My personal solution, which worked pretty well, was to limit the range of the angles, in particular the elbow (3rd axis). --- [Visit Topic](https://discourse.ros.org/t/moveit-motion-planning-issue/7641/3) or reply to this email to respond. If you do not want to receive messages from ros-users please use the unsubscribe link below. If you use the one above, you will stop all of ros-users from receiving updates. ______________________________________________________________________________ ros-users mailing list ros-users@lists.ros.org http://lists.ros.org/mailman/listinfo/ros-users Unsubscribe: