Hi @burakaksoy, a hardware issue could explain the significant error, but I’d like to first confirm that there isn’t a simpler issue.
First, can you confirm that the robot isn’t capturing observations from the second robot’s Aruco markers during its own calibration procedure. Interference from the other robot’s markers could explain the unusually high error.
Second, please send the individual error terms of the latest calibration. You can find them in a YAML file called
~/stretch_user/stretch-re1-xxxx/calibration_ros/. Within the newest results file, the
best_parameters_error key tells us the overall fit error, and the
best_parameters_error_terms dict tells us the individual fit errors. If one term had a particularly high error, it would help narrow down our search.