Jog it, teach it, check it

Record poses and grips as steps, then check the whole task. Each move is checked along its path, as a joint move (every joint turns steadily from one pose to the next), not only where it ends.

Simulated check · not the arm's safety supervisor

Every limit has a kind. A safety alert is about a limit a real arm or cell must never cross: the workspace, a keep-out zone, the payload, or a joint past what UFACTORY publishes. A teaching alert is about a limit inside what the arm can do but outside this bench's chosen limits, or a step that cannot be done from where the arm is (no posture reaches it, or there is nothing to grip or release). Here a move past a limit runs and is marked ⚠ ran past a limit; only a joint past UFACTORY's range, or something that cannot be done at all, is refused (⊘).

The ideal part never slips, so grip force and friction are not checked here. The payload check still counts the gripper's mass. The joint-limit, workspace and keep-out rules are ported from this project's arm supervisor, which gives the same verdicts for this arm's model on the same poses (tested on single poses, in a test layout); this bench's zones and clearance are its own. Joint limits here are UFACTORY's published ranges less the margin.