insert_bearing

FAILhuman

arm-01 · 2026-09-24 13:51:15Z · 3.08 s · chain #6

Machine verdict

FAIL / excessive_forceconfidence 0.85 · tier rules · rules vr-1

Peak 96.4 N against a 80.0 N limit, with an impact at 5327.23 N/s.

{
  "failedRules": [
    "peak_force_max_n",
    "collision"
  ],
  "rulesVersion": "vr-1",
  "forceWindowMs": {
    "end": 1157881347,
    "start": 1157881321
  }
}

Acceptance criteria

Insert bearing until seated v1

Expected approach → contact → load → release

Observed approach → collision → contact → load → collision → release

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

Insert the part until it seats.

Human judgment

FAILexcessive_forceZoe2026-09-24 14:08:38Z
Dev seed: matches machine verdict for replay pilot.

Intervention

Contact events (6, offsets from episode start)

approach
contact
load
release
collision
deciding window

event	window	peak N	normal N	lat/norm	dF/dt	slip band	osc Hz
approach	1157880924–1157881323 ms	1.6	0.0	—	1223	0.136	—
collision	1157881321–1157881347 ms	95.6	49.3	0.050	5327	23.173	37.0
contact	1157881323–1157881382 ms	96.4	77.7	0.050	5327	4.227	33.3
load	1157881383–1157883423 ms	95.4	92.7	0.050	996	1.867	110.2
collision	1157883324–1157883423 ms	94.0	47.5	0.050	996	2.590	20.0
release	1157883423–1157883443 ms	1.1	0.2	—	424	0.012	—

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

16abe9e1-4633-40b1-9743-ca0812715111

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 13:51:15Z → 2026-09-24 13:51:18Z

Sensor archive

Stored

Chain

Position

Integrity

hash matches

9e03aee09d5407bb40513875923ae965

This episode

170ccd5269f5548226861ca1af7e20ac