EPS (epsilon) value is some small positive value close to zero. Usually 0.1 or 0.001. You’ll have to find out what makes most sense. There is also some floating point literature that says there is a “correct” epsilon value. But in practice, you usually tune this value until it works well.

For example, the following tests equality for floating point numbers (within a range of EPSILON): abs(endEffectorPosition — goalPosition) > EPS

Does this help?