insert_bearing

PASShuman

arm-01 · 2026-09-24 13:50:45Z · 3.08 s · chain #19

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	1157850657–1157851068 ms	2.0	0.0	—	212	0.171	90.0
contact	1157851068–1157851127 ms	14.1	8.2	0.054	211	0.067	33.3
load	1157851128–1157853202 ms	40.1	33.5	0.054	278	1.996	162.4
release	1157853202–1157853222 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

963da282-e2c7-4616-b638-e4814242f4a4

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 13:50:45Z → 2026-09-24 13:50:48Z

Sensor archive

Stored

Chain

Position

#19

Integrity

hash matches

c8b398f436c105145babf0bdbbbc9f08

This episode

d989580e4b87fc664d2517fa5734c8ff