I believe the issue I'm experiencing is called a singularity. I set my waypoint using a pose that keeps the joints fairly far from their limits. Sometimes when I run the program it moves the way it was programed and other times the robot will collide with itself by taking a different pose to reach the same waypoint. Is there a way to mitigate this. I've tried both move l and move j and a combination of both, I have also tried adding more waypoints. Thank you all in advance.