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This might change in future implementations, but it looks like at the moment you cannot set a tolerance because the pick/place pipeline uses computeCartesianPath internally, which does not take tolerances as input parameters.

As a workaround, you could generate grasps in more orientations and pass a vector of Grasp messages to the pick function. Depending on your needs, this might be sufficient. Other solutions I can think of would only get more complex.

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