Description

When I move end effector of my arm horizontally, one of joints (last in chain, joint which connects arm and gripper) turns too quickly, moves to end position and blocks arm. This joint have different from other joints maximum speed. In MoveGroup mode it works this problem not reproduces. What can I do to fix it? Thank you.

My environment

• ROS Distro: Humble
• OS Version: Ubuntu 22.04
• Binary build?
• Moveit 2.5.4
• Cyclone DDS

Steps to reproduce

It can be reproduced only on my real hardware, not virtually.

Expected behaviour

End effector must keep orientation, but it turns left when I move hand right