Lesson 1 · 15 min
An industrial arm stays where it is when it loses power; a humanoid falls. That is why the first lesson in operating a real robot has no control code: it has a 12-item checklist that you fill in, sign, and check by script before any session. Lessons 2 to 7 rehearse each item in the simulator.
Start the lesson
Goal: fill in the 12-item checklist before powering on a humanoid: area, people, gantry, stop, fall, software, and robot.
Click each step. You only move up once the previous one is checked.
You rehearse items 8 to 11 in the simulator in lessons 4, 5, and 7; item 5 is the ladder in lesson 8.
Click each one.
A humanoid stays upright because the controller corrects its balance all the time. With no power or no control, it falls.
That is why the stop can't be just cutting the power without thinking about the fall. At the low level, the safe stop is damping: zero stiffness and a little damping in the motors, with the robot suspended or in a prepared area.
High level: LocoClient.Damp() and ZeroTorque(). Low level: each motor with kp = 0 and kd > 0 (lesson 4).
The first time your code commands the robot, its feet are off the ground. The unitree_rl_lab deployment flow uses an elastic band or suspension before it lets the robot go.
The official low-level G1 example opens with a warning to make sure there are no obstacles around, and it brings the robot to its starting pose over a 3 s ramp.
According to the vla-v72 course research (Oct 2026), ISO 10218-1 and 10218-2 from 2025, for industrial robots, are published. ISO 25785-1, which covers mobile robots with active stability (humanoids included), is still a draft (CD) and has not been published.
In other words: nobody can say a humanoid is certified under it. This checklist is not a certification; the risk analysis belongs to your lab.
Standards and the AI Act: lesson 8 of the vla-v72 course. Here you get the operating procedure.
The checker only looks at what has been filled in: whoever signs decides whether the item is done. It runs with the system Python, with nothing to install.
F=${FTH:-$HOME/fth}; mkdir -p $F && cd $F
[ -d operar ] || git clone -q --depth 1 https://github.com/inematds/formacao-fth-operar-v72 operar
[ -f checklist.yaml ] || cp operar/kit/checklist-modelo.yaml checklist.yaml
python3 operar/kit/conferir_checklist.py checklist.yaml; echo "saída: $?"# Checklist antes de ligar um humanoide — FTH 4 · Operar um humanoide real (19/10/2026) # Copie para ~/fth/checklist.yaml e preencha "conferido" de cada item com quem conferiu e quando # (ex.: "Ana, 20/10/2026"). Item que não se aplica: escreva "não se aplica: <motivo>". # Este arquivo NÃO é certificação. A ISO 25785-1 (humanoides) segue em rascunho em out/2026; # a análise de risco do seu laboratório é sua (normas: curso vla-v72, aula 8). - id: 1 grupo: área item: Zona de exclusão marcada no chão; a distância foi decidida pelo responsável e está escrita conferido: "" - id: 2 grupo: área item: Piso plano e seco, sem cabos soltos nem objetos dentro da zona conferido: "" - id: 3 grupo: pessoas item: Ninguém dentro da zona com o robô ligado; quem está na sala conhece o procedimento conferido: "" - id: 4 grupo: pórtico item: Primeiro teste com o robô suspenso no pórtico ou elástico, pés fora do chão conferido: "" - id: 5 grupo: pórtico item: Passagem para o chão só depois do degrau suspenso aprovado (escada da aula 8) conferido: "" - id: 6 grupo: parada item: Parada de emergência ao alcance do operador e testada antes de cada sessão conferido: "" - id: 7 grupo: parada item: Está escrito o que a parada faz (amortecimento, não corte seco) e quem pode acioná-la conferido: "" - id: 8 grupo: queda item: Detector de queda pela IMU ligado, com o limiar anotado, levando a amortecimento conferido: "" - id: 9 grupo: software item: Watchdog do comando ligado (comando velho leva a amortecimento) conferido: "" - id: 10 grupo: software item: Limites de posição e de torque aplicados e rampa no primeiro comando conferido: "" - id: 11 grupo: software item: Mesmo código e mesmo commit já testados no simulador do fabricante, com o registro (MCAP) ligado conferido: "" - id: 12 grupo: robô item: Bateria carregada e temperatura dos motores lida antes de começar conferido: ""
F=${FTH:-$HOME/fth}; cd $F
python3 operar/kit/conferir_checklist.py checklist.yaml; echo "saída: $?"12 itens, 0 em branco saída: 0
With all 12 items signed, the checker exits with code 0. An item that does not apply is not deleted: write "não se aplica" and the reason.
12 itens, 12 em branco (ids: 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12) saída: 1
The freshly copied template fails: 12 blank and code 1. This is the criterion failing before the work starts.
Write, sign, and check.
Run the first block, open ~/fth/checklist.yaml, and fill in "conferido" for each item with who checked it and the date. No lab? Fill it in as the plan for the lab you would use, and write "plano" in front.
Done when: python3 operar/kit/conferir_checklist.py checklist.yaml; echo "saída: $?" → 12 itens, 0 em branco and saída: 0.
In item 7, write in one line what the stop does on your robot (damp, not a hard cut) and who can trigger it. Then erase the "conferido" of any one item and run the checker again.
Done when: the checker stops showing 0 em branco and exits with saída: 1; filled in again, it goes back to saída: 0.
The explanation appears after your answer.
Question 1 of 4
Why should a humanoid's emergency stop not be just cutting the power?skill
Question 2 of 4
What is the status of ISO 25785-1 in Oct 2026, according to the program's research?
Question 3 of 4
The checker returned "12 itens, 0 em branco". What does that guarantee?
Question 4 of 4
Where is the robot during the first test of new code?
Choose an option. The explanation appears after your attempt.