Question: The sensor stream below is from a robot exhibiting a collision with a cardboard object. Rank the signal segments listed in the 'options' field in the order you would expect them to appear as the anomaly manifests. Answer only with a four letter string indicating your ranking (ie. DCAB), nothing else.

Choices:
A. co0=0.12, co1=-0.79, co2=-0.98, co3=-0.53, co4=0.02, co5=-0.06, dib=0, dob=0, ec0=0.12, ec1=-0.83, ec2=-0.97, ec3=-0.52, ec4=0.01, ec5=-0.05, etc0=0, etc1=-0.59, etc2=-1.13, etc3=-0.56, etc4=0, etc5=0, e=0, fp0=62.29, fp1=-100.54, fp2=139.24, fp3=-128.72, fp4=-90.51, fp5=358.73, fs0=0, fs1=0, fs2=-0.01, fs3=0, fs4=0.01, fs5=0.01, ft0=0, ft1=-0.24, ft2=0.12, ft3=-0.71, ft4=-3.05, ft5=0, fts0=0, fts1=0, fts2=0, fts3=0, fts4=0, fts5=0, gc=0, jm0=253, jm1=253, jm2=253, jm3=253, jm4=253, jm5=253, jt0=34.17, jt1=36.6, jt2=39.66, jt3=41.12, jt4=43.51, jt5=41.25, mv=48.19, rc=0.64, rm=7, rv=48.19, rs=2, sm=1, sp0=62.29, sp1=-100.54, sp2=139.25, sp3=-128.71, sp4=-90.51, sp5=358.73, ss0=0, ss1=0, ss2=0, ss3=0, ss4=0, ss5=0, st0=0, st1=-0.24, st2=0.12, st3=-0.71, st4=-3.05, st5=0, sts0=0, sts1=0, sts2=0, sts3=0, sts4=0, sts5=0, ss=1, tsf=1, tp=7, tm=0, tf0=-5.28, tf1=-20.46, tf2=-8.19, tf3=2.09, tf4=-0.24, tf5=-0.25 | co0=0.12, co1=-0.79, co2=-1.03, co3=-0.48, co4=0.02, co5=-0.06, dib=0, dob=0, ec0=0.12, ec1=-0.78, ec2=-1.03, ec3=-0.48, ec4=0.02, ec5=-0.05, etc0=0, etc1=-0.59, etc2=-1.13, etc3=-0.56, etc4=0, etc5=0, e=0, fp0=62.29, fp1=-100.54, fp2=139.25, fp3=-128.71, fp4=-90.5, fp5=358.73, fs0=0, fs1=0, fs2=0.06, fs3=0.03, fs4=0.01, fs5=0.01, ft0=0, ft1=-0.24, ft2=0.12, ft3=-0.71, ft4=-3.05, ft5=0, fts0=0, fts1=0, fts2=0, fts3=0, fts4=0, fts5=0, gc=1, jm0=253, jm1=253, jm2=253, jm3=253, jm4=253, jm5=253, jt0=34.17, jt1=36.6, jt2=39.66, jt3=41.12, jt4=43.51, jt5=41.25, mv=48.19, rc=0.61, rm=7, rv=48.19, rs=2, sm=1, sp0=62.29, sp1=-100.54, sp2=139.25, sp3=-128.71, sp4=-90.51, sp5=358.73, ss0=0, ss1=0, ss2=0, ss3=0, ss4=0, ss5=0, st0=0, st1=-0.24, st2=0.12, st3=-0.71, st4=-3.05, st5=0, sts0=0, sts1=0, sts2=0, sts3=0, sts4=0, sts5=0, ss=1, tsf=1, tp=7, tm=0, tf0=-5.05, tf1=-15.06, tf2=-8.9, tf3=1.12, tf4=-0.09, tf5=-0.26 | co0=0.12, co1=-0.79, co2=-1.03, co3=-0.48, co4=0.02, co5=-0.06, dib=0, dob=0, ec0=0.12, ec1=-0.78, ec2=-1.03, ec3=-0.48, ec4=0.02, ec5=-0.05, etc0=0, etc1=-0.59, etc2=-1.13, etc3=-0.56, etc4=0, etc5=0, e=0, fp0=62.29, fp1=-100.54, fp2=139.25, fp3=-128.71, fp4=-90.5, fp5=358.73, fs0=0, fs1=0, fs2=0.06, fs3=0.03, fs4=0.01, fs5=0.01, ft0=0, ft1=-0.24, ft2=0.12, ft3=-0.71, ft4=-3.05, ft5=0, fts0=0, fts1=0, fts2=0, fts3=0, fts4=0, fts5=0, gc=1, jm0=253, jm1=253, jm2=253, jm3=253, jm4=253, jm5=253, jt0=34.17, jt1=36.6, jt2=39.66, jt3=41.12, jt4=43.51, jt5=41.25, mv=48.19, rc=0.61, rm=7, rv=48.19, rs=2, sm=1, sp0=62.29, sp1=-100.54, sp2=139.25, sp3=-128.71, sp4=-90.51, sp5=358.73, ss0=0, ss1=0, ss2=0, ss3=0, ss4=0, ss5=0, st0=0, st1=-0.24, st2=0.12, st3=-0.71, st4=-3.05, st5=0, sts0=0, sts1=0, sts2=0, sts3=0, sts4=0, sts5=0, ss=1, tsf=1, tp=7, tm=0, tf0=-5.05, tf1=-15.06, tf2=-8.9, tf3=1.12, tf4=-0.09, tf5=-0.26 | co0=0.12, co1=-0.79, co2=-1.03, co3=-0.48, co4=0.02, co5=-0.06, dib=0, dob=0, ec0=0.12, ec1=-0.76, ec2=-1.03, ec3=-0.48, ec4=0.02, ec5=-0.05, etc0=0, etc1=-0.59, etc2=-1.13, etc3=-0.56, etc4=0, etc5=0, e=0, fp0=62.29, fp1=-100.54, fp2=139.25, fp3=-128.71, fp4=-90.51, fp5=358.73, fs0=0, fs1=0, fs2=0.02, fs3=0.02, fs4=0, fs5=0, ft0=0, ft1=-0.24, ft2=0.12, ft3=-0.71, ft4=-3.05, ft5=0, fts0=0, fts1=0, fts2=0, fts3=0, fts4=0, fts5=0, gc=0, jm0=253, jm1=253, jm2=253, jm3=253, jm4=253, jm5=253, jt0=34.17, jt1=36.6, jt2=39.66, jt3=41.12, jt4=43.51, jt5=41.25, mv=48.19, rc=0.72, rm=7, rv=48.19, rs=2, sm=1, sp0=62.29, sp1=-100.54, sp2=139.25, sp3=-128.71, sp4=-90.51, sp5=358.73, ss0=0, ss1=0, ss2=0, ss3=0, ss4=0, ss5=0, st0=0, st1=-0.24, st2=0.12, st3=-0.71, st4=-3.05, st5=0, sts0=0, sts1=0, sts2=0, sts3=0, sts4=0, sts5=0, ss=1, tsf=1, tp=7, tm=0, tf0=-5.34, tf1=-13.8, tf2=-7.79, tf3=1.05, tf4=-0.17, tf5=-0.22 | co0=0.12, co1=-0.79, co2=-1.03, co3=-0.48, co4=0.02, co5=-0.06, dib=0, dob=0, ec0=0.12, ec1=-0.86, ec2=-1.03, ec3=-0.48, ec4=0.02, ec5=-0.06, etc0=0, etc1=-0.59, etc2=-1.13, etc3=-0.56, etc4=0, etc5=0, e=0, fp0=62.29, fp1=-100.54, fp2=139.25, fp3=-128.71, fp4=-90.5, fp5=358.73, fs0=0, fs1=0, fs2=0.01, fs3=0.01, fs4=0, fs5=0, ft0=0, ft1=-0.24, ft2=0.12, ft3=-0.71, ft4=-3.05, ft5=0, fts0=0, fts1=0, fts2=0, fts3=0, fts4=0, fts5=0, gc=0, jm0=253, jm1=253, jm2=253, jm3=253, jm4=253, jm5=253, jt0=34.17, jt1=36.6, jt2=39.66, jt3=41.12, jt4=43.51, jt5=41.25, mv=48.19, rc=0.61, rm=7, rv=48.19, rs=2, sm=1, sp0=62.29, sp1=-100.54, sp2=139.25, sp3=-128.71, sp4=-90.51, sp5=358.73, ss0=0, ss1=0, ss2=0, ss3=0, ss4=0, ss5=0, st0=0, st1=-0.24, st2=0.12, st3=-0.71, st4=-3.05, st5=0, sts0=0, sts1=0, sts2=0, sts3=0, sts4=0, sts5=0, ss=1, tsf=1, tp=7, tm=0, tf0=-4.99, tf1=-20.53, tf2=-12.61, tf3=1.61, tf4=0.08, tf5=-0.28 | co0=0.12, co1=-0.79, co2=-1.03, co3=-0.48, co4=0.02, co5=-0.06, dib=0, dob=0, ec0=0.12, ec1=-0.78, ec2=-1.03, ec3=-0.48, ec4=0.02, ec5=-0.05, etc0=0, etc1=-0.59, etc2=-1.13, etc3=-0.56, etc4=0, etc5=0, e=0, fp0=62.29, fp1=-100.54, fp2=139.25, fp3=-128.71, fp4=-90.51, fp5=358.73, fs0=0, fs1=0, fs2=0.01, fs3=0.01, fs4=0, fs5=0, ft0=0, ft1=-0.24, ft2=0.12, ft3=-0.71, ft4=-3.05, ft5=0, fts0=0, fts1=0, fts2=0, fts3=0, fts4=0, fts5=0, gc=-1, jm0=253, jm1=253, jm2=253, jm3=253, jm4=253, jm5=253, jt0=34.17, jt1=36.6, jt2=39.66, jt3=41.12, jt4=43.51, jt5=41.25, mv=48.19, rc=0.64, rm=7, rv=48.19, rs=2, sm=1, sp0=62.29, sp1=-100.54, sp2=139.25, sp3=-128.71, sp4=-90.51, sp5=358.73, ss0=0, ss1=0, ss2=0, ss3=0, ss4=0, ss5=0, st0=0, st1=-0.24, st2=0.12, st3=-0.71, st4=-3.05, st5=0, sts0=0, sts1=0, sts2=0, sts3=0, sts4=0, sts5=0, ss=1, tsf=1, tp=7, tm=0, tf0=-5.48, tf1=-14.87, tf2=-9.03, tf3=1.11, tf4=-0.13, tf5=-0.25
B. co0=0.26, co1=-0.37, co2=-1.06, co3=-0.97, co4=0.04, co5=-0.19, dib=0, dob=0, ec0=0.25, ec1=-0.36, ec2=-1.05, ec3=-0.97, ec4=0.04, ec5=-0.19, etc0=0.08, etc1=-0.09, etc2=-0.88, etc3=-0.97, etc4=0, etc5=0.02, e=30, fp0=62.18, fp1=-110.57, fp2=124.07, fp3=-103.49, fp4=-90.51, fp5=358.7, fs0=-1.08, fs1=9.62, fs2=34.2, fs3=-44.43, fs4=0.14, fs5=-0.04, ft0=0, ft1=-0.24, ft2=0.19, ft3=-0.71, ft4=-3.05, ft5=0, fts0=-0.01, fts1=0, fts2=-0.14, fts3=-0.01, fts4=0, fts5=-0.02, gc=3, jm0=253, jm1=253, jm2=253, jm3=253, jm4=253, jm5=253, jt0=34.17, jt1=36.6, jt2=39.66, jt3=41.12, jt4=43.51, jt5=41.25, mv=48.19, rc=0.64, rm=7, rv=48.19, rs=2, sm=1, sp0=62.18, sp1=-110.55, sp2=124.09, sp3=-103.54, sp4=-90.5, sp5=358.69, ss0=0.22, ss1=9.73, ss2=34.63, ss3=-44.36, ss4=0, ss5=0.06, st0=0, st1=-0.24, st2=0.19, st3=-0.71, st4=-3.05, st5=0, sts0=0, sts1=0, sts2=-0.15, sts3=0, sts4=0, sts5=0, ss=1, tsf=1, tp=6, tm=0.72, tf0=-4.54, tf1=-11.43, tf2=-10.42, tf3=0.9, tf4=-0.06, tf5=-1 | co0=0.1, co1=-0.34, co2=-1.08, co3=-1.24, co4=0.03, co5=-0.1, dib=0, dob=0, ec0=0.09, ec1=-0.35, ec2=-1.08, ec3=-1.25, ec4=0.03, ec5=-0.11, etc0=0.12, etc1=0.08, etc2=-0.82, etc3=-1.02, etc4=0, etc5=0.04, e=30, fp0=62.21, fp1=-108.72, fp2=129.1, fp3=-110.36, fp4=-90.5, fp5=358.7, fs0=0.92, fs1=22.95, fs2=48.39, fs3=-71.26, fs4=0.04, fs5=0, ft0=0, ft1=-0.24, ft2=0.17, ft3=-0.71, ft4=-3.05, ft5=0, fts0=0, fts1=0, fts2=-0.22, fts3=0, fts4=0, fts5=0.01, gc=3, jm0=253, jm1=253, jm2=253, jm3=253, jm4=253, jm5=253, jt0=34.17, jt1=36.6, jt2=39.66, jt3=41.12, jt4=43.51, jt5=41.25, mv=48.19, rc=0.72, rm=7, rv=48.19, rs=2, sm=1, sp0=62.22, sp1=-108.67, sp2=129.12, sp3=-110.45, sp4=-90.5, sp5=358.7, ss0=0.34, ss1=23.23, ss2=48.64, ss3=-71.87, ss4=0, ss5=0.11, st0=0, st1=-0.24, st2=0.17, st3=-0.71, st4=-3.05, st5=0, sts0=0, sts1=0, sts2=-0.22, sts3=0, sts4=0, sts5=0, ss=1, tsf=1, tp=6, tm=1.1, tf0=4.89, tf1=-22.87, tf2=-13.55, tf3=3.11, tf4=0.88, tf5=-0.7 | co0=0.28, co1=-0.28, co2=-0.89, co3=-1.3, co4=-0.03, co5=0.01, dib=0, dob=0, ec0=0.27, ec1=-0.28, ec2=-0.89, ec3=-1.29, ec4=-0.03, ec5=0.01, etc0=0.1, etc1=-0.16, etc2=-1.05, etc3=-0.95, etc4=-0.01, etc5=0.03, e=0, fp0=62.24, fp1=-105.39, fp2=134.45, fp3=-119.07, fp4=-90.5, fp5=358.71, fs0=0.18, fs1=28.5, fs2=37.01, fs3=-63.2, fs4=0, fs5=0.07, ft0=0, ft1=-0.24, ft2=0.15, ft3=-0.71, ft4=-3.05, ft5=0, fts0=0, fts1=0.01, fts2=-0.18, fts3=0.04, fts4=-0.02, fts5=0, gc=3, jm0=253, jm1=253, jm2=253, jm3=253, jm4=253, jm5=253, jt0=34.17, jt1=36.6, jt2=39.66, jt3=41.12, jt4=43.51, jt5=41.25, mv=48.19, rc=0.64, rm=7, rv=48.19, rs=2, sm=1, sp0=62.25, sp1=-105.36, sp2=134.44, sp3=-119.08, sp4=-90.5, sp5=358.72, ss0=0.27, ss1=28.01, ss2=35.44, ss3=-63.44, ss4=-0.01, ss5=0.09, st0=0, st1=-0.24, st2=0.15, st3=-0.71, st4=-3.05, st5=0, sts0=0, sts1=0, sts2=-0.17, sts3=0, sts4=0, sts5=0, ss=1, tsf=1, tp=6, tm=0.97, tf0=-8.52, tf1=-6.17, tf2=10.94, tf3=3.01, tf4=-2.41, tf5=-0.13 | co0=0.19, co1=-0.37, co2=-0.96, co3=-1.2, co4=-0.11, co5=-0.03, dib=0, dob=0, ec0=0.19, ec1=-0.38, ec2=-0.94, ec3=-1.2, ec4=-0.1, ec5=-0.03, etc0=0.06, etc1=-0.31, etc2=-1.03, etc3=-0.9, etc4=-0.01, etc5=0.02, e=0, fp0=62.27, fp1=-102.51, fp2=137.55, fp3=-125.01, fp4=-90.5, fp5=358.72, fs0=0.34, fs1=21.8, fs2=20.06, fs3=-41.74, fs4=0, fs5=0.11, ft0=0, ft1=-0.24, ft2=0.13, ft3=-0.71, ft4=-3.05, ft5=0, fts0=0, fts1=0, fts2=-0.1, fts3=0.02, fts4=-0.01, fts5=0, gc=3, jm0=253, jm1=253, jm2=253, jm3=253, jm4=253, jm5=253, jt0=34.17, jt1=36.6, jt2=39.66, jt3=41.12, jt4=43.51, jt5=41.25, mv=48.19, rc=0.61, rm=7, rv=48.19, rs=2, sm=1, sp0=62.28, sp1=-102.53, sp2=137.53, sp3=-125, sp4=-90.51, sp5=358.72, ss0=0.15, ss1=20.57, ss2=19.12, ss3=-39.7, ss4=-0.01, ss5=0.05, st0=0, st1=-0.24, st2=0.13, st3=-0.71, st4=-3.05, st5=0, sts0=0, sts1=0, sts2=-0.1, sts3=0, sts4=0, sts5=0, ss=1, tsf=1, tp=6, tm=0.6, tf0=-5.53, tf1=-2.67, tf2=9.22, tf3=2.08, tf4=-2.16, tf5=-0.26 | co0=0.18, co1=-0.08, co2=-0.25, co3=-0.61, co4=-0.16, co5=-0.03, dib=0, dob=0, ec0=0.17, ec1=-0.07, ec2=-0.27, ec3=-0.6, ec4=-0.15, ec5=-0.03, etc0=0.03, etc1=-0.45, etc2=-1.05, etc3=-0.77, etc4=-0.01, etc5=0.01, e=0, fp0=62.28, fp1=-100.74, fp2=139.04, fp3=-128.4, fp4=-90.52, fp5=358.72, fs0=0.2, fs1=7.99, fs2=6.38, fs3=-14.42, fs4=-0.19, fs5=0.1, ft0=0, ft1=-0.24, ft2=0.12, ft3=-0.71, ft4=-3.05, ft5=0, fts0=0, fts1=0, fts2=-0.04, fts3=0, fts4=0, fts5=0, gc=4, jm0=253, jm1=253, jm2=253, jm3=253, jm4=253, jm5=253, jt0=34.17, jt1=36.6, jt2=39.66, jt3=41.12, jt4=43.51, jt5=41.25, mv=48.19, rc=0.61, rm=7, rv=48.19, rs=2, sm=1, sp0=62.29, sp1=-100.75, sp2=139.08, sp3=-128.33, sp4=-90.51, sp5=358.73, ss0=0.05, ss1=7.5, ss2=6.07, ss3=-13.57, ss4=0, ss5=0.02, st0=0, st1=-0.24, st2=0.12, st3=-0.71, st4=-3.05, st5=0, sts0=0, sts1=0, sts2=-0.03, sts3=0, sts4=0, sts5=0, ss=1, tsf=1, tp=6, tm=0.21, tf0=-7.26, tf1=0.33, tf2=36.8, tf3=1.73, tf4=-2.71, tf5=-0.19 | co0=0.12, co1=-0.1, co2=-0.36, co3=0.21, co4=-0.03, co5=-0.04, dib=0, dob=0, ec0=0.12, ec1=-0.1, ec2=-0.36, ec3=0.21, ec4=-0.03, ec5=-0.04, etc0=0, etc1=-0.59, etc2=-1.13, etc3=-0.56, etc4=0, etc5=0, e=0, fp0=62.29, fp1=-100.53, fp2=139.21, fp3=-128.78, fp4=-90.52, fp5=358.73, fs0=0.03, fs1=-0.04, fs2=1.3, fs3=0.35, fs4=-0.03, fs5=0.02, ft0=0, ft1=-0.24, ft2=0.12, ft3=-0.71, ft4=-3.05, ft5=0, fts0=0, fts1=0.01, fts2=-0.01, fts3=0.03, fts4=-0.01, fts5=0, gc=4, jm0=253, jm1=253, jm2=253, jm3=253, jm4=253, jm5=253, jt0=34.17, jt1=36.6, jt2=39.66, jt3=41.12, jt4=43.51, jt5=41.25, mv=48.19, rc=0.61, rm=7, rv=48.19, rs=2, sm=1, sp0=62.29, sp1=-100.54, sp2=139.25, sp3=-128.71, sp4=-90.51, sp5=358.73, ss0=0, ss1=0, ss2=0, ss3=0, ss4=0, ss5=0, st0=0, st1=-0.24, st2=0.12, st3=-0.71, st4=-3.05, st5=0, sts0=0, sts1=0, sts2=0, sts3=0, sts4=0, sts5=0, ss=1, tsf=1, tp=7, tm=0, tf0=-5.84, tf1=3.09, tf2=22.59, tf3=-1.94, tf4=-0.17, tf5=-0.16
C. co0=0.12, co1=-0.79, co2=-1.04, co3=-0.48, co4=0.02, co5=-0.06, dib=0, dob=0, ec0=0.12, ec1=-0.8, ec2=-1.05, ec3=-0.48, ec4=0.02, ec5=-0.05, etc0=0, etc1=-0.59, etc2=-1.13, etc3=-0.56, etc4=0, etc5=0, e=0, fp0=62.29, fp1=-100.54, fp2=139.25, fp3=-128.71, fp4=-90.5, fp5=358.73, fs0=0, fs1=0, fs2=0.01, fs3=0.01, fs4=0, fs5=0, ft0=0, ft1=-0.24, ft2=0.12, ft3=-0.71, ft4=-3.05, ft5=0, fts0=0, fts1=0, fts2=0, fts3=0, fts4=0, fts5=0, gc=1, jm0=253, jm1=253, jm2=253, jm3=253, jm4=253, jm5=253, jt0=34.17, jt1=36.6, jt2=39.66, jt3=41.12, jt4=43.51, jt5=41.25, mv=48.19, rc=0.64, rm=7, rv=48.19, rs=2, sm=1, sp0=62.29, sp1=-100.54, sp2=139.25, sp3=-128.71, sp4=-90.51, sp5=358.73, ss0=0, ss1=0, ss2=0, ss3=0, ss4=0, ss5=0, st0=0, st1=-0.24, st2=0.12, st3=-0.71, st4=-3.05, st5=0, sts0=0, sts1=0, sts2=0, sts3=0, sts4=0, sts5=0, ss=1, tsf=1, tp=7, tm=0, tf0=-5.21, tf1=-15.66, tf2=-10.18, tf3=1.13, tf4=-0.04, tf5=-0.25 | co0=0.12, co1=-0.78, co2=-1.08, co3=-0.48, co4=0.02, co5=-0.06, dib=0, dob=0, ec0=0.12, ec1=-0.78, ec2=-1.08, ec3=-0.48, ec4=0.02, ec5=-0.06, etc0=0, etc1=-0.59, etc2=-1.13, etc3=-0.56, etc4=0, etc5=0, e=0, fp0=62.29, fp1=-100.54, fp2=139.25, fp3=-128.71, fp4=-90.51, fp5=358.73, fs0=0, fs1=0, fs2=0, fs3=0.01, fs4=0, fs5=0, ft0=0, ft1=-0.24, ft2=0.12, ft3=-0.71, ft4=-3.05, ft5=0, fts0=0, fts1=0, fts2=0, fts3=0, fts4=0, fts5=0, gc=0, jm0=253, jm1=253, jm2=253, jm3=253, jm4=253, jm5=253, jt0=34.17, jt1=36.6, jt2=39.66, jt3=41.12, jt4=43.51, jt5=41.25, mv=48.19, rc=0.57, rm=7, rv=48.19, rs=2, sm=1, sp0=62.29, sp1=-100.54, sp2=139.25, sp3=-128.71, sp4=-90.51, sp5=358.73, ss0=0, ss1=0, ss2=0, ss3=0, ss4=0, ss5=0, st0=0, st1=-0.24, st2=0.12, st3=-0.71, st4=-3.05, st5=0, sts0=0, sts1=0, sts2=0, sts3=0, sts4=0, sts5=0, ss=1, tsf=1, tp=7, tm=0, tf0=-5.18, tf1=-13.47, tf2=-10.32, tf3=0.81, tf4=-0.03, tf5=-0.26 | co0=0.12, co1=-0.78, co2=-1.08, co3=-0.48, co4=0.02, co5=-0.06, dib=0, dob=0, ec0=0.12, ec1=-0.78, ec2=-1.08, ec3=-0.48, ec4=0.02, ec5=-0.06, etc0=0, etc1=-0.59, etc2=-1.13, etc3=-0.56, etc4=0, etc5=0, e=0, fp0=62.29, fp1=-100.54, fp2=139.25, fp3=-128.71, fp4=-90.51, fp5=358.73, fs0=0, fs1=0, fs2=0, fs3=0.01, fs4=0, fs5=0, ft0=0, ft1=-0.24, ft2=0.12, ft3=-0.71, ft4=-3.05, ft5=0, fts0=0, fts1=0, fts2=0, fts3=0, fts4=0, fts5=0, gc=0, jm0=253, jm1=253, jm2=253, jm3=253, jm4=253, jm5=253, jt0=34.17, jt1=36.6, jt2=39.66, jt3=41.12, jt4=43.51, jt5=41.25, mv=48.19, rc=0.57, rm=7, rv=48.19, rs=2, sm=1, sp0=62.29, sp1=-100.54, sp2=139.25, sp3=-128.71, sp4=-90.51, sp5=358.73, ss0=0, ss1=0, ss2=0, ss3=0, ss4=0, ss5=0, st0=0, st1=-0.24, st2=0.12, st3=-0.71, st4=-3.05, st5=0, sts0=0, sts1=0, sts2=0, sts3=0, sts4=0, sts5=0, ss=1, tsf=1, tp=7, tm=0, tf0=-5.18, tf1=-13.47, tf2=-10.32, tf3=0.81, tf4=-0.03, tf5=-0.26 | co0=0.12, co1=-0.78, co2=-1.09, co3=-0.48, co4=0.02, co5=-0.06, dib=0, dob=0, ec0=0.13, ec1=-0.75, ec2=-1.09, ec3=-0.48, ec4=0.02, ec5=-0.06, etc0=0, etc1=-0.59, etc2=-1.13, etc3=-0.56, etc4=0, etc5=0, e=0, fp0=62.29, fp1=-100.54, fp2=139.25, fp3=-128.71, fp4=-90.5, fp5=358.73, fs0=0, fs1=0, fs2=0, fs3=0.01, fs4=0, fs5=0, ft0=0, ft1=-0.24, ft2=0.12, ft3=-0.71, ft4=-3.05, ft5=0, fts0=0, fts1=0, fts2=0, fts3=0, fts4=0, fts5=0, gc=0, jm0=253, jm1=253, jm2=253, jm3=253, jm4=253, jm5=253, jt0=34.17, jt1=36.6, jt2=39.66, jt3=41.12, jt4=43.51, jt5=41.25, mv=48.19, rc=0.64, rm=7, rv=48.19, rs=2, sm=1, sp0=62.29, sp1=-100.54, sp2=139.25, sp3=-128.71, sp4=-90.51, sp5=358.73, ss0=0, ss1=0, ss2=0, ss3=0, ss4=0, ss5=0, st0=0, st1=-0.24, st2=0.12, st3=-0.71, st4=-3.05, st5=0, sts0=0, sts1=0, sts2=0, sts3=0, sts4=0, sts5=0, ss=1, tsf=1, tp=7, tm=0, tf0=-5.59, tf1=-10.68, tf2=-9.25, tf3=0.5, tf4=-0.14, tf5=-0.29 | co0=0.12, co1=-0.79, co2=-1.09, co3=-0.48, co4=0.02, co5=-0.06, dib=0, dob=0, ec0=0.12, ec1=-0.81, ec2=-1.09, ec3=-0.48, ec4=0.02, ec5=-0.06, etc0=0, etc1=-0.59, etc2=-1.13, etc3=-0.56, etc4=0, etc5=0, e=0, fp0=62.29, fp1=-100.54, fp2=139.25, fp3=-128.71, fp4=-90.5, fp5=358.73, fs0=0, fs1=0, fs2=0, fs3=0.01, fs4=0, fs5=0, ft0=0, ft1=-0.24, ft2=0.12, ft3=-0.71, ft4=-3.05, ft5=0, fts0=0, fts1=0, fts2=0, fts3=0, fts4=0, fts5=0, gc=-2, jm0=253, jm1=253, jm2=253, jm3=253, jm4=253, jm5=253, jt0=34.17, jt1=36.6, jt2=39.66, jt3=41.12, jt4=43.51, jt5=41.25, mv=48.19, rc=0.72, rm=7, rv=48.19, rs=2, sm=1, sp0=62.29, sp1=-100.54, sp2=139.25, sp3=-128.71, sp4=-90.51, sp5=358.73, ss0=0, ss1=0, ss2=0, ss3=0, ss4=0, ss5=0, st0=0, st1=-0.24, st2=0.12, st3=-0.71, st4=-3.05, st5=0, sts0=0, sts1=0, sts2=0, sts3=0, sts4=0, sts5=0, ss=1, tsf=1, tp=7, tm=0, tf0=-5.39, tf1=-14.7, tf2=-12.15, tf3=0.84, tf4=0.02, tf5=-0.27 | co0=0.12, co1=-0.79, co2=-1.09, co3=-0.48, co4=0.02, co5=-0.06, dib=0, dob=0, ec0=0.12, ec1=-0.76, ec2=-1.09, ec3=-0.49, ec4=0.01, ec5=-0.06, etc0=0, etc1=-0.59, etc2=-1.13, etc3=-0.56, etc4=0, etc5=0, e=0, fp0=62.29, fp1=-100.54, fp2=139.25, fp3=-128.71, fp4=-90.51, fp5=358.73, fs0=0, fs1=0, fs2=0, fs3=0.01, fs4=0, fs5=0, ft0=0, ft1=-0.24, ft2=0.12, ft3=-0.71, ft4=-3.05, ft5=0, fts0=0, fts1=0, fts2=0, fts3=0, fts4=0, fts5=0, gc=-1, jm0=253, jm1=253, jm2=253, jm3=253, jm4=253, jm5=253, jt0=34.17, jt1=36.6, jt2=39.66, jt3=41.12, jt4=43.51, jt5=41.25, mv=48.19, rc=0.54, rm=7, rv=48.19, rs=2, sm=1, sp0=62.29, sp1=-100.54, sp2=139.25, sp3=-128.71, sp4=-90.51, sp5=358.73, ss0=0, ss1=0, ss2=0, ss3=0, ss4=0, ss5=0, st0=0, st1=-0.24, st2=0.12, st3=-0.71, st4=-3.05, st5=0, sts0=0, sts1=0, sts2=0, sts3=0, sts4=0, sts5=0, ss=1, tsf=1, tp=7, tm=0, tf0=-5.05, tf1=-11.22, tf2=-9.54, tf3=0.57, tf4=-0.08, tf5=-0.27
D. co0=0.12, co1=-0.27, co2=-0.62, co3=-0.46, co4=0.02, co5=-0.06, dib=0, dob=0, ec0=0.12, ec1=-0.27, ec2=-0.63, ec3=-0.46, ec4=0.02, ec5=-0.06, etc0=0, etc1=-0.59, etc2=-1.13, etc3=-0.56, etc4=0, etc5=0, e=0, fp0=62.29, fp1=-100.5, fp2=139.33, fp3=-128.64, fp4=-90.51, fp5=358.73, fs0=-0.01, fs1=0.92, fs2=2.77, fs3=0.82, fs4=0.02, fs5=0.01, ft0=0, ft1=-0.23, ft2=0.12, ft3=-0.71, ft4=-3.05, ft5=-0.01, fts0=0.01, fts1=0.01, fts2=-0.02, fts3=0.07, fts4=-0.04, fts5=0, gc=-8, jm0=253, jm1=253, jm2=253, jm3=253, jm4=253, jm5=253, jt0=34.17, jt1=36.6, jt2=39.66, jt3=41.12, jt4=43.51, jt5=41.25, mv=48.19, rc=0.64, rm=7, rv=48.19, rs=2, sm=1, sp0=62.29, sp1=-100.54, sp2=139.25, sp3=-128.71, sp4=-90.51, sp5=358.73, ss0=0, ss1=0, ss2=0, ss3=0, ss4=0, ss5=0, st0=0, st1=-0.24, st2=0.12, st3=-0.71, st4=-3.05, st5=0, sts0=0, sts1=0, sts2=0, sts3=0, sts4=0, sts5=0, ss=1, tsf=1, tp=7, tm=0, tf0=-5.19, tf1=5.45, tf2=27.94, tf3=0.97, tf4=-1.54, tf5=-0.3 | co0=0.12, co1=-0.27, co2=-0.62, co3=-0.46, co4=0.02, co5=-0.06, dib=0, dob=0, ec0=0.12, ec1=-0.27, ec2=-0.63, ec3=-0.46, ec4=0.02, ec5=-0.06, etc0=0, etc1=-0.59, etc2=-1.13, etc3=-0.56, etc4=0, etc5=0, e=0, fp0=62.29, fp1=-100.5, fp2=139.33, fp3=-128.64, fp4=-90.51, fp5=358.73, fs0=-0.01, fs1=0.92, fs2=2.77, fs3=0.82, fs4=0.02, fs5=0.01, ft0=0, ft1=-0.23, ft2=0.12, ft3=-0.71, ft4=-3.05, ft5=-0.01, fts0=0.01, fts1=0.01, fts2=-0.02, fts3=0.07, fts4=-0.04, fts5=0, gc=-8, jm0=253, jm1=253, jm2=253, jm3=253, jm4=253, jm5=253, jt0=34.17, jt1=36.6, jt2=39.66, jt3=41.12, jt4=43.51, jt5=41.25, mv=48.19, rc=0.64, rm=7, rv=48.19, rs=2, sm=1, sp0=62.29, sp1=-100.54, sp2=139.25, sp3=-128.71, sp4=-90.51, sp5=358.73, ss0=0, ss1=0, ss2=0, ss3=0, ss4=0, ss5=0, st0=0, st1=-0.24, st2=0.12, st3=-0.71, st4=-3.05, st5=0, sts0=0, sts1=0, sts2=0, sts3=0, sts4=0, sts5=0, ss=1, tsf=1, tp=7, tm=0, tf0=-5.19, tf1=5.45, tf2=27.94, tf3=0.97, tf4=-1.54, tf5=-0.3 | co0=0.12, co1=-0.69, co2=-1.51, co3=-0.79, co4=0.02, co5=-0.06, dib=0, dob=0, ec0=0.11, ec1=-0.67, ec2=-1.51, ec3=-0.79, ec4=0.02, ec5=-0.06, etc0=0, etc1=-0.59, etc2=-1.13, etc3=-0.56, etc4=0, etc5=0, e=0, fp0=62.29, fp1=-100.51, fp2=139.29, fp3=-128.66, fp4=-90.51, fp5=358.73, fs0=-0.01, fs1=-0.16, fs2=-0.15, fs3=-0.39, fs4=0.03, fs5=0.01, ft0=0, ft1=-0.23, ft2=0.12, ft3=-0.71, ft4=-3.05, ft5=-0.01, fts0=0, fts1=0, fts2=0, fts3=-0.01, fts4=0.01, fts5=0, gc=0, jm0=253, jm1=253, jm2=253, jm3=253, jm4=253, jm5=253, jt0=34.17, jt1=36.6, jt2=39.66, jt3=41.12, jt4=43.51, jt5=41.25, mv=48.19, rc=0.72, rm=7, rv=48.19, rs=2, sm=1, sp0=62.29, sp1=-100.54, sp2=139.25, sp3=-128.71, sp4=-90.51, sp5=358.73, ss0=0, ss1=0, ss2=0, ss3=0, ss4=0, ss5=0, st0=0, st1=-0.24, st2=0.12, st3=-0.71, st4=-3.05, st5=0, sts0=0, sts1=0, sts2=0, sts3=0, sts4=0, sts5=0, ss=1, tsf=1, tp=7, tm=0, tf0=-4.89, tf1=13.34, tf2=-7.26, tf3=-1.38, tf4=-0.76, tf5=-0.28 | co0=0.12, co1=-0.78, co2=-1.24, co3=-0.7, co4=0.02, co5=-0.06, dib=0, dob=0, ec0=0.13, ec1=-0.74, ec2=-1.24, ec3=-0.7, ec4=0.02, ec5=-0.05, etc0=0, etc1=-0.59, etc2=-1.13, etc3=-0.56, etc4=0, etc5=0, e=0, fp0=62.29, fp1=-100.54, fp2=139.24, fp3=-128.72, fp4=-90.5, fp5=358.73, fs0=-0.01, fs1=-0.08, fs2=-0.16, fs3=-0.2, fs4=0.02, fs5=0.01, ft0=0, ft1=-0.24, ft2=0.12, ft3=-0.71, ft4=-3.05, ft5=0, fts0=0, fts1=0, fts2=0, fts3=-0.01, fts4=0, fts5=0, gc=-1, jm0=253, jm1=253, jm2=253, jm3=253, jm4=253, jm5=253, jt0=34.17, jt1=36.6, jt2=39.66, jt3=41.12, jt4=43.51, jt5=41.25, mv=48.19, rc=0.72, rm=7, rv=48.19, rs=2, sm=1, sp0=62.29, sp1=-100.54, sp2=139.25, sp3=-128.71, sp4=-90.51, sp5=358.73, ss0=0, ss1=0, ss2=0, ss3=0, ss4=0, ss5=0, st0=0, st1=-0.24, st2=0.12, st3=-0.71, st4=-3.05, st5=0, sts0=0, sts1=0, sts2=0, sts3=0, sts4=0, sts5=0, ss=1, tsf=1, tp=7, tm=0, tf0=-5.77, tf1=-2.62, tf2=-6.07, tf3=0.51, tf4=-0.75, tf5=-0.25 | co0=0.12, co1=-0.79, co2=-1.17, co3=-0.65, co4=0.02, co5=-0.06, dib=0, dob=0, ec0=0.12, ec1=-0.79, ec2=-1.17, ec3=-0.65, ec4=0.02, ec5=-0.05, etc0=0, etc1=-0.59, etc2=-1.13, etc3=-0.56, etc4=0, etc5=0, e=0, fp0=62.29, fp1=-100.54, fp2=139.24, fp3=-128.72, fp4=-90.5, fp5=358.73, fs0=-0.01, fs1=-0.01, fs2=-0.02, fs3=-0.03, fs4=0.01, fs5=0.01, ft0=0, ft1=-0.24, ft2=0.12, ft3=-0.71, ft4=-3.05, ft5=0, fts0=0, fts1=0, fts2=0, fts3=0, fts4=0, fts5=0, gc=0, jm0=253, jm1=253, jm2=253, jm3=253, jm4=253, jm5=253, jt0=34.17, jt1=36.6, jt2=39.66, jt3=41.12, jt4=43.51, jt5=41.25, mv=48.19, rc=0.64, rm=7, rv=48.19, rs=2, sm=1, sp0=62.29, sp1=-100.54, sp2=139.25, sp3=-128.71, sp4=-90.51, sp5=358.73, ss0=0, ss1=0, ss2=0, ss3=0, ss4=0, ss5=0, st0=0, st1=-0.24, st2=0.12, st3=-0.71, st4=-3.05, st5=0, sts0=0, sts1=0, sts2=0, sts3=0, sts4=0, sts5=0, ss=1, tsf=1, tp=7, tm=0, tf0=-5.51, tf1=-8.89, tf2=-7.96, tf3=1.05, tf4=-0.55, tf5=-0.23 | co0=0.12, co1=-0.78, co2=-1.08, co3=-0.59, co4=0.02, co5=-0.06, dib=0, dob=0, ec0=0.12, ec1=-0.78, ec2=-1.08, ec3=-0.59, ec4=0.02, ec5=-0.06, etc0=0, etc1=-0.59, etc2=-1.13, etc3=-0.56, etc4=0, etc5=0, e=0, fp0=62.29, fp1=-100.54, fp2=139.24, fp3=-128.72, fp4=-90.5, fp5=358.73, fs0=0, fs1=-0.01, fs2=-0.01, fs3=-0.02, fs4=0.01, fs5=0.01, ft0=0, ft1=-0.24, ft2=0.12, ft3=-0.71, ft4=-3.05, ft5=0, fts0=0, fts1=0, fts2=0, fts3=0, fts4=0, fts5=0, gc=1, jm0=253, jm1=253, jm2=253, jm3=253, jm4=253, jm5=253, jt0=34.17, jt1=36.6, jt2=39.66, jt3=41.12, jt4=43.51, jt5=41.25, mv=48.19, rc=0.61, rm=7, rv=48.19, rs=2, sm=1, sp0=62.29, sp1=-100.54, sp2=139.25, sp3=-128.71, sp4=-90.51, sp5=358.73, ss0=0, ss1=0, ss2=0, ss3=0, ss4=0, ss5=0, st0=0, st1=-0.24, st2=0.12, st3=-0.71, st4=-3.05, st5=0, sts0=0, sts1=0, sts2=0, sts3=0, sts4=0, sts5=0, ss=1, tsf=1, tp=7, tm=0, tf0=-5.25, tf1=-16.1, tf2=-8.89, tf3=1.71, tf4=-0.33, tf5=-0.3

Answer: BDAC

Each row in time_series is one timestep encoded as 't=<timestamp>: acronym=value, ...'. Feature names use acronyms defined in provenance.feature_mapping.


Question: Knowing that the robot suffers from a missing box at the pick position in the given context time series, what robot does this sensor data originate from? Answer only with the letter of the correct option (ie. A), nothing else.

Choices:
A. Universal Robots UR3e
B. Agile Robots Yu 5 Industrial
C. KUKA KR 10 R1100-2

Answer: C


Question: Knowing that the robot suffers from a collision with a cardboard object in the given context time series, we want to isolate the descent to the bin phase. Assuming a fixed window length of 13 timesteps, at which timestamp should the window begin? Answer only with an integer or decimal number, nothing else.

Answer: 2314


Question: You are provided with two sensor streams originating from robots accomplishing tasks. What differences between the two given instances of robotic time series data (if any) do you notice? Answer only with a 4 letter string using F and T to indicate your answers (ie. TFFT to indicate True, False, False, True). Do not output anything else.

Choices:
A. Those come from different robots.
B. The two robots have different anomalous states. Note: this means either exactly one of them is anomalous, or they both are, but have different anomalies.
C. The two robots are performing different tasks.
D. The two robots are performing the same task, but at different phases.

Answer: FTFT


Question: Knowing that the robot suffers from a payload weight misconfiguration in the given context time series, what robot does this sensor data originate from? Answer only with the letter of the correct option (ie. A), nothing else.

Choices:
A. Agile Robots Yu 5 Industrial
B. Universal Robots UR3e
C. KUKA KR 10 R1100-2

Answer: B


Question: You are provided with two sensor streams originating from robots accomplishing tasks. What differences between the two given instances of robotic time series data (if any) do you notice? Answer only with a 4 letter string using F and T to indicate your answers (ie. TFFT to indicate True, False, False, True). Do not output anything else.

Choices:
A. Those come from different robots.
B. The two robots have different anomalous states. Note: this means either exactly one of them is anomalous, or they both are, but have different anomalies.
C. The two robots are performing different tasks.
D. The two robots are performing the same task, but at different phases.

Answer: FTFF


Question: The sensor stream below is from a robot exhibiting a collision with a soft foam object. Select all statements that apply in the options provided. Answer only with a 4 letter string using F and T to indicate your answers (ie. TFFT to indicate True, False, False, True). Do not output anything else.

Choices:
A. Following the event, at least one joint speed drops sharply (>=32% below pre-event baseline).
B. Following the event, robot current remains approximately constant (peak-to-peak range <=9% of pre-event baseline).
C. Following the event, temperatures rise across multiple joints (>=1 joints with slope >0.58% of baseline per horizon).
D. Following the event, joint speeds stay close to baseline (within ±9% of pre-event values).

Answer: FFFT


Question: Knowing that the robot suffers from an unexpected payload weight in the given context time series, we want to isolate the grasp of the object phase. Assuming a fixed window length of 13 timesteps, at which timestamp should the window begin? Answer only with an integer or decimal number, nothing else.

Answer: 2289


Question: Knowing that the robot suffers from a payload weight misconfiguration in the given context time series, we want to isolate the descent to the bin phase. Assuming a fixed window length of 14 timesteps, at which timestamp should the window begin? Answer only with an integer or decimal number, nothing else.

Answer: 808


Question: Given the sensor data from a robot performing the task, determine what anomaly is present? Answer only with a letter indicating your answer (ie. A, B, C or D). Do not output anything else.

Choices:
A. A foreign object or debris is lodged inside the insertion hole, preventing full peg insertion and generating an abnormal force buildup as the peg contacts the obstruction.
B. The threaded hole in the plate is damaged, preventing proper screw engagement.
C. The robot executes the full peg-in-hole cycle but no peg is gripped. The arm descends into the hole empty-handed and the insertion phase produces no contact force, resulting in an anomalously low force and torque profile during what should be a high-contact phase.
D. The robot collides with a hard, immovable object such as a metal fixture, tool stand, or structural element. The high contact stiffness produces an immediate large torque deviation and invariably triggers a protective stop.

Answer: A


Question: Knowing that the robot suffers from a payload weight misconfiguration in the given context time series, what robot does this sensor data originate from? Answer only with the letter of the correct option (ie. A), nothing else.

Choices:
A. Agile Robots Yu 5 Industrial
B. KUKA KR 10 R1100-2
C. Universal Robots UR3e

Answer: C


Question: Rank the following robot time series segments from most to least severe anomaly. Answer only with a four letter string indicating your ranking (ie. DCAB), nothing else.

Choices:
A. ett0=-26.27, ett1=-3.18, ett2=0.54, ett3=-0.08, ett4=-14.78, ett5=3.22, fp0=0.21, fp1=1.54, fp2=2.11, fp3=-2.13, fp4=-1.54, fp5=-0.29, fs0=-2.06, fs1=0.08, fs2=0.25, fs3=-0.15, fs4=0.02, fs5=-2.05, sp0=0.19, sp1=1.54, sp2=2.12, sp3=-2.13, sp4=-1.54, sp5=-0.3 | ett0=-15.63, ett1=-2.07, ett2=0.98, ett3=0.38, ett4=-7.84, ett5=3.86, fp0=0.02, fp1=1.55, fp2=2.14, fp3=-2.15, fp4=-1.54, fp5=-0.48, fs0=-1.65, fs1=0.06, fs2=0.2, fs3=-0.12, fs4=0.02, fs5=-1.63, sp0=0.01, sp1=1.55, sp2=2.14, sp3=-2.15, sp4=-1.54, sp5=-0.48 | ett0=-8.27, ett1=-1.52, ett2=1.15, ett3=0.51, ett4=-4, ett5=2.32, fp0=-0.12, fp1=1.56, fp2=2.15, fp3=-2.16, fp4=-1.54, fp5=-0.62, fs0=-1.29, fs1=0.05, fs2=0.15, fs3=-0.09, fs4=0.01, fs5=-1.26, sp0=-0.13, sp1=1.56, sp2=2.16, sp3=-2.16, sp4=-1.54, sp5=-0.62 | ett0=-3.12, ett1=-1.37, ett2=1.83, ett3=1.02, ett4=-0.8, ett5=2.09, fp0=-0.23, fp1=1.56, fp2=2.17, fp3=-2.16, fp4=-1.54, fp5=-0.73, fs0=-0.92, fs1=0.04, fs2=0.11, fs3=-0.06, fs4=0.01, fs5=-0.88, sp0=-0.23, sp1=1.56, sp2=2.17, sp3=-2.16, sp4=-1.54, sp5=-0.72 | ett0=3.36, ett1=-0.86, ett2=2.11, ett3=1.29, ett4=2.75, ett5=1.04, fp0=-0.31, fp1=1.56, fp2=2.18, fp3=-2.17, fp4=-1.54, fp5=-0.8, fs0=-0.55, fs1=0.02, fs2=0.07, fs3=-0.04, fs4=0, fs5=-0.52, sp0=-0.3, sp1=1.56, sp2=2.18, sp3=-2.17, sp4=-1.54, sp5=-0.79 | ett0=8.24, ett1=-0.14, ett2=1.94, ett3=1.26, ett4=5.53, ett5=0.22, fp0=-0.34, fp1=1.56, fp2=2.18, fp3=-2.17, fp4=-1.54, fp5=-0.83, fs0=-0.18, fs1=0, fs2=0.02, fs3=-0.02, fs4=0, fs5=-0.16, sp0=-0.34, sp1=1.56, sp2=2.18, sp3=-2.17, sp4=-1.54, sp5=-0.82
B. fp0=12.58, fp1=-79.9, fp2=78.66, fp3=-1.07, fp4=13.1, fp5=91.78, fs0=0, fs1=-0.21, fs2=8.42, fs3=-8.18, fs4=-0.04, fs5=0.02, sp0=12.58, sp1=-79.91, sp2=78.67, sp3=-1.06, sp4=13.1, sp5=91.78 | fp0=12.58, fp1=-79.91, fp2=79.4, fp3=-1.79, fp4=13.1, fp5=91.78, fs0=0, fs1=-0.12, fs2=6.21, fs3=-6.09, fs4=-0.05, fs5=0.03, sp0=12.58, sp1=-79.92, sp2=79.4, sp3=-1.79, sp4=13.1, sp5=91.78 | fp0=12.58, fp1=-79.92, fp2=79.92, fp3=-2.32, fp4=13.09, fp5=91.78, fs0=0, fs1=-0.09, fs2=4.39, fs3=-4.29, fs4=-0.03, fs5=0.03, sp0=12.58, sp1=-79.92, sp2=79.93, sp3=-2.31, sp4=13.1, sp5=91.78 | fp0=12.58, fp1=-79.92, fp2=80.27, fp3=-2.66, fp4=13.09, fp5=91.78, fs0=0, fs1=-0.04, fs2=2.31, fs3=-2.16, fs4=-0.02, fs5=0.01, sp0=12.58, sp1=-79.92, sp2=80.27, sp3=-2.65, sp4=13.09, sp5=91.78 | fp0=12.58, fp1=-79.92, fp2=80.4, fp3=-2.78, fp4=13.09, fp5=91.78, fs0=0, fs1=-0.01, fs2=0.49, fs3=-0.38, fs4=-0.02, fs5=0.01, sp0=12.58, sp1=-79.92, sp2=80.4, sp3=-2.78, sp4=13.09, sp5=91.78 | fp0=12.58, fp1=-79.92, fp2=80.4, fp3=-2.78, fp4=13.09, fp5=91.78, fs0=0, fs1=0.01, fs2=-0.03, fs3=0.02, fs4=-0.01, fs5=0.01, sp0=12.58, sp1=-79.92, sp2=80.4, sp3=-2.78, sp4=13.09, sp5=91.78 | fp0=12.58, fp1=-79.92, fp2=80.39, fp3=-2.78, fp4=13.09, fp5=91.79, fs0=0, fs1=-0.01, fs2=0.01, fs3=-0.01, fs4=-0.01, fs5=0.01, sp0=12.58, sp1=-79.92, sp2=80.39, sp3=-2.78, sp4=13.09, sp5=91.78
C. fp0=60.1, fp1=-99.85, fp2=54.48, fp3=-44.59, fp4=-89.71, fp5=59.88, fs0=-2.62, fs1=-2.62, fs2=-11.99, fs3=14.54, fs4=-0.14, fs5=-2.56, sp0=60.1, sp1=-99.84, sp2=54.46, sp3=-44.57, sp4=-89.71, sp5=59.88 | fp0=60.55, fp1=-99.38, fp2=56.53, fp3=-47.07, fp4=-89.69, fp5=60.32, fs0=-3.25, fs1=-3.28, fs2=-14.66, fs3=17.73, fs4=-0.14, fs5=-3.17, sp0=60.56, sp1=-99.38, sp2=56.52, sp3=-47.07, sp4=-89.69, sp5=60.33 | fp0=59.81, fp1=-100.15, fp2=53.15, fp3=-42.97, fp4=-89.72, fp5=59.59, fs0=-2.32, fs1=-2.2, fs2=-10.01, fs3=12.24, fs4=-0.13, fs5=-2.25, sp0=59.81, sp1=-100.14, sp2=53.13, sp3=-42.96, sp4=-89.72, sp5=59.58 | fp0=59.75, fp1=-100.21, fp2=52.85, fp3=-42.62, fp4=-89.72, fp5=59.52, fs0=-2.13, fs1=-2.06, fs2=-9.22, fs3=11.43, fs4=-0.13, fs5=-2.09, sp0=59.74, sp1=-100.2, sp2=52.85, sp3=-42.62, sp4=-89.72, sp5=59.52 | fp0=59.45, fp1=-100.5, fp2=51.53, fp3=-41.02, fp4=-89.74, fp5=59.23, fs0=-1.53, fs1=-1.53, fs2=-6.88, fs3=8.27, fs4=-0.08, fs5=-1.48, sp0=59.45, sp1=-100.5, sp2=51.53, sp3=-41.01, sp4=-89.74, sp5=59.23 | fp0=59.35, fp1=-100.6, fp2=51.1, fp3=-40.49, fp4=-89.74, fp5=59.14, fs0=-1.22, fs1=-1.3, fs2=-5.72, fs3=6.8, fs4=-0.05, fs5=-1.2, sp0=59.35, sp1=-100.6, sp2=51.09, sp3=-40.49, sp4=-89.74, sp5=59.14 | fp0=59.25, fp1=-100.7, fp2=50.66, fp3=-39.95, fp4=-89.75, fp5=59.04, fs0=-0.83, fs1=-0.9, fs2=-3.89, fs3=4.69, fs4=-0.05, fs5=-0.83, sp0=59.26, sp1=-100.7, sp2=50.65, sp3=-39.95, sp4=-89.75, sp5=59.04
D. fp0=22.29, fp1=-61.42, fp2=92.04, fp3=-119.58, fp4=-89.72, fp5=355.74, fs0=-0.01, fs1=0.05, fs2=0.03, fs3=-0.1, fs4=0, fs5=0.03, sp0=22.29, sp1=-61.42, sp2=92.04, sp3=-119.58, sp4=-89.71, sp5=355.73 | fp0=22.31, fp1=-61.41, fp2=92.09, fp3=-119.64, fp4=-89.71, fp5=355.71, fs0=-0.03, fs1=-0.11, fs2=-0.14, fs3=0.15, fs4=0, fs5=0.05, sp0=22.31, sp1=-61.41, sp2=92.09, sp3=-119.64, sp4=-89.71, sp5=355.71 | fp0=22.31, fp1=-61.41, fp2=92.05, fp3=-119.6, fp4=-89.71, fp5=355.71, fs0=0.01, fs1=-0.06, fs2=-0.07, fs3=0.12, fs4=0, fs5=-0.04, sp0=22.31, sp1=-61.41, sp2=92.05, sp3=-119.6, sp4=-89.71, sp5=355.71 | fp0=22.28, fp1=-61.43, fp2=91.99, fp3=-119.52, fp4=-89.72, fp5=355.75, fs0=0.01, fs1=0.03, fs2=0.04, fs3=-0.07, fs4=0, fs5=0.01, sp0=22.28, sp1=-61.44, sp2=91.99, sp3=-119.51, sp4=-89.72, sp5=355.75 | fp0=22.31, fp1=-61.38, fp2=92.13, fp3=-119.71, fp4=-89.71, fp5=355.7, fs0=0, fs1=0.11, fs2=0.18, fs3=-0.31, fs4=0, fs5=-0.01, sp0=22.31, sp1=-61.38, sp2=92.13, sp3=-119.71, sp4=-89.71, sp5=355.7 | fp0=22.29, fp1=-61.49, fp2=91.91, fp3=-119.38, fp4=-89.72, fp5=355.75, fs0=0.01, fs1=-0.3, fs2=-0.34, fs3=0.69, fs4=0, fs5=-0.02, sp0=22.29, sp1=-61.5, sp2=91.9, sp3=-119.37, sp4=-89.71, sp5=355.75 | fp0=22.3, fp1=-61.36, fp2=92.18, fp3=-119.78, fp4=-89.72, fp5=355.72, fs0=-0.01, fs1=-0.67, fs2=-0.49, fs3=1.09, fs4=-0.01, fs5=0.04, sp0=22.3, sp1=-61.36, sp2=92.18, sp3=-119.78, sp4=-89.71, sp5=355.72

Answer: CDAB


Question: Knowing that the robot suffers from an unexpected payload weight in the given context time series, we want to isolate the grasp of the object phase. Assuming a fixed window length of 13 timesteps, at which timestamp should the window begin? Answer only with an integer or decimal number, nothing else.

Answer: 4279


Question: Given the sensor data from a robot performing the task, determine what anomaly is present? Answer only with a letter indicating your answer (ie. A, B, C or D). Do not output anything else.

Choices:
A. The insertion fixture has shifted laterally from its nominal position due to vibration, impact, or improper clamping, creating a positional mismatch between the programmed approach and the actual hole location.
B. The robot attempts tightening but no screw is present, often due to pick failure or skipped step.
C. The Tool Center Point (TCP) frame or mounting orientation is configured incorrectly in PolyScope, causing the robot to detect unexpected gravitational torques consistent with wrong mounting.
D. The payload mass is left at 0 kg in the robot configuration while a tool or workpiece is physically attached, causing the collision detection model to trigger on normal inertial forces.

Answer: D


Question: You are provided with two sensor streams originating from robots accomplishing tasks. What differences between the two given instances of robotic time series data (if any) do you notice? Answer only with a 4 letter string using F and T to indicate your answers (ie. TFFT to indicate True, False, False, True). Do not output anything else.

Choices:
A. Those come from different robots.
B. The two robots have different anomalous states. Note: this means either exactly one of them is anomalous, or they both are, but have different anomalies.
C. The two robots are performing different tasks.
D. The two robots are performing the same task, but at different phases.

Answer: FTTF


Question: Rank the following robot time series segments from most to least severe anomaly. Answer only with a four letter string indicating your ranking (ie. DCAB), nothing else.

Choices:
A. ett0=0.01, ett1=11.8, ett2=6.12, ett3=0.28, ett4=0, ett5=0, ecf0=-0.34, ecf1=-0.57, ecf2=0.05, ecf3=-0.01, ecf4=-0.02, ecf5=0.02, fp0=-0.8, fp1=-2.04, fp2=-1.52, fp3=3.57, fp4=-0.91, fp5=-1.56, fs0=0, fs1=0, fs2=0, fs3=0, fs4=0, fs5=0, sp0=-0.8, sp1=-2.04, sp2=-1.52, sp3=3.57, sp4=-0.91, sp5=-1.56 | ett0=-0.01, ett1=11.77, ett2=6.1, ett3=0.29, ett4=0, ett5=0, ecf0=-0.3, ecf1=-0.57, ecf2=0.11, ecf3=-0.02, ecf4=-0.02, ecf5=0.02, fp0=-0.8, fp1=-2.04, fp2=-1.52, fp3=3.57, fp4=-0.91, fp5=-1.56, fs0=0, fs1=0, fs2=0, fs3=0, fs4=0, fs5=0, sp0=-0.8, sp1=-2.04, sp2=-1.52, sp3=3.57, sp4=-0.91, sp5=-1.56 | ett0=0, ett1=11.78, ett2=6.11, ett3=0.29, ett4=0, ett5=0, ecf0=-0.31, ecf1=-0.66, ecf2=0.1, ecf3=-0.01, ecf4=-0.02, ecf5=0.02, fp0=-0.8, fp1=-2.04, fp2=-1.52, fp3=3.57, fp4=-0.91, fp5=-1.56, fs0=0, fs1=0, fs2=0, fs3=0, fs4=0, fs5=0, sp0=-0.8, sp1=-2.04, sp2=-1.52, sp3=3.57, sp4=-0.91, sp5=-1.56 | ett0=0, ett1=11.78, ett2=6.11, ett3=0.29, ett4=0, ett5=0, ecf0=-0.3, ecf1=-0.64, ecf2=0.09, ecf3=-0.01, ecf4=-0.02, ecf5=0.02, fp0=-0.8, fp1=-2.04, fp2=-1.52, fp3=3.57, fp4=-0.91, fp5=-1.56, fs0=0, fs1=0, fs2=0, fs3=0, fs4=0, fs5=0, sp0=-0.8, sp1=-2.04, sp2=-1.52, sp3=3.57, sp4=-0.91, sp5=-1.56 | ett0=0, ett1=11.78, ett2=6.11, ett3=0.29, ett4=0, ett5=0, ecf0=-0.27, ecf1=-0.63, ecf2=0.12, ecf3=-0.02, ecf4=-0.02, ecf5=0.02, fp0=-0.8, fp1=-2.04, fp2=-1.52, fp3=3.57, fp4=-0.91, fp5=-1.56, fs0=0, fs1=0, fs2=0, fs3=0, fs4=0, fs5=0, sp0=-0.8, sp1=-2.04, sp2=-1.52, sp3=3.57, sp4=-0.91, sp5=-1.56
B. ett0=0, ett1=-16.73, ett2=-6.65, ett3=-0.17, ett4=0, ett5=0, ecf0=-6.83, ecf1=2.84, ecf2=14.81, ecf3=-0.11, ecf4=1.03, ecf5=0.65, fp0=0.26, fp1=-0.57, fp2=0.62, fp3=-0.06, fp4=2.6, fp5=-1.55, fs0=0, fs1=0, fs2=0, fs3=0, fs4=0, fs5=0, sp0=0.26, sp1=-0.57, sp2=0.62, sp3=-0.06, sp4=2.6, sp5=-1.55 | ett0=0, ett1=-16.73, ett2=-6.65, ett3=-0.17, ett4=0, ett5=0, ecf0=-7.02, ecf1=2.5, ecf2=13.76, ecf3=-0.13, ecf4=1.06, ecf5=0.67, fp0=0.26, fp1=-0.57, fp2=0.62, fp3=-0.06, fp4=2.6, fp5=-1.55, fs0=0, fs1=0, fs2=0, fs3=0, fs4=0, fs5=0, sp0=0.26, sp1=-0.57, sp2=0.62, sp3=-0.06, sp4=2.6, sp5=-1.55 | ett0=0, ett1=-16.73, ett2=-6.65, ett3=-0.17, ett4=0, ett5=0, ecf0=-7.4, ecf1=2.45, ecf2=15.23, ecf3=-0.12, ecf4=1.03, ecf5=0.64, fp0=0.26, fp1=-0.57, fp2=0.62, fp3=-0.06, fp4=2.6, fp5=-1.55, fs0=0, fs1=0, fs2=0, fs3=0, fs4=0, fs5=0, sp0=0.26, sp1=-0.57, sp2=0.62, sp3=-0.06, sp4=2.6, sp5=-1.55 | ett0=0, ett1=-16.73, ett2=-6.65, ett3=-0.17, ett4=0, ett5=0, ecf0=-7.36, ecf1=2.94, ecf2=15.33, ecf3=-0.08, ecf4=1.02, ecf5=0.63, fp0=0.26, fp1=-0.57, fp2=0.62, fp3=-0.06, fp4=2.6, fp5=-1.55, fs0=0, fs1=0, fs2=0, fs3=0, fs4=0, fs5=0, sp0=0.26, sp1=-0.57, sp2=0.62, sp3=-0.06, sp4=2.6, sp5=-1.55 | ett0=0, ett1=-16.73, ett2=-6.65, ett3=-0.17, ett4=0, ett5=0, ecf0=-7.57, ecf1=2.86, ecf2=14.41, ecf3=-0.08, ecf4=1.04, ecf5=0.63, fp0=0.26, fp1=-0.57, fp2=0.62, fp3=-0.06, fp4=2.6, fp5=-1.55, fs0=0, fs1=0, fs2=0, fs3=0, fs4=0, fs5=0, sp0=0.26, sp1=-0.57, sp2=0.62, sp3=-0.06, sp4=2.6, sp5=-1.55 | ett0=0, ett1=-16.73, ett2=-6.65, ett3=-0.17, ett4=0, ett5=0, ecf0=-7.62, ecf1=3.34, ecf2=15.04, ecf3=-0.04, ecf4=1, ecf5=0.62, fp0=0.26, fp1=-0.57, fp2=0.62, fp3=-0.06, fp4=2.6, fp5=-1.55, fs0=0, fs1=0, fs2=0, fs3=0, fs4=0, fs5=0, sp0=0.26, sp1=-0.57, sp2=0.62, sp3=-0.06, sp4=2.6, sp5=-1.55
C. fp0=-14.67, fp1=-79.99, fp2=92.9, fp3=-103.37, fp4=-90.33, fp5=278.9, fs0=4.61, fs1=-1.77, fs2=-2.26, fs3=3.52, fs4=0.39, fs5=2.99, sp0=-14.64, sp1=-79.99, sp2=92.9, sp3=-103.36, sp4=-90.32, sp5=278.9 | fp0=-13.72, fp1=-80.32, fp2=92.5, fp3=-102.64, fp4=-90.27, fp5=279.52, fs0=9.79, fs1=-3.65, fs2=-4.12, fs3=7.65, fs4=0.75, fs5=6.96, sp0=-13.7, sp1=-80.33, sp2=92.48, sp3=-102.63, sp4=-90.27, sp5=279.52 | fp0=-13.72, fp1=-80.32, fp2=92.5, fp3=-102.64, fp4=-90.27, fp5=279.52, fs0=9.79, fs1=-3.65, fs2=-4.12, fs3=7.65, fs4=0.75, fs5=6.96, sp0=-13.7, sp1=-80.33, sp2=92.48, sp3=-102.63, sp4=-90.27, sp5=279.52 | fp0=-12.09, fp1=-80.91, fp2=91.77, fp3=-101.38, fp4=-90.19, fp5=280.6, fs0=15.29, fs1=-5.39, fs2=-7.08, fs3=11.93, fs4=0.46, fs5=9.99, sp0=-12.07, sp1=-80.91, sp2=91.76, sp3=-101.38, sp4=-90.18, sp5=280.59 | fp0=-9.8, fp1=-81.73, fp2=90.74, fp3=-99.6, fp4=-90.06, fp5=282.12, fs0=20.75, fs1=-7.18, fs2=-9.08, fs3=16.06, fs4=0.9, fs5=13.71, sp0=-9.76, sp1=-81.73, sp2=90.74, sp3=-99.6, sp4=-90.06, sp5=282.12 | fp0=-6.81, fp1=-82.79, fp2=89.42, fp3=-97.29, fp4=-89.9, fp5=284.09, fs0=26.16, fs1=-9.14, fs2=-12.14, fs3=19.78, fs4=1.5, fs5=16.99, sp0=-6.76, sp1=-82.8, sp2=89.41, sp3=-97.28, sp4=-89.9, sp5=284.09 | fp0=-3.11, fp1=-84.1, fp2=87.78, fp3=-94.45, fp4=-89.71, fp5=286.5, fs0=31.3, fs1=-11.31, fs2=-13.97, fs3=23.94, fs4=1.84, fs5=20.73, sp0=-3.08, sp1=-84.11, sp2=87.77, sp3=-94.44, sp4=-89.7, sp5=286.52
D. fp0=24.7, fp1=-61.34, fp2=55.1, fp3=5.2, fp4=25.21, fp5=90.39, fs0=0, fs1=0.02, fs2=-0.02, fs3=-0.01, fs4=-0.01, fs5=-0.03, sp0=24.7, sp1=-61.33, sp2=55.1, sp3=5.2, sp4=25.21, sp5=90.38 | fp0=24.7, fp1=-61.34, fp2=55.1, fp3=5.2, fp4=25.21, fp5=90.39, fs0=0, fs1=-0.03, fs2=0, fs3=-0.01, fs4=0.01, fs5=0.09, sp0=24.7, sp1=-61.33, sp2=55.1, sp3=5.2, sp4=25.21, sp5=90.38 | fp0=24.7, fp1=-61.37, fp2=55.06, fp3=5.18, fp4=25.2, fp5=90.4, fs0=-0.06, fs1=-0.16, fs2=0.42, fs3=0.02, fs4=-0.09, fs5=0.1, sp0=24.7, sp1=-61.33, sp2=55.1, sp3=5.2, sp4=25.21, sp5=90.38 | fp0=24.69, fp1=-61.38, fp2=55.05, fp3=5.17, fp4=25.19, fp5=90.4, fs0=-0.01, fs1=0.18, fs2=0.37, fs3=0.1, fs4=-0.13, fs5=0.01, sp0=24.7, sp1=-61.33, sp2=55.1, sp3=5.2, sp4=25.21, sp5=90.38 | fp0=24.69, fp1=-61.36, fp2=55.08, fp3=5.19, fp4=25.2, fp5=90.39, fs0=-0.01, fs1=0.44, fs2=0.33, fs3=0.23, fs4=0.11, fs5=-0.06, sp0=24.7, sp1=-61.33, sp2=55.1, sp3=5.2, sp4=25.21, sp5=90.38 | fp0=24.69, fp1=-61.32, fp2=55.11, fp3=5.2, fp4=25.21, fp5=90.38, fs0=0.03, fs1=0.21, fs2=0.32, fs3=0.15, fs4=0.18, fs5=-0.19, sp0=24.7, sp1=-61.33, sp2=55.1, sp3=5.2, sp4=25.21, sp5=90.38

Answer: DCAB