We noticed some consistent errors when trying to grasp the cuboid, even after averaging over multiple observations to reduce noise in the objects pose. Looking at the picture below the grasp looks like it would be successful given the observed object and robot pose, but the object’s actual position is not aligned with the fingertips.
Since the detection of the cuboid looks good, this seems to be a small calibration issue in either the cameras or the robot. This was observed on roboch6, but similar errors were also seen on roboch1, 4, and 7.
Is this something you can look into fixing? Or should we deal with this level of error on our side?
Thanks for all your hard work!!