insert_bearing

FAILhuman

arm-01 · 2026-09-23 12:02:02Z · 3.10 s · chain #1

Machine verdict

FAIL / grasp_slipconfidence 0.90 · tier rules · rules vr-1

Slip over 395 ms at lateral/normal ratio 0.5499 with 60.61 Hz chatter.

{
  "failedRules": [
    "allow_slip"
  ],
  "rulesVersion": "vr-1",
  "forceWindowMs": {
    "end": 1064924109,
    "start": 1064923714
  }
}

No published spec was bound to this episode. Publish one so the next ingest can cite what “pass” meant.

FAILgrasp_slipZoe2026-09-24 14:08:38Z
Dev seed: matches machine verdict for replay pilot.

onsite_resetoperator 45srobot wait 2m 0s2026-09-23 12:33:03Z
Slip on insert. Reset and reseated.

event	window	peak N	normal N	lat/norm	dF/dt	slip band	osc Hz
approach	1064922513–1064922924 ms	2.0	0.0	—	207	0.157	56.0
contact	1064922924–1064922983 ms	14.1	8.1	0.056	209	0.046	33.3
load	1064922984–1064925058 ms	41.5	33.5	0.153	702	7367.917	59.8
slip	1064923714–1064924109 ms	41.5	34.6	0.550	694	1833.826	60.6
release	1064925058–1064925078 ms	1.1	0.2	—	225	0.006	—

Downsampled magnitude from the padded window stored in object storage.

Cheap to record now, impossible to reconstruct later. Without it an episode cannot be used as training data.

Episode id

988cb894-332c-47e5-ab54-fede19503cfe

Robot

arm-01 · cell-3

Policy version

pi-0.3.1

Adapter version

ad-1.0.0

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

2026-09-23 12:02:02Z → 2026-09-23 12:02:05Z

Sensor archive

Stored

Position

Integrity

hash matches

71eb5959888cc95be7b606a29a2dc449

This episode

c67561bcd22a86dde184269df5e90bfe