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Given two consecutive joint angles a and b, if b > a, the controller will move in the positive direction, and if b < a it will move in the negative direction. It does not normalize the angles, nor does it choose the shorter angular distance to travel.

This interpretation allows you to command trajectories that move joints through more than 180 degrees, which would be impossible if the controller normalized angles or picked the direction implicitly.

To get the behavior you want, you should "denormalize" the joint angles of your trajectory before sending it to the controller.