diff --git a/nexus_motion_planner/src/motion_plan_cache.cpp b/nexus_motion_planner/src/motion_plan_cache.cpp
index e412812..3541f9c 100644
--- a/nexus_motion_planner/src/motion_plan_cache.cpp
+++ b/nexus_motion_planner/src/motion_plan_cache.cpp
@@ -945,8 +945,8 @@ MotionPlanCache::construct_get_cartesian_plan_request(
   moveit_msgs::msg::MotionPlanRequest tmp;
   move_group.constructMotionPlanRequest(tmp);
 
-  out.start_state = tmp.start_state;
-  out.group_name = tmp.group_name;
+  out.start_state = std::move(tmp.start_state);
+  out.group_name = std::move(tmp.group_name);
   out.max_velocity_scaling_factor = tmp.max_velocity_scaling_factor;
   out.max_acceleration_scaling_factor = tmp.max_acceleration_scaling_factor;
 
diff --git a/nexus_motion_planner/src/motion_planner_server.cpp b/nexus_motion_planner/src/motion_planner_server.cpp
index 055aae3..58d9208 100644
--- a/nexus_motion_planner/src/motion_planner_server.cpp
+++ b/nexus_motion_planner/src/motion_planner_server.cpp
@@ -695,8 +695,8 @@ void MotionPlannerServer::plan_with_move_group(
       }
     }
 
-    res->result.trajectory_start =
-      std::move(cartesian_plan_req_msg.start_state);
+    // Do NOT move this. We use the cartesian_plan_req_msg later.
+    res->result.trajectory_start = cartesian_plan_req_msg.start_state;
     res->result.trajectory = std::move(cartesian_plan);
 
     if (res->result.error_code.val !=