insert_bearing

PASShuman

arm-01 · 2026-09-24 13:50:23Z · 3.11 s · chain #8

Machine verdict

PASSconfidence 0.80 · tier rules · rules vr-1

Clean load to 40.1 N inside [5, 80] N, no slip, phases in order.

{
  "failedRules": [],
  "rulesVersion": "vr-1"
}

Acceptance criteria

Insert bearing until seated v1

Expected approach → contact → load → release

Observed approach → contact → load → release

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

Insert the part until it seats.

Human judgment

PASSZoe2026-09-24 14:08:38Z
Dev seed: matches machine verdict for replay pilot.

Intervention

Contact events (4, offsets from episode start)

approach
contact
load
release

event	window	peak N	normal N	lat/norm	dF/dt	slip band	osc Hz
approach	1157828748–1157829159 ms	2.0	0.0	—	212	0.171	90.0
contact	1157829159–1157829218 ms	14.1	8.2	0.054	211	0.067	33.3
load	1157829219–1157831293 ms	40.1	33.5	0.054	278	1.996	162.4
release	1157831293–1157831313 ms	1.1	0.2	—	228	0.004	—

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

1cf9eaf5-1f72-4028-bdd6-d481e2a2dfcf

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 13:50:23Z → 2026-09-24 13:50:26Z

Sensor archive

Stored

Chain

Position

Integrity

hash matches

0e4f42f45658cf57c4f6cff6a1285ff9

This episode

1fa2469ee99ae476b2f4c07faee47185