Tool exchange changes hardware, then the model
After a successful physical load or dock, the manager records the changed gripper, restarts MoveIt for that gripper, and requests the unified vision-task transform reset.
EROBS / SEQUENCE
Tool exchange changes hardware, then the model
OPT
dock on real hardware
OPT
attached gripper changed
SET 0 V
CONFIRMED
LOAD / DOCK
SUCCESS
RESTART MODEL
READY
RESET TF
Exchange manager
validate dock / load
UR I/O service
real hardware only
Tool action server
physical exchange
MoveIt lifecycle
new gripper model
Vision task server
cached transforms
Gripper state is recorded before restart. Restart failure returns failure; vision reset failures are warnings, not rollback.