insert_bearing

FAILhuman

arm-01 · 2026-09-24 14:01:24Z · 3.07 s · chain #41

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": 1158490358,
    "start": 1158490332
  }
}

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	1158489935–1158490334 ms	1.6	0.0	—	1223	0.136	—
collision	1158490332–1158490358 ms	95.6	49.3	0.050	5327	23.173	37.0
contact	1158490334–1158490393 ms	96.4	77.7	0.050	5327	4.227	33.3
load	1158490394–1158492434 ms	95.4	92.7	0.050	996	1.867	110.2
collision	1158492335–1158492434 ms	94.0	47.5	0.050	996	2.590	20.0
release	1158492434–1158492454 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

c445376b-371a-4fd3-81ff-d9216ee10839

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 14:01:24Z → 2026-09-24 14:01:27Z

Sensor archive

Stored

Chain

Position

#41

Integrity

hash matches

987efbc1128bb0403ac1905cd94bb885

This episode

f35f65d3d2bd5dea3c3a3d1d2da97f11