We keep nudging pickup points when our Universal Robots UR5e setup gets unreliable at tray loading with a machined aluminum puck in a compact parts transfer workshop. The tray looks like it's in the same place, but the grip seems less square.
I'm suspicious of all these tweaks. What should I inspect before blaming the arm or reteaching everything?
@GabrielChan1062 Does the angle change before contact or as the fingers close? Existing footage may help you locate where things start going wrong.
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