{"action":"created","issue":{"url":"https://api.github.com/repos/ros-industrial/universal_robot/issues/181","labels_url":"https://api.github.com/repos/ros-industrial/universal_robot/issues/181/labels{/name}","comments_url":"https://api.github.com/repos/ros-industrial/universal_robot/issues/181/comments","events_url":"https://api.github.com/repos/ros-industrial/universal_robot/issues/181/events","html_url":"https://github.com/ros-industrial/universal_robot/issues/181","id":59956865,"number":181,"title":"Configurable goal tolerances","user":{"login":"mwojtynek","id":11161864,"avatar_url":"https://avatars.githubusercontent.com/u/11161864?v=3","gravatar_id":"","url":"https://api.github.com/users/mwojtynek","html_url":"https://github.com/mwojtynek","followers_url":"https://api.github.com/users/mwojtynek/followers","following_url":"https://api.github.com/users/mwojtynek/following{/other_user}","gists_url":"https://api.github.com/users/mwojtynek/gists{/gist_id}","starred_url":"https://api.github.com/users/mwojtynek/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/mwojtynek/subscriptions","organizations_url":"https://api.github.com/users/mwojtynek/orgs","repos_url":"https://api.github.com/users/mwojtynek/repos","events_url":"https://api.github.com/users/mwojtynek/events{/privacy}","received_events_url":"https://api.github.com/users/mwojtynek/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"milestone":null,"comments":14,"created_at":"2015-03-05T14:15:14Z","updated_at":"2015-04-28T10:25:42Z","closed_at":null,"body":"There is a lack of configurable goal tolerances using the ur_driver. Using MoveIt! with the ur_driver to reach a defined goal will fail within 2-3 mm (cartesian) on a real robot. The tolerances of the ur_driver should be more strict for accurate pick and place applications.\r\nThe whole pick and place scenario with a lack of accuracy is described and discussed in [1]. This issue also came up several months ago in [2].\r\n\r\n[1] https://groups.google.com/forum/#!msg/moveit-users/w5_Y8Q46kK8/FqfwIQOjQ2sJ\r\n[2] https://groups.google.com/forum/#!msg/swri-ros-pkg-dev/2Mb4CO8anCI/uzOYiinjWuoJ\r\n"},"comment":{"url":"https://api.github.com/repos/ros-industrial/universal_robot/issues/comments/97005164","html_url":"https://github.com/ros-industrial/universal_robot/issues/181#issuecomment-97005164","issue_url":"https://api.github.com/repos/ros-industrial/universal_robot/issues/181","id":97005164,"user":{"login":"bluefish89","id":11333333,"avatar_url":"https://avatars.githubusercontent.com/u/11333333?v=3","gravatar_id":"","url":"https://api.github.com/users/bluefish89","html_url":"https://github.com/bluefish89","followers_url":"https://api.github.com/users/bluefish89/followers","following_url":"https://api.github.com/users/bluefish89/following{/other_user}","gists_url":"https://api.github.com/users/bluefish89/gists{/gist_id}","starred_url":"https://api.github.com/users/bluefish89/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/bluefish89/subscriptions","organizations_url":"https://api.github.com/users/bluefish89/orgs","repos_url":"https://api.github.com/users/bluefish89/repos","events_url":"https://api.github.com/users/bluefish89/events{/privacy}","received_events_url":"https://api.github.com/users/bluefish89/received_events","type":"User","site_admin":false},"created_at":"2015-04-28T10:25:42Z","updated_at":"2015-04-28T10:25:42Z","body":"@mwojtynek : Did you manage to get a better result reaching the point?\r\n\r\nWhile playing with the tolerance values I noticed that the position reaching is getting better the more often I use the move() command. So with a small for-loop, I just use the move() command 6 times in a row (which takes only half a second) and I perfectly align with the desired position.\r\nMaybe this little workaround helps one or another..."}}