insert_bearing

FAILhuman

arm-01 · 2026-09-24 14:00:40Z · 3.08 s · chain #39

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": 1158446383,
    "start": 1158446357
  }
}

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	1158445960–1158446359 ms	1.6	0.0	—	1223	0.136	—
collision	1158446357–1158446383 ms	95.6	49.3	0.050	5327	23.173	37.0
contact	1158446359–1158446418 ms	96.4	77.7	0.050	5327	4.227	33.3
load	1158446419–1158448459 ms	95.4	92.7	0.050	996	1.867	110.2
collision	1158448360–1158448459 ms	94.0	47.5	0.050	996	2.590	20.0
release	1158448459–1158448479 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

bde94fd3-ec3b-4ad1-9542-a292c6fd8c25

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 14:00:40Z → 2026-09-24 14:00:43Z

Sensor archive

Stored

Chain

Position

#39

Integrity

hash matches

0af495219e553132b6dba66edbfa15fb

This episode

1ddfe8eeea59d8c347964d2f192aa985