Shaun,

It is related, but not the same one. My fix requires a sign change in four lines, and restores the search along the redundant DOF, which brings it in line with similar calls in the PR2 code. Their fix is a much broader patch that adds new functionality (or re-enables it), but it also changes getCount in a way that I am not sure is consistent with the initial approach. It's worth a code review, but I don't know when I'll have a chance to do that.

Juan Pablo

====================

Juan,

Is you bug related/the same as this one: http://openrave-users-list.185357.n3.nabble.com/ROS-KDLArmKinematicsPlugin-and-IKFastKinematicsPlugin-td4025943.html

Shaun Edwards

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