insert_bearing

FAILhuman

arm-01 · 2026-09-24 14:00:14Z · 3.07 s · chain #37

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": 1158421747,
    "start": 1158421352
  }
}

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	1158420151–1158420562 ms	2.0	0.0	—	207	0.157	56.0
contact	1158420562–1158420621 ms	14.1	8.1	0.056	209	0.046	33.3
load	1158420622–1158422696 ms	41.5	33.5	0.153	702	7367.917	59.8
slip	1158421352–1158421747 ms	41.5	34.6	0.550	694	1833.826	60.6
release	1158422696–1158422716 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

b17d63f5-acf1-4e22-8906-1102a20c2fa8

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 14:00:14Z → 2026-09-24 14:00:17Z

Sensor archive

Stored

Chain

Position

#37

Integrity

hash matches

4c20b90f2bf3d4c21e383da07b11f573

This episode

46c6ec0adc5a1f55c8c1b2eae966dbcd