A error when we try to take a object with FUNMAP

I am using the stretch 2, and I am trying to pick up a specific object. The thing is that I detect the object and send a ‘clicked_point’ with the coordinates of the center of the object to the FUNMAP to pick up the object, but the robot try to take the object in another point, which i think that it is always at the same distance to the coordinates that i send to the FUNMAP (I have to say that i not sure 100% of this last thing).

In the image the robot should take the red cup, but as you see it fails.
I think that maybe is because the error that I was talking in other post:
Could you help me to solve this problem?