Our UR5e puts the spacer down before saving the next pocket. Stop in between and restart offers that pocket again. What should the recovery model remember besides the counter?
Remember the attempted placement and which tray it belongs to. The old counter can't tell you whether the spacer landed. Unknown needs a real recovery decision, not another go at the pocket.
Tray identity wasn't stored either. Added that gap to the review. We're sketching known-placed and uncertain cases separately before touching the startup helper.