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jrgnicho avatar jrgnicho commented on August 15, 2024

Thanks for pointing this out @beatrizleon , it's difficult to tell what's happening just from the video alone, do you have a repo that reproduces this issue that I can tests?

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beatrizleon avatar beatrizleon commented on August 15, 2024

I haven't make any changes to moveit. I just test to set in rviz the start and goal state as current and try to plan it. Then I always get the unnecessary movement. I tested this using ompl and it doesn't happen. I guess it can be reproduced with any robot.

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jrgnicho avatar jrgnicho commented on August 15, 2024

@beatrizleon my first guess is that you might need to tweak the stddev parameters. The larger the values the greater the motion that that joint will make in order to explore the workspace. You may have values that are too large

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