{"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":8,"created_at":"2015-03-05T14:15:14Z","updated_at":"2015-03-10T18:50:08Z","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/78121277","html_url":"https://github.com/ros-industrial/universal_robot/issues/181#issuecomment-78121277","issue_url":"https://api.github.com/repos/ros-industrial/universal_robot/issues/181","id":78121277,"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},"created_at":"2015-03-10T18:50:08Z","updated_at":"2015-03-10T18:50:08Z","body":" \nNo, those values didn't help. After changing the values I got an error message, which looked, like already mentioned, somehow like this:\n\n[WARN] [WallTime: 1425662360.897418] Trajectory time exceeded and current robot state not at goal, last point required\n[WARN] [WallTime: 1425662360.898550] Current trajectory time: 12.1617338657, last point time: 12.152725802\n[WARN] [WallTime: 1425662360.899532] Desired: [0.7850048455213197, -1.570023189120181, 1.5699340866921936, -1.5700101106241346, -1.5699668246168643, 0.7850814506199677]\nactual: [0.7834, -1.5708, 1.5662, -1.5761, -1.5762, 0.7674]\nvelocity: [0.0144, 0.0042, 0.0316, 0.0541, 0.0541, 0.1593]\n\n\n\nAm Dienstag, 10. März 2015 19:23 CET, Felix Messmer <notifications@github.com> schrieb: \n \n> ...and did one of those values help?\n> \n> ---\n> Reply to this email directly or view it on GitHub:\n> https://github.com/ros-industrial/universal_robot/issues/181#issuecomment-78115749 \n \n \n \n\n"}}