insert_bearing

FAILhuman

arm-01 · 2026-09-24 14:01:20Z · 3.07 s · chain #33

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": 1158487240,
    "start": 1158486845
  }
}

Acceptance criteria

Insert bearing until seated v1

Expected approach → contact → load → release

Observed approach → contact → load → slip → release

peak 5–80 N · slip fails · max 30000 ms

Insert the part until it seats.

Human judgment

FAILgrasp_slipZoe2026-09-24 14:08:40Z
Dev seed: matches machine verdict for replay pilot.

Intervention

Contact events (5, offsets from episode start)

approach
contact
load
slip
release
deciding window

event	window	peak N	normal N	lat/norm	dF/dt	slip band	osc Hz
approach	1158485644–1158486055 ms	2.0	0.0	—	207	0.157	56.0
contact	1158486055–1158486114 ms	14.1	8.1	0.056	209	0.046	33.3
load	1158486115–1158488189 ms	41.5	33.5	0.153	702	7367.917	59.8
slip	1158486845–1158487240 ms	41.5	34.6	0.550	694	1833.826	60.6
release	1158488189–1158488209 ms	1.1	0.2	—	225	0.006	—

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

9fde95ca-cf3b-45dd-9cc7-342a46dc6f22

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 14:01:20Z → 2026-09-24 14:01:23Z

Sensor archive

Stored

Chain

Position

#33

Integrity

hash matches

6b10e3ee51bcb2c5505c9bcbe3ae54cd

This episode

5d58454d9b6a20d072fc749e333b3740