And with options short on the ground Robinson admits Taylor, who last featured during the 2009 RBS 6 Nations, would be a welcome addition to the squad.
But he maintains the loose forward, who joined Bath this summer from Stade Francais, would have to make the first move.
He said: "There has been no contact with Simon, but if I'm at a Bath game then I'll see him.
"Simon is enjoying his rugby, but it's not down to me whether he plays international rugby again; it's down to him. If a player puts himself forward to play then he's up for consideration.
"A lot of players haven't recovered from Argentina, but we just have to be cautious and not try to force any issues.
"The next 10 weeks is about understanding the plans and putting together those plans. The purpose of these three days is to prepare the players for a number of the plans that we want to introduce.
"There is an understanding of the performances they put in and that through the hard work they put in they achieved the results. It's a confident squad, but it's not getting carried away with itself.
"They understand that every time Scotland go into battle the players have to be at their very best."