insert_bearing

FAILhuman

arm-01 · 2026-09-24 13:50:27Z · 3.07 s · chain #5

Machine verdict

FAIL / grasp_slipconfidence 0.90 · tier rules · rules vr-1

Slip over 395 ms at lateral/normal ratio 0.5499 with 60.61 Hz chatter.

{
  "failedRules": [
    "allow_slip"
  ],
  "rulesVersion": "vr-1",
  "forceWindowMs": {
    "end": 1157834693,
    "start": 1157834298
  }
}

Acceptance criteria

Insert bearing until seated v1

Expected approach → contact → load → release

Observed approach → contact → load → slip → release

peak 5–80 N · slip fails · max 30000 ms

Insert the part until it seats.

Human judgment

FAILgrasp_slipZoe2026-09-24 14:08:38Z
Dev seed: matches machine verdict for replay pilot.

Intervention

Contact events (5, offsets from episode start)

approach
contact
load
slip
release
deciding window

event	window	peak N	normal N	lat/norm	dF/dt	slip band	osc Hz
approach	1157833097–1157833508 ms	2.0	0.0	—	207	0.157	56.0
contact	1157833508–1157833567 ms	14.1	8.1	0.056	209	0.046	33.3
load	1157833568–1157835642 ms	41.5	33.5	0.153	702	7367.917	59.8
slip	1157834298–1157834693 ms	41.5	34.6	0.550	694	1833.826	60.6
release	1157835642–1157835662 ms	1.1	0.2	—	225	0.006	—

Force trace

Downsampled magnitude from the padded window stored in object storage.

Provenance

Cheap to record now, impossible to reconstruct later. Without it an episode cannot be used as training data.

Episode id

116ace4b-8d6e-43a0-8432-f1c6b74cd2b5

Robot

arm-01

Policy version

pilot-v1

Adapter version

edge-v1

Detector / rules

cd-1 / vr-1

Acceptance criteria version

Sensor serial

replay-0000

Sensor calibrated

—

Clock offset (force − frame)

1789100000000.00 ms

Samples recorded

3000

Started / ended

2026-09-24 13:50:27Z → 2026-09-24 13:50:30Z

Sensor archive

Stored

Chain

Position

Integrity

hash matches

dd58a513f2862f6672b8e51079e1bd58

This episode

9e03aee09d5407bb40513875923ae965