A robot does not always grip a part exactly where intended. Vision may guide the gripper close, but camera calibration, part presentation, and positioning errors add up, causing the fingers to close slightly off the object’s center. The grasp may appear secure until the robot begins to lift. An offset between the grasp and the part’s center of mass creates a moment that can rotate the object within the fingers, changing its pose or causing it to slip entirely—a documented contributor to grasp failure.¹