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I've seen that issue as well--as far as I can tell, it's an issue with tf and rviz visualization; it doesn't affect the actual grasp planning. I'm using a tf broadcaster to broadcast the object frame to draw the gripper model, and my guess is that there are issues with the timing of messages and which tf message rviz is using to draw various boxes. But I'm not using tf to transform the points into the wrist frame when computing collisions and points-in-the-grasp-box, so the actual grasp planning is unaffected by that.