Poor results when using a custom robot for calibration

When the custom robot is used for manual calibration on site, the calculation result after calibration is very poor, and no obvious error is found after checking the accuracy of the robot. Which of the following reasons may be the cause?

  1. The robot is a left-handed coordinate system robot, and the Y value is not inverted when entering the calibration pose;
  2. The Euler angle type of the robot used in the calibration does not match the actual one;
  3. The Rx and Rz inputs of the robot are reversed during calibration