insert_bearing

FAILhuman

arm-01 · 2026-09-24 13:50:53Z · 3.09 s · chain #16

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": 1157859443,
    "start": 1157859417
  }
}

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 14:08:39Z
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	1157859020–1157859419 ms	1.6	0.0	—	1223	0.136	—
collision	1157859417–1157859443 ms	95.6	49.3	0.050	5327	23.173	37.0
contact	1157859419–1157859478 ms	96.4	77.7	0.050	5327	4.227	33.3
load	1157859479–1157861519 ms	95.4	92.7	0.050	996	1.867	110.2
collision	1157861420–1157861519 ms	94.0	47.5	0.050	996	2.590	20.0
release	1157861519–1157861539 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

75584011-ae64-43fe-965f-884b382b62d4

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 13:50:53Z → 2026-09-24 13:50:56Z

Sensor archive

Stored

Chain

Position

#16

Integrity

hash matches

a6b0fd6cd50d975f237affe2702c1aaa

This episode

02270e98e873cfd23629e9bd69e98749