I have a controller which moves the PR2's arms through some specified points. I've noticed that while executing the trajectory, it unnecessarily rotates its grippers by more than 360 degrees to get the orientation of it's wrist joint. What I mean is, instead of rotating by an angle x, it actually rotates by an angle 2kPi + x. I am doing angle correction to avoid this, but it's not working. Has anybody faced this? How do I change the kind of motion planning it does between the specified trajectory points?