insert_bearing

FAILhuman

arm-01 · 2026-09-24 14:00:57Z · 3.07 s · chain #42

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": 1158464539,
    "start": 1158464144
  }
}

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	1158462943–1158463354 ms	2.0	0.0	—	207	0.157	56.0
contact	1158463354–1158463413 ms	14.1	8.1	0.056	209	0.046	33.3
load	1158463414–1158465488 ms	41.5	33.5	0.153	702	7367.917	59.8
slip	1158464144–1158464539 ms	41.5	34.6	0.550	694	1833.826	60.6
release	1158465488–1158465508 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

d8c5dce0-4bca-4526-9b46-0f2d9bab6079

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 14:00:57Z → 2026-09-24 14:01:00Z

Sensor archive

Stored

Chain

Position

#42

Integrity

hash matches

f35f65d3d2bd5dea3c3a3d1d2da97f11

This episode

b32fe84fb76c76bd64d45a09afa6dd3f