I am using my pallet as a feature plane and three corners of it as feature points to define the plane. In my program I use x_offset = g_loadtray_x*-2.82*25.4/1000 to set the x parameter. What I'm doing is picking a part up using that algorithm and loading it into a cnc. It has to be very precise since it is a square shaped slug and must enter the jaws in a specific way. I have g_loadtray_y that will increase as it picks up a part and then g_loadtray_x after g_loadtray_y hits a certain number so it can move on to the next row. The issue I'm having is that my x parameter is so inconsistent from one row to the next. How can I fix this issue? I'm using dual HandE grippers, but only one gripper is picking up the parts to be loaded. My pallet is as level as I can get it and my orientation is straight as well on the gripper.