 -0.604 1.754 0.015 ] sys_status.via.x = [ 0.828 -0.107 -0.281 1.150 ] sys_status.via_step = 14 sys_status.via_time = 706529645.4 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 -1 -1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.3 12.1 0.2 3.2 ] 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529646.7 84 points before latest (index = 48): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 13 16 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 = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.363 -0.604 1.754 0.015 ] sys_status.via.x = [ 0.828 -0.107 -0.281 1.150 ] sys_status.via_step = 14 sys_status.via_time = 706529645.4 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 -1 -1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.3 7.0 0.6 3.1 ] 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529646.8 83 points before latest (index = 49): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 13 15 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 = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.363 -0.604 1.754 0.015 ] sys_status.via.x = [ 0.828 -0.107 -0.281 1.150 ] sys_status.via_step = 14 sys_status.via_time = 706529645.4 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 -1 -1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.0 7.2 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529646.9 82 points before latest (index = 50): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 13 15 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 = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.363 -0.604 1.754 0.015 ] sys_status.via.x = [ 0.828 -0.107 -0.281 1.150 ] sys_status.via_step = 14 sys_status.via_time = 706529645.4 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 -1 -1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.3 7.1 0.4 5.6 ] 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529647.0 81 points before latest (index = 51): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 18 22 11 3 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.334 -0.577 1.732 0.008 ] sys_status.via.x = [ 0.843 -0.088 -0.260 1.155 ] sys_status.via_step = 15 sys_status.via_time = 706529647.1 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 -1 -1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.2 6.9 0.1 5.6 ] 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529647.1 80 points before latest (index = 52): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 19 23 12 3 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.334 -0.577 1.732 0.008 ] sys_status.via.x = [ 0.843 -0.088 -0.260 1.155 ] sys_status.via_step = 15 sys_status.via_time = 706529647.1 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 -1 -1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.9 0.0 0.0 5.6 ] 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529647.3 79 points before latest (index = 53): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 18 21 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 = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.334 -0.577 1.732 0.008 ] sys_status.via.x = [ 0.843 -0.088 -0.260 1.155 ] sys_status.via_step = 15 sys_status.via_time = 706529647.1 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 -1 -1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 1.8 0.0 0.0 5.6 ] 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529647.4 78 points before latest (index = 54): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 16 18 10 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 = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.334 -0.577 1.732 0.008 ] sys_status.via.x = [ 0.843 -0.088 -0.260 1.155 ] sys_status.via_step = 15 sys_status.via_time = 706529647.1 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 -1 -1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 1.9 14.5 3.3 0.0 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529647.5 77 points before latest (index = 55): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 14 16 10 4 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.334 -0.577 1.732 0.008 ] sys_status.via.x = [ 0.843 -0.088 -0.260 1.155 ] sys_status.via_step = 15 sys_status.via_time = 706529647.1 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 -1 -1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.1 5.7 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529647.6 76 points before latest (index = 56): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 13 15 9 2 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.334 -0.577 1.732 0.008 ] sys_status.via.x = [ 0.843 -0.088 -0.260 1.155 ] sys_status.via_step = 15 sys_status.via_time = 706529647.1 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 -1 -1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 1.7 13.4 0.2 0.3 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529647.7 75 points before latest (index = 57): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 13 15 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 = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.334 -0.577 1.732 0.008 ] sys_status.via.x = [ 0.843 -0.088 -0.260 1.155 ] sys_status.via_step = 15 sys_status.via_time = 706529647.1 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 -1 -1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.6 1.6 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529647.8 74 points before latest (index = 58): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 12 15 9 2 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.334 -0.577 1.732 0.008 ] sys_status.via.x = [ 0.843 -0.088 -0.260 1.155 ] sys_status.via_step = 15 sys_status.via_time = 706529647.1 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 -1 -1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.3 6.6 3.2 0.5 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529647.9 73 points before latest (index = 59): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 13 15 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 = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.334 -0.577 1.732 0.008 ] sys_status.via.x = [ 0.843 -0.088 -0.260 1.155 ] sys_status.via_step = 15 sys_status.via_time = 706529647.1 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 -1 -1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 1.8 6.4 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529648.0 72 points before latest (index = 60): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 14 16 9 2 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.334 -0.577 1.732 0.008 ] sys_status.via.x = [ 0.843 -0.088 -0.260 1.155 ] sys_status.via_step = 15 sys_status.via_time = 706529647.1 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 -1 -1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.8 6.8 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529648.1 71 points before latest (index = 61): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 13 16 9 2 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.334 -0.577 1.732 0.008 ] sys_status.via.x = [ 0.843 -0.088 -0.260 1.155 ] sys_status.via_step = 15 sys_status.via_time = 706529647.1 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 -1 -1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.4 0.0 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529648.2 70 points before latest (index = 62): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 14 16 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 = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.334 -0.577 1.732 0.008 ] sys_status.via.x = [ 0.843 -0.088 -0.260 1.155 ] sys_status.via_step = 15 sys_status.via_time = 706529647.1 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 -1 -1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.3 6.4 0.2 3.1 ] 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529648.3 69 points before latest (index = 63): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 14 16 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 = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.334 -0.577 1.732 0.008 ] sys_status.via.x = [ 0.843 -0.088 -0.260 1.155 ] sys_status.via_step = 15 sys_status.via_time = 706529647.1 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 -1 -1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.7 7.2 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529648.5 68 points before latest (index = 64): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 14 16 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 = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.334 -0.577 1.732 0.008 ] sys_status.via.x = [ 0.843 -0.088 -0.260 1.155 ] sys_status.via_step = 15 sys_status.via_time = 706529647.1 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 -1 -1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 1.8 6.8 0.3 5.6 ] 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529648.6 67 points before latest (index = 65): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 18 21 11 3 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.305 -0.550 1.710 0.000 ] sys_status.via.x = [ 0.857 -0.067 -0.238 1.160 ] sys_status.via_step = 16 sys_status.via_time = 706529648.6 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 -1 -1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.6 7.5 0.0 5.6 ] 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529648.7 66 points before latest (index = 66): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 18 21 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 = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.305 -0.550 1.710 0.000 ] sys_status.via.x = [ 0.857 -0.067 -0.238 1.160 ] sys_status.via_step = 16 sys_status.via_time = 706529648.6 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 -1 -1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.8 0.0 0.0 5.6 ] 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529648.8 65 points before latest (index = 67): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 16 19 10 4 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.305 -0.550 1.710 0.000 ] sys_status.via.x = [ 0.857 -0.067 -0.238 1.160 ] sys_status.via_step = 16 sys_status.via_time = 706529648.6 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 -1 -1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 1.7 7.3 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529648.9 64 points before latest (index = 68): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 15 17 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 = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.305 -0.550 1.710 0.000 ] sys_status.via.x = [ 0.857 -0.067 -0.238 1.160 ] sys_status.via_step = 16 sys_status.via_time = 706529648.6 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 -1 -1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.4 14.3 3.7 0.1 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529649.0 63 points before latest (index = 69): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 14 15 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 = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.305 -0.550 1.710 0.000 ] sys_status.via.x = [ 0.857 -0.067 -0.238 1.160 ] sys_status.via_step = 16 sys_status.via_time = 706529648.6 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 -1 -1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.3 8.1 0.6 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529649.1 62 points before latest (index = 70): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 13 16 9 2 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.305 -0.550 1.710 0.000 ] sys_status.via.x = [ 0.857 -0.067 -0.238 1.160 ] sys_status.via_step = 16 sys_status.via_time = 706529648.6 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 -1 -1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 1.8 12.3 0.4 0.8 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529649.2 61 points before latest (index = 71): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 12 16 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 = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.305 -0.550 1.710 0.000 ] sys_status.via.x = [ 0.857 -0.067 -0.238 1.160 ] sys_status.via_step = 16 sys_status.via_time = 706529648.6 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 -1 -1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.3 0.0 3.2 0.0 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529649.4 60 points before latest (index = 72): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 12 15 9 2 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.305 -0.550 1.710 0.000 ] sys_status.via.x = [ 0.857 -0.067 -0.238 1.160 ] sys_status.via_step = 16 sys_status.via_time = 706529648.6 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 -1 -1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.2 6.8 0.2 1.9 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529649.5 59 points before latest (index = 73): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 14 17 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 = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.305 -0.550 1.710 0.000 ] sys_status.via.x = [ 0.857 -0.067 -0.238 1.160 ] sys_status.via_step = 16 sys_status.via_time = 706529648.6 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 -1 -1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.7 12.5 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529649.6 58 points before latest (index = 74): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 14 16 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 = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.305 -0.550 1.710 0.000 ] sys_status.via.x = [ 0.857 -0.067 -0.238 1.160 ] sys_status.via_step = 16 sys_status.via_time = 706529648.6 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 -1 -1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.2 0.0 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529649.7 57 points before latest (index = 75): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 13 15 9 4 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.305 -0.550 1.710 0.000 ] sys_status.via.x = [ 0.857 -0.067 -0.238 1.160 ] sys_status.via_step = 16 sys_status.via_time = 706529648.6 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 -1 -1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.2 7.7 0.6 5.7 ] 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529649.8 56 points before latest (index = 76): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 13 15 9 4 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.305 -0.550 1.710 0.000 ] sys_status.via.x = [ 0.857 -0.067 -0.238 1.160 ] sys_status.via_step = 16 sys_status.via_time = 706529648.6 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 -1 -1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.3 6.8 0.6 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529649.9 55 points before latest (index = 77): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 13 16 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 = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.305 -0.550 1.710 0.000 ] sys_status.via.x = [ 0.857 -0.067 -0.238 1.160 ] sys_status.via_step = 16 sys_status.via_time = 706529648.6 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 -1 -1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.0 6.4 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529650.0 54 points before latest (index = 78): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 14 16 9 2 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.305 -0.550 1.710 0.000 ] sys_status.via.x = [ 0.857 -0.067 -0.238 1.160 ] sys_status.via_step = 16 sys_status.via_time = 706529648.6 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 -1 -1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 1.6 0.0 0.6 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529650.1 53 points before latest (index = 79): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 14 16 9 2 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.305 -0.550 1.710 0.000 ] sys_status.via.x = [ 0.857 -0.067 -0.238 1.160 ] sys_status.via_step = 16 sys_status.via_time = 706529648.6 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 -1 -1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.3 7.2 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529650.3 52 points before latest (index = 80): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 14 16 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 = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.305 -0.550 1.710 0.000 ] sys_status.via.x = [ 0.857 -0.067 -0.238 1.160 ] sys_status.via_step = 16 sys_status.via_time = 706529648.6 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 -1 -1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.3 6.8 0.5 0.2 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529650.4 51 points before latest (index = 81): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 15 17 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 = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.305 -0.550 1.710 0.000 ] sys_status.via.x = [ 0.857 -0.067 -0.238 1.160 ] sys_status.via_step = 16 sys_status.via_time = 706529648.6 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 -1 -1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.1 7.2 0.2 0.3 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529650.5 50 points before latest (index = 82): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 14 17 9 2 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.305 -0.550 1.710 0.000 ] sys_status.via.x = [ 0.857 -0.067 -0.238 1.160 ] sys_status.via_step = 16 sys_status.via_time = 706529648.6 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 -1 -1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.6 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529650.6 49 points before latest (index = 83): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 13 16 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 = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.305 -0.550 1.710 0.000 ] sys_status.via.x = [ 0.857 -0.067 -0.238 1.160 ] sys_status.via_step = 16 sys_status.via_time = 706529648.6 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 -1 -1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 1.8 6.8 3.5 3.2 ] 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529650.7 48 points before latest (index = 84): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 13 16 9 4 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.305 -0.550 1.710 0.000 ] sys_status.via.x = [ 0.857 -0.067 -0.238 1.160 ] sys_status.via_step = 16 sys_status.via_time = 706529648.6 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 -1 -1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.2 8.3 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529650.8 47 points before latest (index = 85): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 13 15 8 3 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.305 -0.550 1.710 0.000 ] sys_status.via.x = [ 0.857 -0.067 -0.238 1.160 ] sys_status.via_step = 16 sys_status.via_time = 706529648.6 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 -1 -1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.2 7.3 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529650.9 46 points before latest (index = 86): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 13 15 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 = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.305 -0.550 1.710 0.000 ] sys_status.via.x = [ 0.857 -0.067 -0.238 1.160 ] sys_status.via_step = 16 sys_status.via_time = 706529648.6 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 -1 -1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 1.9 4.7 2.0 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529651.0 45 points before latest (index = 87): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 14 15 9 2 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.305 -0.550 1.710 0.000 ] sys_status.via.x = [ 0.857 -0.067 -0.238 1.160 ] sys_status.via_step = 16 sys_status.via_time = 706529648.6 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 -1 -1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.3 7.3 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529651.1 44 points before latest (index = 88): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 14 13 9 2 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.305 -0.550 1.710 0.000 ] sys_status.via.x = [ 0.857 -0.067 -0.238 1.160 ] sys_status.via_step = 16 sys_status.via_time = 706529648.6 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 -1 -1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.3 7.3 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529651.3 43 points before latest (index = 89): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 12 12 9 2 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.305 -0.550 1.710 0.000 ] sys_status.via.x = [ 0.857 -0.067 -0.238 1.160 ] sys_status.via_step = 16 sys_status.via_time = 706529648.6 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 -1 -1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.1 9.1 0.1 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529651.4 42 points before latest (index = 90): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 12 11 9 2 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.305 -0.550 1.710 0.000 ] sys_status.via.x = [ 0.857 -0.067 -0.238 1.160 ] sys_status.via_step = 16 sys_status.via_time = 706529648.6 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 -1 -1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.2 7.2 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529651.5 41 points before latest (index = 91): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 10 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 = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.305 -0.550 1.710 0.000 ] sys_status.via.x = [ 0.857 -0.067 -0.238 1.160 ] sys_status.via_step = 16 sys_status.via_time = 706529648.6 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 -1 -1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.2 8.5 0.2 0.1 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529651.6 40 points before latest (index = 92): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 8 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 = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.305 -0.550 1.710 0.000 ] sys_status.via.x = [ 0.857 -0.067 -0.238 1.160 ] sys_status.via_step = 16 sys_status.via_time = 706529648.6 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 -1 -1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.0 7.5 0.3 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529651.7 39 points before latest (index = 93): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 7 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 = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.305 -0.550 1.710 0.000 ] sys_status.via.x = [ 0.857 -0.067 -0.238 1.160 ] sys_status.via_step = 16 sys_status.via_time = 706529648.6 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 -1 -1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 2 RA_ALGO_CONTACT sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 2.5 0.0 0.7 0.1 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529651.8 38 points before latest (index = 94): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 8 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 = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.305 -0.550 1.710 0.000 ] sys_status.via.x = [ 0.857 -0.067 -0.238 1.160 ] sys_status.via_step = 16 sys_status.via_time = 706529648.6 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 0.3 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529651.9 37 points before latest (index = 95): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 9 11 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 = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.305 -0.550 1.710 0.000 ] sys_status.via.x = [ 0.857 -0.067 -0.238 1.160 ] sys_status.via_step = 16 sys_status.via_time = 706529648.6 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 0.2 ] 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529652.0 36 points before latest (index = 96): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 11 12 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 = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.305 -0.550 1.710 0.000 ] sys_status.via.x = [ 0.857 -0.067 -0.238 1.160 ] sys_status.via_step = 16 sys_status.via_time = 706529648.6 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 0.1 ] 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529652.1 35 points before latest (index = 97): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 11 13 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 = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.305 -0.550 1.710 0.000 ] sys_status.via.x = [ 0.857 -0.067 -0.238 1.160 ] sys_status.via_step = 16 sys_status.via_time = 706529648.6 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529652.3 34 points before latest (index = 98): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 11 13 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 = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.305 -0.550 1.710 0.000 ] sys_status.via.x = [ 0.857 -0.067 -0.238 1.160 ] sys_status.via_step = 16 sys_status.via_time = 706529648.6 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529652.6 33 points before latest (index = 99): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 11 13 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 = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.305 -0.550 1.710 0.000 ] sys_status.via.x = [ 0.857 -0.067 -0.238 1.160 ] sys_status.via_step = 16 sys_status.via_time = 706529648.6 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529652.6 32 points before latest (index = 100): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 11 13 8 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 = 3 RA_IDC 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 = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.305 -0.550 1.710 0.000 ] sys_status.via.x = [ 0.857 -0.067 -0.238 1.160 ] sys_status.via_step = 16 sys_status.via_time = 706529648.6 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 -1 -1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 3 RA_ALGO_FREE_SPACE sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 0.0 0.0 0.0 0.0 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529653.3 31 points before latest (index = 101): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 11 13 8 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 = 3 RA_IDC 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 = 7423 10522 8356 1215 sys_status.task_cmd = 11 RA_CALIBRATE sys_status.task_args = sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.305 -0.550 1.710 0.000 ] sys_status.via.x = [ 0.857 -0.067 -0.238 1.160 ] sys_status.via_step = 16 sys_status.via_time = 706529648.6 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 -1 -1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 3 RA_ALGO_FREE_SPACE sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 0.0 0.0 0.0 0.0 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529653.6 30 points before latest (index = 102): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 11 13 8 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 = 3 RA_IDC 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 = 7423 10535 8356 1214 sys_status.task_cmd = 11 RA_CALIBRATE sys_status.task_args = sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.305 -0.550 1.710 0.000 ] sys_status.via.x = [ 0.857 -0.067 -0.238 1.160 ] sys_status.via_step = 16 sys_status.via_time = 706529648.6 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 -1 -1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 3 RA_ALGO_FREE_SPACE sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 0.0 0.0 0.0 0.0 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529653.9 29 points before latest (index = 103): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 11 13 8 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 = 3 RA_IDC 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 = 7423 10535 8352 1213 sys_status.task_cmd = 11 RA_CALIBRATE sys_status.task_args = sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.305 -0.550 1.710 0.000 ] sys_status.via.x = [ 0.857 -0.067 -0.238 1.160 ] sys_status.via_step = 16 sys_status.via_time = 706529648.6 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 -1 -1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 3 RA_ALGO_FREE_SPACE sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 0.0 0.0 0.0 0.0 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529654.3 28 points before latest (index = 104): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 11 13 8 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 = 3 RA_IDC 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 = 7423 10535 8352 1230 sys_status.task_cmd = 11 RA_CALIBRATE sys_status.task_args = sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.305 -0.550 1.710 0.000 ] sys_status.via.x = [ 0.857 -0.067 -0.238 1.160 ] sys_status.via_step = 16 sys_status.via_time = 706529648.6 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 -1 -1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 3 RA_ALGO_FREE_SPACE sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 0.0 0.0 0.0 0.0 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529654.6 27 points before latest (index = 105): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 11 13 8 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 = 3 RA_IDC 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 = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.305 -0.550 1.710 0.000 ] sys_status.via.x = [ 0.857 -0.067 -0.238 1.160 ] sys_status.via_step = 16 sys_status.via_time = 706529648.6 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 -1 -1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 3 RA_ALGO_FREE_SPACE sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 0.0 0.0 0.0 0.0 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529654.9 26 points before latest (index = 106): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 11 13 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 = 3 RA_IDC 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 = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.305 -0.550 1.710 0.000 ] sys_status.via.x = [ 0.857 -0.067 -0.238 1.160 ] sys_status.via_step = 16 sys_status.via_time = 706529648.6 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 -1 -1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 3 RA_ALGO_FREE_SPACE sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 0.0 0.0 0.0 0.0 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529655.1 25 points before latest (index = 107): sys_status.curr_limit = [ 172 260 273 190 ] sys_status.mtr_volt = [ 11 13 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 = 3 RA_IDC 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 = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.305 -0.550 1.710 0.000 ] sys_status.via.x = [ 0.857 -0.067 -0.238 1.160 ] sys_status.via_step = 16 sys_status.via_time = 706529648.6 sys_status.col_status.has_collisions = 0 sys_status.col_status.link1 = -1 sys_status.col_status.link2 = -1 sys_status.col_status.obj1 = -1 sys_status.col_status.obj2 = -1 sys_status.rotation_cmd = [ 1 1 -1 -1 ] sys_status.delta_via.dq = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.dx = [ 0.000 0.000 0.000 0.000 ] sys_status.delta_via.mag = 0.0000 sys_status.algo_code = 3 RA_ALGO_FREE_SPACE sys_status.algo_code_override = 0 RA_ALGO_NO_OVERRIDE sys_status.delta_via_code = 3 RA_DELTA_VIA_USER sys_status.plane_angle = 0.0097 sys_status.tau = [ 0.0 0.0 0.0 0.0 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529655.1 24 points before latest (index = 108): 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 = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.308 -0.547 1.709 0.011 ] sys_status.via.x = [ 0.857 -0.069 -0.236 1.161 ] sys_status.via_step = 0 sys_status.via_time = 706529655.7 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529655.7 23 points before latest (index = 109): 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 = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.305 -0.550 1.710 0.000 ] sys_status.via.x = [ 0.857 -0.067 -0.238 1.160 ] sys_status.via_step = 1 sys_status.via_time = 706529655.7 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529655.8 22 points before latest (index = 110): 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 = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.305 -0.550 1.710 0.000 ] sys_status.via.x = [ 0.857 -0.067 -0.238 1.160 ] sys_status.via_step = 1 sys_status.via_time = 706529655.7 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 = [ 0.6 1.2 1.6 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529655.9 21 points before latest (index = 111): sys_status.curr_limit = [ 172 325 273 190 ] sys_status.mtr_volt = [ 3 3 1 3 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.305 -0.550 1.710 0.000 ] sys_status.via.x = [ 0.857 -0.067 -0.238 1.160 ] sys_status.via_step = 1 sys_status.via_time = 706529655.7 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 = [ 0.5 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529656.0 20 points before latest (index = 112): sys_status.curr_limit = [ 172 325 273 190 ] sys_status.mtr_volt = [ 4 5 2 6 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.305 -0.550 1.710 0.000 ] sys_status.via.x = [ 0.857 -0.067 -0.238 1.160 ] sys_status.via_step = 1 sys_status.via_time = 706529655.7 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 = [ 10.1 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529656.1 19 points before latest (index = 113): sys_status.curr_limit = [ 172 325 273 190 ] sys_status.mtr_volt = [ 6 7 2 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 = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.305 -0.550 1.710 0.000 ] sys_status.via.x = [ 0.857 -0.067 -0.238 1.160 ] sys_status.via_step = 1 sys_status.via_time = 706529655.7 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 = [ 21.6 0.0 0.0 0.0 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529656.3 18 points before latest (index = 114): sys_status.curr_limit = [ 172 325 273 190 ] sys_status.mtr_volt = [ 5 8 3 7 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.305 -0.550 1.710 0.000 ] sys_status.via.x = [ 0.857 -0.067 -0.238 1.160 ] sys_status.via_step = 1 sys_status.via_time = 706529655.7 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 = [ 2.0 0.0 5.2 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529656.4 17 points before latest (index = 115): sys_status.curr_limit = [ 172 325 273 190 ] sys_status.mtr_volt = [ 5 6 3 6 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.305 -0.550 1.710 0.000 ] sys_status.via.x = [ 0.857 -0.067 -0.238 1.160 ] sys_status.via_step = 1 sys_status.via_time = 706529655.7 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 = [ 2.0 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529656.5 16 points before latest (index = 116): sys_status.curr_limit = [ 172 325 273 190 ] sys_status.mtr_volt = [ 4 5 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 = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.305 -0.550 1.710 0.000 ] sys_status.via.x = [ 0.857 -0.067 -0.238 1.160 ] sys_status.via_step = 1 sys_status.via_time = 706529655.7 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 8.8 10.6 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529656.6 15 points before latest (index = 117): 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 = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.305 -0.550 1.710 0.000 ] sys_status.via.x = [ 0.857 -0.067 -0.238 1.160 ] sys_status.via_step = 1 sys_status.via_time = 706529655.7 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 2.4 0.0 0.0 ] sys_status.delta_tau = 0.0000 sys_status.track_state = 0 RA_NO_TRACKING sys_status.energy_limit = 0.0 sys_status.energy_value = 0.0 sys_status.time_limit = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529656.7 14 points before latest (index = 118): sys_status.curr_limit = [ 172 325 273 190 ] sys_status.mtr_volt = [ 2 2 3 2 ] sys_status.brake = [ 0 0 0 0 ] sys_status.use_pots = [ 0 0 0 0 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.305 -0.550 1.710 0.000 ] sys_status.via.x = [ 0.857 -0.067 -0.238 1.160 ] sys_status.via_step = 1 sys_status.via_time = 706529655.7 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 2.5 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529656.8 13 points before latest (index = 119): 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 = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.305 -0.550 1.710 0.000 ] sys_status.via.x = [ 0.857 -0.067 -0.238 1.160 ] sys_status.via_step = 1 sys_status.via_time = 706529655.7 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529656.9 12 points before latest (index = 120): 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 = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.305 -0.550 1.710 0.000 ] sys_status.via.x = [ 0.857 -0.067 -0.238 1.160 ] sys_status.via_step = 1 sys_status.via_time = 706529655.7 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529657.2 11 points before latest (index = 121): 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 = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 19 RA_MOVE_JOINT sys_status.act_args = -0.305 -0.550 1.710 0.000 0 sys_status.task_cmd = 19 RA_MOVE_JOINT sys_status.task_args = -0.305 -0.550 1.710 0.000 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.305 -0.550 1.710 0.000 ] sys_status.via.x = [ 0.857 -0.067 -0.238 1.160 ] sys_status.via_step = 1 sys_status.via_time = 706529655.7 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529657.2 10 points before latest (index = 122): 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 = [ 1 1 1 1 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC 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 = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.305 -0.550 1.710 0.000 ] sys_status.via.x = [ 0.857 -0.067 -0.238 1.160 ] sys_status.via_step = 1 sys_status.via_time = 706529655.7 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529657.9 9 points before latest (index = 123): 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 = [ 1 1 1 1 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC 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 = 7417 10522 8356 1215 sys_status.task_cmd = 11 RA_CALIBRATE sys_status.task_args = sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.305 -0.550 1.710 0.000 ] sys_status.via.x = [ 0.857 -0.067 -0.238 1.160 ] sys_status.via_step = 1 sys_status.via_time = 706529655.7 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529658.3 8 points before latest (index = 124): 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 = [ 1 1 1 1 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC 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 = 7416 10520 8357 1214 sys_status.task_cmd = 11 RA_CALIBRATE sys_status.task_args = sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.305 -0.550 1.710 0.000 ] sys_status.via.x = [ 0.857 -0.067 -0.238 1.160 ] sys_status.via_step = 1 sys_status.via_time = 706529655.7 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529658.6 7 points before latest (index = 125): 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 = [ 1 1 1 1 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC 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 = 7415 10519 8352 1213 sys_status.task_cmd = 11 RA_CALIBRATE sys_status.task_args = sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.305 -0.550 1.710 0.000 ] sys_status.via.x = [ 0.857 -0.067 -0.238 1.160 ] sys_status.via_step = 1 sys_status.via_time = 706529655.7 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529658.9 6 points before latest (index = 126): 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 = [ 1 1 1 1 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC 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 = 7414 10518 8353 1215 sys_status.task_cmd = 11 RA_CALIBRATE sys_status.task_args = sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.305 -0.550 1.710 0.000 ] sys_status.via.x = [ 0.857 -0.067 -0.238 1.160 ] sys_status.via_step = 1 sys_status.via_time = 706529655.7 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529659.3 5 points before latest (index = 127): 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 = [ 1 1 1 1 ] sys_status.htr_on = [ 0 0 0 0 ] sys_status.tool = 3 RA_IDC 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 = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.305 -0.550 1.710 0.000 ] sys_status.via.x = [ 0.857 -0.067 -0.238 1.160 ] sys_status.via_step = 1 sys_status.via_time = 706529655.7 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529659.6 4 points before latest (index = 128): 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 = 3 RA_IDC 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 = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.305 -0.550 1.710 0.000 ] sys_status.via.x = [ 0.857 -0.067 -0.238 1.160 ] sys_status.via_step = 1 sys_status.via_time = 706529655.7 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529659.8 3 points before latest (index = 129): 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 = 3 RA_IDC 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 = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.305 -0.550 1.710 0.000 ] sys_status.via.x = [ 0.857 -0.067 -0.238 1.160 ] sys_status.via_step = 1 sys_status.via_time = 706529655.7 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529659.8 2 points before latest (index = 130): 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 = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 23 RA_SEND_DATA sys_status.act_args = 38 1 sys_status.task_cmd = 23 RA_SEND_DATA sys_status.task_args = 38 1 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.305 -0.550 1.710 0.000 ] sys_status.via.x = [ 0.857 -0.067 -0.238 1.160 ] sys_status.via_step = 1 sys_status.via_time = 706529655.7 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529660.4 1 points before latest (index = 131): 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 = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 23 RA_SEND_DATA sys_status.act_args = 38 1 sys_status.task_cmd = 23 RA_SEND_DATA sys_status.task_args = 38 1 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.305 -0.550 1.710 0.000 ] sys_status.via.x = [ 0.857 -0.067 -0.238 1.160 ] sys_status.via_step = 1 sys_status.via_time = 706529655.7 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529660.4 0 points before latest (index = 132): 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 = 3 RA_IDC sys_status.cool_down = 0 sys_status.fault_chk_mask = [ F00F0F 39FF7E7F ] sys_status.fault_status = [ 0 0 ] sys_status.act_cmd = 23 RA_SEND_DATA sys_status.act_args = 39 0 sys_status.task_cmd = 23 RA_SEND_DATA sys_status.task_args = 39 0 sys_status.target.q = [ -0.867 -0.979 2.057 0.121 ] sys_status.target.x = [ 0.521 -0.315 -0.536 1.080 ] sys_status.via.q = [ -0.305 -0.550 1.710 0.000 ] sys_status.via.x = [ 0.857 -0.067 -0.238 1.160 ] sys_status.via_step = 1 sys_status.via_time = 706529655.7 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 = 706529295.7 sys_status.grapple_state = 3 Fingers-Closed sys_status.grapple_temp = 2.1 sys_status.grapple_exp_time = 0.000000 sys_status.grapple_phase = 1 RA_STOWED sys_status.mtr_volt_sign = [ 0 0 0 0 ] sys_status.actively_holding_position = 0 sys_status.time = 706529661.0