I am using Moveit and UR 5 using the Python Interface in the following environment.

Ubuntu 16.04

ROS Kinetic

universalrobot-kinetic-devel https://github.com/ros-industrial/universalrobot

urmoderndriver-kinetic-devel https://github.com/ros-industrial/ur_modern_driver

I am moving it using MoveGroupCommander and compute_cartesian_path, but the target pose and the goal pose are misaligned.

For example, if you move 0.1 m to the Z axis, goal pose will be different from 0.01 m target pose.

/ joint_state and / follow_joint_trajectory / goal are in agreement.

Setting MoveGroupCommander.set_goal_position_tolerance to 1e - 4 does not change.

How can we reduce the difference between the target pose and the goal pose?