insert_bearing

FAILhuman

arm-01 · 2026-09-24 14:01:01Z · 3.08 s · chain #34

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": 1158467456,
    "start": 1158467430
  }
}

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 14:08:40Z
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	1158467033–1158467432 ms	1.6	0.0	—	1223	0.136	—
collision	1158467430–1158467456 ms	95.6	49.3	0.050	5327	23.173	37.0
contact	1158467432–1158467491 ms	96.4	77.7	0.050	5327	4.227	33.3
load	1158467492–1158469532 ms	95.4	92.7	0.050	996	1.867	110.2
collision	1158469433–1158469532 ms	94.0	47.5	0.050	996	2.590	20.0
release	1158469532–1158469552 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

a4d2efd8-d32c-4e9e-be30-e245d4e1a997

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 14:01:01Z → 2026-09-24 14:01:04Z

Sensor archive

Stored

Chain

Position

#34

Integrity

hash matches

5d58454d9b6a20d072fc749e333b3740

This episode

0f7435762b42c1ac39c90a44560f8f6f