@Etienne_Samson I am teaching an object that is round as seen from the top. Like a washer for example. When I am in the TEACH OBJECT screen and I take the required 5 snapshots, I run into issues. In this interface you are asked to first take a picture of the background, then add the part and take another snapshot. Rotate the part 90 degrees and take another one and so on. However, since the part in round, it does not matter if you turn it to 90 degrees, it is still in the same orientation. So for the first picture of the object it is fine, but for the others sometime I run into an error saying 'Failed to refine model'. Even though sometimes I did not touch the part at all between snapshots. What does this error mean and how can I get around this?