I checked before blaming the UR5e: the sleeve starts square in its pocket and turns in the fingers. Tray base looks unchanged. Want the fitted contacts inspected before another point correction
Compare the affected sleeve and an accepted one at the gripping faces, then inspect the actual contact pair and mountings against their intended arrangement; a sound pocket cannot tell you whether one finger meets the part first.
One contact had the wrong backing piece. Maintenance restored the matched assembly, controls reviewed compensation, and the agreed pickup-through-release checks passed with the accepted sleeve range. Replacement instructions now identify the backing too