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This can happen if you are around singularities, or areas where your IK flips orientation. To check if that is the problem, you could try the same code starting from a different pose, ideally somewhere where the goal state in Rviz looks "stable". Otherwise, your waypoints might not be very good.

This is a bug that should be fixed in the future, but some workarounds for now:

• Use tighter waypoints and fall back to move_group.move() if the cartesian path planning fails
• Use named poses that are safe to move to, if you can