insert_bearing

FAILhuman

arm-01 · 2026-09-24 13:51:10Z · 3.08 s · chain #20

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": 1157878209,
    "start": 1157877814
  }
}

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 14:08:39Z
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	1157876613–1157877024 ms	2.0	0.0	—	207	0.157	56.0
contact	1157877024–1157877083 ms	14.1	8.1	0.056	209	0.046	33.3
load	1157877084–1157879158 ms	41.5	33.5	0.153	702	7367.917	59.8
slip	1157877814–1157878209 ms	41.5	34.6	0.550	694	1833.826	60.6
release	1157879158–1157879178 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

b51eb9a4-114d-43de-9c3a-b121ce16429a

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 13:51:10Z → 2026-09-24 13:51:14Z

Sensor archive

Stored

Chain

Position

#20

Integrity

hash matches

d989580e4b87fc664d2517fa5734c8ff

This episode

10551a493f83fa5ad6e82a364445ef2e