Define the object in the condition in which it will be handled. A product name or an empty-container drawing may leave out the lid, label, loaded mass or carrier that changes access to the gripping surfaces.
For example, two containers may share the same outer dimensions while a label covers the intended gripping surface on one of them. Record that difference before treating them as the same handling configuration.
Create a separate record for each permitted combination of labware, lid, carrier and gripper setup. Group variants only when the engineering review establishes which features they share and which differences need verification.
| Field | Information to record | Project entry / evidence |
|---|---|---|
| Record identity | Record ID, revision, date and owner | __________ |
| Labware identity | Manufacturer, part number, revision and permitted alternatives | __________ |
| Loaded condition | Contents described at a non-confidential level, loaded mass, lid and carrier; load distribution or centre of mass where relevant and known | __________ |
| Geometry | Drawing or measured dimensions, units, reference surfaces and known tolerances | __________ |
| Orientation | Allowed pickup and placement orientations; asymmetric features | __________ |
| Contact surfaces | Where the fingers may touch and which surfaces must remain clear | __________ |
| Retention constraints | Restrictions on squeeze, lid contact, deformation, tilt or movement | __________ |
| Labels and identity | Label position, barcode position and any restricted contact areas | __________ |
| Gripper setup | Tool and finger identity/revision, mounting and tool reference | __________ |
| Source fixture | Support surfaces, access, locating features and occupancy information | __________ |
| Receiving station | Opening, approach envelope, release space and final seating reference | __________ |
| Sensing | How object presence, grip condition, release and identity are determined, if in scope | __________ |
| Representative samples | Samples available and the variants they represent | __________ |
| Verification | Agreed setup, acceptance criteria, evidence and unresolved items | __________ |
Review the complete handoff
Check the proposed contact surfaces and movement against both the pickup fixture and the receiving station. Include the loaded object and the intended tool configuration in the review. A free-space grip demonstration does not establish that the object can enter the station, release and remain in its intended position.
The positioning error-budget note explains how to separate the contributions that affect the handoff. The transport design guide provides the broader carrier and environment questions.
Record changes that need another review
Use a change record when the labware supplier, lid, label, loaded condition, fingers, fixture or station opening changes. Identify the affected dimensions, contact conditions and sensing behavior. Agree the tests to repeat before accepting the new combination; do not assume that a similar-looking item has the same handling conditions.
Bring this record to the mobile manipulator platform review. Use the hardware FAT guide to connect the agreed combination to acceptance evidence.