When I first time manually add samples, the projection error is around 1 cm, however when calibrate with same samples using plan and execute, the result is much worse.
the cause could be the sample is taken immediately after robot reach to the point, while the target tf is not updated yet.
Should add a bit wait time after robot reach each calibration position, so that the arm and camera can physically reach stable and the target tf is updated.
When I first time manually add samples, the projection error is around 1 cm, however when calibrate with same samples using plan and execute, the result is much worse. the cause could be the sample is taken immediately after robot reach to the point, while the target tf is not updated yet. Should add a bit wait time after robot reach each calibration position, so that the arm and camera can physically reach stable and the target tf is updated.