ESV-S04-SOP-01 · MODEL V3 · SIMULATION PROCEDURE
Robot payload exchange with a controlled handoff
Rehearse a supervised robot exchanging a satellite payload while coordinating gripper state, payload latches, socket identity and support responsibility. Stop and recover from a false release indication.
Before the exercise
Use the unpowered workcell concept and authored robot poses. The learner runs a simulation, not a physical robot. Supply reviewed approach, grasp, parked and seated states; verified kinematics and force control are not assumed.
- 01
Confirm the workcell configuration
Match the bench, robot and satellite to the saved training configuration. Confirm the correct payload exchange task and model revision.
Check All three identities must agree before any robot movement.
benchrobotsatellite - 02
Establish the supervised mode
Confirm the scenario supplied supervised, energy isolated training mode. Identify the shoulder and elbow groups used by the authored pose sequence.
Check This acknowledgement does not establish real robot safety functions or joint limits.
robot.base.coverrobot.shoulderrobot.elbow - 03
Identify the payload interfaces
Select the payload, mounting interface and socket. Compare their identity and starting state with the training task card.
Check The learner must distinguish payload from supporting satellite structure.
sat.payloadsat.payload.mountsat.socket - 04
Prepare the gripper approach
Move to the reviewed approach pose with both jaws open. Check the gripper envelope against the payload before proceeding.
Check Approach stops at the authored boundary; no force based grasp is inferred.
grippergripper.uppergripper.lowerrobot.wrist - 05
Confirm the grasp evidence
Apply the simulated grasp state and record jaw and payload relationship. Require an independent support acknowledgement before releasing the satellite interface.
Check A closed jaw appearance alone is not accepted as a supported payload.
gripper.uppergripper.lowersat.payload - 06
Release the four payload latches
Release each latch in the authored sequence while the payload remains supported. Keep the latch evidence separate from the gripper state.
Check An unreleased latch blocks withdrawal.
sat.payload.latchRUsat.payload.latchRLsat.payload.latchLUsat.payload.latchLL - 07
Recover the false release indication
Present a task indication saying all latches are released while one latch state remains engaged. Hold and compare the actual state record with the instruction.
Check Continuing withdrawal through the retained latch is a critical error.
sat.payload.latchRLsat.payloadgripper - 08
Withdraw to the parked pose
Resolve the latch state, then move the supported payload along the reviewed withdrawal path. Park it without disturbing the satellite socket.
Check The path requires clear latch, support and socket separation states.
sat.payloadsat.socketrobot.forearmgripper - 09
Reintroduce the replacement state
Return the payload mesh as the scenario defined replacement state. Approach the mounting interface in the saved orientation.
Check Replacement identity is explicit scenario metadata, not proof of a different physical spare.
sat.payloadsat.payload.mountsat.socket - 10
Seat and latch the payload
Seat to the authored datum and engage all required latch states. Confirm the socket interface before transferring support back to the satellite.
Check An incomplete seating or latch record prevents support transfer.
sat.payloadsat.payload.mountsat.payload.latchRUsat.payload.latchLL - 11
Release and retreat the gripper
Confirm satellite support, open the gripper and follow the reviewed retreat pose sequence. Leave the payload and mount in their accepted states.
Check The gripper cannot release before the receiving support state is established.
gripper.uppergripper.lowerrobot.wristsat.payload - 12
Submit the exchange evidence
Submit the pose sequence, latch events, support handoffs and fault recovery. Return the workcell to its named ready configuration.
Check Complete only when all holds are resolved and the payload is independently retained.
sat.payloadsat.socketrobotbench
Assessment and completion
Score object identification 20, support and latch dependencies 30, fault handling 20, restored configuration 15 and evidence 15. Unsupported release or withdrawing against an engaged latch stops completion.
Genesis authoring handoff
Bind robot, gripper and payload objects to reviewed keyframes and explicit state transitions. Validate parent groups and child transforms before export. This exercise does not send robot commands or demonstrate validated grasp forces.
Use the exact exported model and verify its import and component bindings before generation. This specification has not yet been executed as a Genesis lesson.
For concept-model training and authoring. Real hardware work uses the programme owner’s approved procedures and engineering limits.