Our puck-transfer helper saves the pocket after placement. An interruption left a puck in that pocket and the old index on disk, so I cannot let restart treat the saved destination as empty.
Cannot choose a restart pocket from our UR5e helper's saved index
LeahBennett0756 · 5 Oct 2025, 12:53 UTC
7 replies
Replying to LeahBennett0756
Represent the uncertain transfer explicitly. A reserved pocket, a completed transfer and a known empty destination are different states; recovery must reconcile them with the actual tool, part and trays.
6pointsReplying to HazelAdams0136
Agreed. I'm mapping the gaps between actions and saves in the offline test, including placement completed but confirmation not retained.
8pointsReplying to LeahBennett0756
What identifies the physical tray after restart?
6pointsReplying to HazelAdams0136
Only the job name currently. A tray swap could leave the same pocket number referring to another tray. That needs an explicit mismatch case.
16pointsReplying to LeahBennett0756
Include removal of the held puck too. Saved intent will not tell recovery that someone cleared the tool during the interruption.
4pointsReplying to HazelAdams0136
Added to the review cases. Uncertain physical state requires the cell's agreed reconciliation, not a blind repeat of the last recorded action.
7pointsReplying to LeahBennett0756
The current resume option stays unavailable while we work through those cases; this is more than changing when the index gets saved.
10pointsDiscussion closed
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