insert_bearing

PASShuman

arm-01 · 2026-09-24 13:51:28Z · 3.07 s · chain #13

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 14:08:39Z
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	1157894290–1157894701 ms	2.0	0.0	—	212	0.171	90.0
contact	1157894701–1157894760 ms	14.1	8.2	0.054	211	0.067	33.3
load	1157894761–1157896835 ms	40.1	33.5	0.054	278	1.996	162.4
release	1157896835–1157896855 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

55300b3f-874b-46d2-8f72-690f11b572e5

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 13:51:28Z → 2026-09-24 13:51:31Z

Sensor archive

Stored

Chain

Position

#13

Integrity

hash matches

b17d23a13d6807ea87e516edc3dcf108

This episode

f48d6674d86275fa486fbdb7f24d3fd7