insert_bearing

FAILhuman

arm-01 · 2026-09-24 13:51:37Z · 3.08 s · chain #21

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": 1157903437,
    "start": 1157903411
  }
}

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 14:08:39Z
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	1157903014–1157903413 ms	1.6	0.0	—	1223	0.136	—
collision	1157903411–1157903437 ms	95.6	49.3	0.050	5327	23.173	37.0
contact	1157903413–1157903472 ms	96.4	77.7	0.050	5327	4.227	33.3
load	1157903473–1157905513 ms	95.4	92.7	0.050	996	1.867	110.2
collision	1157905414–1157905513 ms	94.0	47.5	0.050	996	2.590	20.0
release	1157905513–1157905533 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

d9c5c21a-d8e0-415e-bf62-86148613c6b3

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 13:51:37Z → 2026-09-24 13:51:40Z

Sensor archive

Stored

Chain

Position

#21

Integrity

hash matches

10551a493f83fa5ad6e82a364445ef2e

This episode

821cb0c0f2dba5057808b6012fb04006