I've checked the contact this time. One side of our UR5e gripper touches the spacer before the other, even though the new video makes it look square. We've accumulated a handful of pickup offsets and nobody wants to admit which ones are still doing anything. Tray hasn't moved. Where would you untangle this?
Ravi, yes, but don't make Rebecca reconstruct months of changes before somebody looks at the pocket. A trapped chip or damaged seat would be a much shorter conversation.
Separate insert, Theo. Amy, two other identified spacers rock there too. The setter has taken the insert out for inspection; nobody's wiping offsets yet. Thanks Ravi, the saved copy includes the version we actually ran.
You might get two faults here. A damaged insert could explain the rock while the old offsets still leave the approach wrong. Don't expect one discovered bit of dirt to forgive the whole program.
Sara, burr on the insert's seating face, nothing loose underneath. Maintenance replaced the damaged insert. Parts now sit flat in that pocket, but the approach is still off-centre. Theo called that one.
We're comparing the saved job against the intended setup with the integrator. I'm not posting a miraculous fixed message. It picks straighter from a flat seat; that's all we've established so far.