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Deglitching
You can eliminate single-frame glitches in the object path using the graph editor's Deglitch tool. Select the tool, at the bottom center of the graph editor. Expose the Solved Path or Joint Variables track that you wish to deglitch, then click on a key that should be replaced. It will be replaced with the average of the previous and following frame, removing the glitch. (This is not suitable for removing glitches lasting several frames!) If you remove a glitch from the Solved Path's X, Y, or Z, you'll usually have to remove it from all 3 to keep the object in place.
When you remove a glitch from a positional Joint Value, X, Y, and Z will be adjusted as necessary to achieve that, similarly for the rotational axes.
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