G0
Concept and scope
Dependency: No predecessor
Problem/alternatives, assumptions and hazard chain documented
Recommend go for private planning only
G1
Feasibility
Dependency: G0
Critical mechanisms proven with surrogate rigs; no severe open feasibility blocker
Hold tooling pending evidence
G2
User/welfare validation
Dependency: G1
Representative task trials and independent animal welfare protocol reviewed
Hold external use pending review
G3
Design freeze
Dependency: G2
Requirements verified; cost and design files coordinated; applicable compliance plan agreed
No freeze
G4
Pilot production
Dependency: G3
Supplier qualification, FAI, process controls and test reports accepted
No purchase order
G5
Launch
Dependency: G4
Actual claims evidence, insurance, buyer terms and recall readiness
No launch authorized