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Each robot’s stereo cameras differ slightly, so depth needs calibrating once per robot. Redo it after an update with depth changes, or when depth looks wrong. Without a calibration, navigation falls back to non-depth mode.
1

Make the board

Print the calibration board at 100% scale and glue it flat onto letter-sized cardboard. Don’t cover any squares or markers.
2

Start calibration

In the app, go to Configuration → Depth and tap Start calibration.
3

Hand MARS the board

When MARS raises its hand, hold the board in front of it with the pattern facing the head. Keep it steady until MARS grabs it, then step back.
4

Check the result

Wait for the app to report completion, then tap Check depth. If calibration fails, try again with a flatter board.