EON SPACE VENTURES · SIMULATION PROCEDURERobot gripper and harness reconfiguration for a new task
ESV-S04-SOP-03 · Robot servicing workcell · model v3 · 12 steps
Rehearse changing the gripper and cable configuration for a different payload approach, then prove clearance and restore the workcell. Recover from a cable route that crosses a moving joint envelope.
Concept-model training and authoring specification. Real hardware operations require the programme owner’s approved procedure and engineering limits.
Before the exercise
Use isolated kinematic training states. Supply two reviewed gripper configurations, cable route states and a slow pose sequence. Mechanical limits, clamp loads and cable fatigue values are programme inputs rather than properties inferred from the mesh.
1 Identify the task change
Model labels: robot, gripper, sat.payload
Confirm the existing and requested approach configurations. Identify the robot, gripper and target payload before opening the task change package.
Check: A named target configuration and revision are required.
2 Place the robot in the service pose
Model labels: robot.shoulder, robot.elbow, robot.wrist
Move to the reviewed service pose and set the isolated state. Confirm the scenario shows no active physical robot control connection.
Check: Service access remains blocked without the isolated training state.
3 Record the gripper baseline
Model labels: gripper.upper, gripper.lower, gripper.upper.pivot, gripper.lower.pivot
Capture both jaw and pivot identities with their saved poses. Compare the current opening with the requested training configuration.
Check: The model does not establish real jaw travel or pivot ratings.
4 Trace the harness retention
Model labels: robot.harness, robot.harness.clamp.lower, robot.harness.clamp.arm
Trace the harness through both named clamps. Mark the portions that must be released before changing the training route.
Check: Every required retaining state is explicit; no clamp is assumed released.
5 Release the designated retention
Model labels: robot.harness.clamp.arm, robot.harness.clamp.lower, robot.cable
Release the designated simulated clamps and move the cable into its supported service route. Keep the lower junction relationship recorded.
Check: A retained clamp blocks route changes that would cross its boundary.
6 Apply the new jaw configuration
Model labels: gripper.upper, gripper.lower, gripper.upper.pivot, gripper.lower.pivot
Move the jaws to the reviewed second configuration using authored transforms. Preserve the gripper assembly and camera bracket identities.
Check: An unsupported jaw pose or mismatched configuration identifier is rejected.
7 Restore the intended cable path
Model labels: robot.cable, robot.harness, robot.junction
Route the cable and harness to the supplied task change state. Compare the junction relationship with the reference route.
Check: The route is a declared simulation state, not validated flexible cable mechanics.
8 Detect the joint crossing fault
Model labels: robot.harness, robot.elbow, robot.harness.clamp.arm
Present a harness route crossing the elbow movement envelope. Hold the motion preview and identify the conflicting retained segment.
Check: Running the motion through the crossing is a critical error.
9 Recover the cable route
Model labels: robot.cable, robot.harness.clamp.arm, robot.harness.clamp.lower
Return to the supported service state, apply the reviewed route correction and restore both clamp states. Record the changed route identifier.
Check: Both retention events and the corrected route must be present before motion resumes.
10 Run the bounded clearance rehearsal
Model labels: robot.shoulder, robot.elbow, robot.wrist, robot.harness
Play the reviewed slow pose sequence while comparing the harness with declared geometric envelopes. Stop at each authored checkpoint.
Check: Visual clearance supports the exercise only; real bending and fatigue limits remain separate.
11 Verify the target approach
Model labels: gripper.upper, gripper.lower, sat.payload.mount, sat.payload
Move to the final approach pose without contact. Confirm the new jaw configuration matches the payload approach task.
Check: The sequence does not certify gripping force or payload retention.
12 Complete the task change record
Model labels: gripper, robot.harness, robot.junction, robot
Return to the named ready pose and submit configuration, clamp events, fault recovery and clearance evidence. Preserve the previous configuration as a separate revision.
Check: Completion requires the requested configuration and a resolved cable crossing hold.
Assessment and completion
Score correct configuration 25, retention sequence 20, crossing fault recovery 25, bounded rehearsal 15 and revision handover 15. Motion through the declared crossing or unreviewed jaw movement prevents completion.
Authoring and headless handoff
Author explicit jaw, cable and pose variants while preserving exact mesh identifiers. Avoid fabricated physical pivot axes, joint bounds, torque or fatigue acceptance. No real robot command, electrical change or hardware release is performed.
Reuse the exact GLB and part identifiers. Verify the supported Genesis import and binding path before generation. These are procedure specifications; they do not claim a completed Genesis run.