Our UR5e reaches the spacer squarely, but the spacer seems to turn as it leaves the tray. We have changed pickup points twice. I'm no longer sure position is the problem.
During the isolated inspection, maintenance found one finger pad separating from its backing. The front looked normal. They have taken the gripper out of service for repair.
Our integrator reviewed those changes and verified the repaired setup. The block now leaves the tray squarely. We added pad condition to the maintenance inspection.