Weird MoveIt! trajectories to 3-DOF Arm

Hello, I am getting weird trajectories in MoveIt! to 3-DOF arms! Below there is a video showing the planned trajectories: https://www.youtube.com/watch?v=s0FOh1ZeC0M All the moveit configuration files are the default produced by MoveIt! Setup Assistant (I have only modified the controllers.yaml to include my controllers). The *ROS controllers* are **effort_controllers/JointTrajectoryController** and the *MoveIt! controllers* are **FollowJointTrajectory**. For the ROS controllers I have provided the dummy but stable enough PID values of **{p: 100.0, i: 0.01, d: 10.0}** for all the joints.. I also tried **position_controllers/JointTrajectoryController** for the ROS controllers and providing PID values to *gazebo\_ros\_control* , but the result was again weird trajectories.. Any thoughts on why this is happening? Thanks in advance, Konstantinos