Cannot choose a restart pocket from our UR5e helper's saved index

LeahBennett0756 · 5 Oct 2025, 12:53 UTC

Closed
LE
LeahBennett0756
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.

7 replies

HA
HazelAdams0136
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.

6 points
LE
LeahBennett0756
Replying to HazelAdams0136

Agreed. I'm mapping the gaps between actions and saves in the offline test, including placement completed but confirmation not retained.

8 points
HA
HazelAdams0136
Replying to LeahBennett0756

What identifies the physical tray after restart?

6 points
LE
LeahBennett0756
Replying 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.

16 points
HA
HazelAdams0136
Replying to LeahBennett0756

Include removal of the held puck too. Saved intent will not tell recovery that someone cleared the tool during the interruption.

4 points
LE
LeahBennett0756
Replying 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.

7 points
LE
LeahBennett0756
Replying to LeahBennett0756

The current resume option stays unavailable while we work through those cases; this is more than changing when the index gets saved.

10 points

Discussion closed

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