--- /scratch/sz850/magicsim_atomic/patches/n052/moves.py.orig	2026-11-08 21:58:53.784845000 -0500
+++ /scratch/sz850/magicsim_atomic/patches/n052/moves.py	2026-11-08 21:58:53.788681000 -0500
@@ -347,7 +347,7 @@
 PICK_HEIGHT = 0.04 if ROBOT == "go2_arm" else 0.12
 
 
-def pick_top_down(ctx, name: str, *, also_ignore=(), pre_height: float = PICK_HEIGHT, lift: float = PICK_HEIGHT, tcp_height: float = GRASP_TCP_HEIGHT, via_x: float | None = None, square: bool = False, label: str = "pick", tilt: float | None = None, lift2: tuple[float, float] | None = None):
+def pick_top_down(ctx, name: str, *, also_ignore=(), pre_height: float = PICK_HEIGHT, lift: float = PICK_HEIGHT, tcp_height: float = GRASP_TCP_HEIGHT, via_x: float | None = None, square: bool = False, label: str = "pick", tilt: float | None = None, lift2: tuple[float, float] | None = None, regrip: int = 0, centre_tol: float = 0.012):
     """Phases that pinch the loose rigid object ``name`` from above across its short horizontal axis and lift it ``lift``.
 
     The dataset objects (dice, pens, rubber blocks) are annotated with dexterous-hand candidates the stock ``Grasp`` skill cannot use with the
@@ -380,6 +380,20 @@
     yield move_to(tcp + np.array([0.0, 0.0, pre_height]), down, closing, MOVE_PRE, f"{label}:pre")
     yield from settle_at(ctx, tcp, down, closing, label=f"{label}:down")
     yield hand("close", f"{label}:close")
+    # N052 experiment (opt-in, default off): after the pinch closes, check the object sits between the pads along the closing axis. If it is off-centre by more
+    # than centre_tol the pinch is asymmetric (536 s101: the left pad tip hit the scale plate, the right pad closed to the stop at ~0 force, the dice ended 5 cm to
+    # one side), so open, re-descend on the object's CURRENT position and close again (at most `regrip` times).
+    for k in range(regrip):
+        obj, _ = ctx.object(name)
+        eef, _ = ctx.eef()
+        off = float(np.dot(np.asarray(obj, dtype=float) - np.asarray(eef, dtype=float), np.asarray(closing, dtype=float)))
+        if abs(off) <= centre_tol:
+            break
+        yield hand("open", f"{label}:regrip{k}:open")
+        tcp = np.asarray(obj, dtype=float) + np.array([0.0, 0.0, tcp_height])
+        yield move_to(tcp + np.array([0.0, 0.0, 0.03]), down, closing, MOVE_LINEAR, f"{label}:regrip{k}:up")
+        yield from settle_at(ctx, tcp, down, closing, label=f"{label}:regrip{k}:down")
+        yield hand("close", f"{label}:regrip{k}:close")
     yield move_to(tcp + np.array([0.0, 0.0, lift]), down, closing, MOVE_LINEAR, f"{label}:lift")
     if lift2 is not None and ROBOT == "go2_arm":
         yield move_to(tcp + np.array([0.0, 0.0, float(lift2[1])]), go2_approach(ctx, tcp, closing, float(lift2[0])), closing, MOVE_LINEAR, f"{label}:lift2")