From b18b96dca24247584ad09193d4c42fb43606db74 Mon Sep 17 00:00:00 2001 From: Griswald Brooks Date: Fri, 27 Mar 2026 13:09:24 -0400 Subject: [PATCH] 17718 Increase path tolerance on factory sim to allow Pick and Place to complete --- src/factory_sim/config/control/picknik_fanuc.ros2_control.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/factory_sim/config/control/picknik_fanuc.ros2_control.yaml b/src/factory_sim/config/control/picknik_fanuc.ros2_control.yaml index 58d33605c..d6d3a08cf 100644 --- a/src/factory_sim/config/control/picknik_fanuc.ros2_control.yaml +++ b/src/factory_sim/config/control/picknik_fanuc.ros2_control.yaml @@ -81,7 +81,7 @@ joint_trajectory_admittance_controller: # provide the gravity vector in the base frame. gravity_vector: [0.0, 0.0, -9.8] # Default maximum joint-space deviation accepted along the trajectory, if not specified in the goal message. - default_path_tolerance: 0.5 + default_path_tolerance: 0.6 # Default maximum joint-space deviation accepted at the trajectory end-point, if not specified in the goal message. default_goal_tolerance: 0.05 # Default maximum absolute force torque readings allowed from the force torque sensor along each Cartesian space