missing redundancy resolution?

[rhaschke]

The MoveIt plugin doesn't seem to have a nice redundancy resolution mechanism.
Using BioIK on a 7-DoF arm, solutions along a Cartesian path jitter within the nullspace instead of choosing the least-squares solution.

[v4hn]

That is true.

We worked around this before by adding (secondary or a second primary) target goal to avoid joint displacement.
This works best with a custom computeCartesianPath loop though.

Please comment @philipp1234