The UR5e puck leans after another pickup correction

A contact insert was replaced before the first logged correction; the earlier onset is uncertain.

Then inspect that insert's identity, mounting and contact geometry without treating the timing as a confirmed cause; the tray seat still belongs in the check.

Replacement insert has a different relief from the drawing. Tray seat checked. Tooling is comparing the supplied insert with the required revision.

Has tooling decided whether that relief changes the intended puck contact, or only established that the insert differs?

Keep the accumulated pickup edits for review after the tooling decision. Restoring the intended insert may make those corrections wrong.

Tooling says the changed relief puts contact on the puck radius. Correct insert requested, edited versions retained. No replacement trial yet.

Include the receiving-tray placement in the eventual trial, not only the straighter-looking grip.

Please report the full transfer result once the replacement and program review are complete; that will show whether the handling issue improves alongside the visible contact problem.