How to improve robot position accuracy

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Hello,

I use Moveit with my Franka Emika robot. I find that the position accuracy is not following the tolerence I fix.

My get a shift greater than 2mm. I configure the accuracy that way:

get_goal_joint_tolerance = self.move_group.get_goal_joint_tolerance()
get_goal_orientation_tolerance = self.move_group.get_goal_orientation_tolerance()
get_goal_position_tolerance = self.move_group.get_goal_position_tolerance()
get_goal_tolerance = self.move_group.get_goal_tolerance()
print("get_goal_joint_tolerance=", get_goal_joint_tolerance)
print("get_goal_orientation_tolerance=", get_goal_orientation_tolerance)
print("get_goal_position_tolerance=", get_goal_position_tolerance)
print("get_goal_tolerance=", get_goal_tolerance)
self.move_group.set_goal_orientation_tolerance(0.0001)

Here is the print result:

get_goal_joint_tolerance= 0.0001
get_goal_orientation_tolerance= 0.001
get_goal_position_tolerance= 0.0001
get_goal_tolerance= (0.0001, 0.0001, 0.001)

I set the goal at a position P0 and when I read the position I get more than 2mm shift.

How can I reduce that ?

get_goal_joint_tolerance = self.move_group.get_goal_joint_tolerance()
get_goal_orientation_tolerance = self.move_group.get_goal_orientation_tolerance()
get_goal_position_tolerance = self.move_group.get_goal_position_tolerance()
get_goal_tolerance = self.move_group.get_goal_tolerance()
print("get_goal_joint_tolerance=", get_goal_joint_tolerance)
print("get_goal_orientation_tolerance=", get_goal_orientation_tolerance)
print("get_goal_position_tolerance=", get_goal_position_tolerance)
print("get_goal_tolerance=", get_goal_tolerance)