Hey, I have setup my manipulator's Moveit Configuration Package using the setup assistant. I am using the OMPL planner and the trac_ik plugin. When I launch it and use the python interface, and plan for an end-effector pose, sometimes the planner does not give the most efficient path. For example, it will move much more joints than it actually needs to. How do I make the planner more efficient? And how can I tell if it's a problem with the planner pipeline or with the kinematics solver?