UR5 vision base pick and place

ROS
9

I am stuck at passing the camera coordinate to robot coordinate. Here i used eye on hand calibration and created a tf node. whatever the object coordinate i got passed to this transformation.

def callback(point1):
	print("camera_coordinate",point1)
	result_1 = []
	trans = 0
	rot = 0
	listener = tf.TransformListener()
	while not rospy.is_shutdown():
		try:
			(trans,rot) = listener.lookupTransform('/tool0', '/camera_link', rospy.Time(0)) 
			break
		except :
			continue

	matrix2=np.dot(translation_matrix(trans), quaternion_matrix(rot))
	point1[0][0] = -point1[0][0]
	point1[1][0] = -point1[1][0]
	point1[2][0] = point1[2][0]
	
        result_1 = np.matmul(np.array(matrix2),point1)
	result_1[0][0]=-result_1[0][0]
	result_1[1][0]=-result_1[1][0]
        print("object coordinates",result_1)
        move_to_pos_1(result_1)
	return result_1

The robot not moving to object position exactly. there are different position error for each object.

Please help me, where i am going wrong