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Palletizing - First box from the conveyor to the pallet

I'm trying to simulate palletizing.  When my robot moves the very first box from the conveyor to the pallet, the robot makes a large unnecessary arc.  After that it works fine.  Do you know what to do about that?

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Yes, in the palletizing plugin's general tab, there is a target for configuration, the generated program uses this targets configuration as the base when trying to determine the best pick configuration, by changing the configuration of this target and the one above the conveyor you can get better results, also potentially the robot isn't facing the right direction in robodk and is thus near it's limit, hence why it doesn't seem to be using j1 much.
I haven't tried to use the palletizing plug in. Could you recommend a way for me to learn about the configurations.?

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