Our UR5e spacer-transfer test resumes from the saved pocket after a stop. That can mean fetching a spacer already placed. I need a recovery handover my operator can use, not just a working uninterrupted cycle.
We found a paper walkthrough useful before changing software. Include a spacer still held, one already released and a location nobody can confirm. Decide what evidence permits each recovery, with the operator, rather than asking the saved pocket to stand in for physical state.
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