diff --git a/moveit_ros/moveit_servo/config/panda_simulated_config.yaml b/moveit_ros/moveit_servo/config/panda_simulated_config.yaml
index 1acbe6d02e..d96490a3c8 100644
--- a/moveit_ros/moveit_servo/config/panda_simulated_config.yaml
+++ b/moveit_ros/moveit_servo/config/panda_simulated_config.yaml
@@ -42,7 +42,9 @@ planning_frame: panda_link0  # The MoveIt planning frame. Often 'base_link' or '
 ## Other frames
 ee_frame: panda_hand  # The name of the end effector link, used to return the EE pose
 
-command_frame_is_stationary: true  # Twist commands are as seen from a stationary frame.
+# If true, twist commands are given in a stationary frame; otherwise, they are in a moving frame.
+# See https://github.com/ros-planning/moveit2/issues/2150 for more details
+command_frame_is_stationary: true
 
 ## Configure handling of singularities and joint limits
 lower_singularity_threshold:  17.0  # Start decelerating when the condition number hits this (close to singularity)
diff --git a/moveit_ros/moveit_servo/config/test_config_panda.yaml b/moveit_ros/moveit_servo/config/test_config_panda.yaml
index 2d470a00b0..1766d70c24 100644
--- a/moveit_ros/moveit_servo/config/test_config_panda.yaml
+++ b/moveit_ros/moveit_servo/config/test_config_panda.yaml
@@ -42,7 +42,9 @@ planning_frame: panda_link0  # The MoveIt planning frame. Often 'base_link' or '
 
 ## Other frames
 ee_frame: panda_hand  # The name of the end effector link, used to return the EE pose
-command_frame_is_stationary: true # Twist commands are as seem from the stationary frame.
+# If true, twist commands are given in a stationary frame; otherwise, they are in a moving frame.
+# See https://github.com/ros-planning/moveit2/issues/2150 for more details
+command_frame_is_stationary: true
 
 ## Configure handling of singularities and joint limits
 lower_singularity_threshold:  17.0  # Start decelerating when the condition number hits this (close to singularity)
diff --git a/moveit_ros/moveit_servo/src/servo.cpp b/moveit_ros/moveit_servo/src/servo.cpp
index df30a1287f..8735b1e657 100644
--- a/moveit_ros/moveit_servo/src/servo.cpp
+++ b/moveit_ros/moveit_servo/src/servo.cpp
@@ -490,6 +490,8 @@ const TwistCommand Servo::toPlanningFrame(const TwistCommand& command)
     tf2::doTransform(reordered_twist, reordered_twist, body_to_space_tf);
   }
 
+// else: the command is in the planning frame so no transformation is needed
+
   // Reverse again to make it (linear, angular)
   Eigen::VectorXd transformed_twist(6);
   transformed_twist.head<3>() = reordered_twist.tail<3>();