diff --git a/stretch_core/nodes/joint_trajectory_server.py b/stretch_core/nodes/joint_trajectory_server.py
index 34d97d4..6878ca3 100644
--- a/stretch_core/nodes/joint_trajectory_server.py
+++ b/stretch_core/nodes/joint_trajectory_server.py
@@ -36,6 +36,7 @@ class JointTrajectoryAction:
                                                  self.node.head_tilt_backlash_transition_angle_rad)
         self.wrist_yaw_cg = WristYawCommandGroup()
         self.gripper_cg = GripperCommandGroup()
+        self.gripper_cg.acceptable_joint_error = 1.0
 
     def execute_cb(self, goal):
         with self.node.robot_stop_lock: