Our proposed UR5e fingers left bands on polished bezels. Supplier recommends softer pads. We have no agreed appearance decision yet, and no evidence about release with the proposed pads.
Have quality judge identified bezels under the agreed viewing conditions first, with their before-contact condition available. Our image work keeps finding that a bright band and a physical mark aren't interchangeable, so don't buy a softer answer to an unclassified line.
Quality found a real scuff on one sample. Before-contact condition was not recorded, so we cannot assign it to gripping. Fresh identified samples are being prepared for comparison.
Did the supplier include holding through the transfer and clean release in that comparison? A prettier contact patch won't help if somebody has to peel the bezel off at the tray.