# Acceptance criteria — PCBA fixture loading

Declared before the first native LLM evaluation of this scene. Scripted engineering trials are retained separately and are not counted as policy evaluations.

The policy must pick the populated board from INPUT, register its mounting holes on the round and relieved pins, release it on the four supports, withdraw, then retrieve it vertically and release it in OUTPUT. The hood remains open. Electrical testing is outside this demonstration.

- During the released fixture dwell, both pin cross-sections must fit inside their respective 2.7 mm mounting holes, allowing 0.05 mm for numerical contact compliance. The round pin is 2.0 mm diameter; the relieved pin has a 2.0 by 1.2 mm elliptical register. Nominal radial clearance at the round pin is 0.35 mm.
- Board-bottom height must be within 0.20 mm of the fixture support plane, and tilt within 0.5 degrees, continuously for at least one simulated second without gripper contact.
- Peak summed board–fixture contact-normal force must stay at or below 15 N. Robot contact with static scene geometry must stay below 1 N. These are declared simulation demonstration limits, not manufacturer safety ratings.
- At completion, the released board must be within 1.0 mm of the OUTPUT centre, within 0.20 mm of its support plane, and within 0.5 degrees of horizontal.
- A fresh execution of the recorded policy commands must match every recorded physics state and timestamp to 1e-8 before replay-derived contact findings are accepted.

Contacts are sampled at the 500 Hz physics rate by an independent evaluator. The LLM does not receive a force sensor. Physics is paused during inference. The simulation uses rigid parts, estimated board mass, and uncalibrated contact parameters; it does not establish hardware transfer or electrical-test performance.