insert_bearing

FAILhuman

arm-01 · 2026-09-23 12:02:10Z · 3.07 s · chain #2

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": 1064930704,
    "start": 1064930678
  }
}

Acceptance criteria

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

Human judgment

FAILexcessive_forceZoe2026-09-24 14:08:38Z
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	1064930281–1064930680 ms	1.6	0.0	—	1223	0.136	—
collision	1064930678–1064930704 ms	95.6	49.3	0.050	5327	23.173	37.0
contact	1064930680–1064930739 ms	96.4	77.7	0.050	5327	4.227	33.3
load	1064930740–1064932780 ms	95.4	92.7	0.050	996	1.867	110.2
collision	1064932681–1064932780 ms	94.0	47.5	0.050	996	2.590	20.0
release	1064932780–1064932800 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

99ace4a6-f858-445f-8b19-38730cbc9133

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 12:02:10Z → 2026-09-23 12:02:13Z

Sensor archive

Stored

Chain

Position

Integrity

hash matches

c67561bcd22a86dde184269df5e90bfe

This episode

79511036f6560f662b751b489bf731a1