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 station'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 tool's mass. The joint-limit, workspace and keep-out rules are ported from the S2 agent's supervisor, which gives the same verdicts on the same poses (tested on single poses, in the agent's own simulated layout, not this station's); this station's zones and clearance are its own. Joint limits here are UFACTORY's published ranges less the margin; the S2 agent's own simulation narrows J1, J4 and J6 to ±178.2°.