What type of move sequence were you using? If you are using a moveL it’s pretty tricky as that will plan the shortest linear path from point to point regardless of wrist rotation that you want, movej is much simpler since you can define the actual joint positions you want the solution to be near.
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I do believe we were in moveL at that time. We actually programmed the whole thing in moveL then it slow crashed and got stuck and she told me we should have made those moves in moveJ. That might explain it. Thank you Matthew I will try the same move in moveJ as soon as I finish leveling the robots hanging mount this weekend.