We keep nudging pickup points when our Universal Robots UR5e setup gets unreliable at tray loading with a rigid spacer block in a supervised production bench.
The tray looks like it's in the same place, but the grip seems less square.
I'm suspicious of all these tweaks.
What should I inspect before blaming the arm or reteaching everything?
Look at the relationship between the workpiece and fixture before contact, then during gripping. Can your existing observations show when the change in angle begins?