Pick and place vision robot spins weird sometimes

Sometimes my robot does weird extra spins to get to the desired rotation point, All moves are linear moves using Mrot and Wjnts. I'm trying to attached a video i took but i dont know how.

The joint move made my entire pick go out of position. Seems like if I removed the mrots and only put the wjnt on the first linear move it seems to have taken care of the issue. We ran well today from the feedback I was receiving.

the part is oriented all over a mass flow conveyor. It is a rectangular part and I can tell which way it’s facing and picking it a certain direction. A DEF bottle spout if your familiar