in fact your idea is so un-intrusive that I'll try do it for 2.5 

no NML mumbo-jumbo, not task state guesswork, no Axis deciphering - I like it!

-m

Am 25.04.2012 um 16:44 schrieb Kenneth Lerman:

> 
> Thank you Michael.
> 
> Once upon a time (6/22/2009), I suggested:
> ==============
> 
> One way to approach this would be to use HAL to add a position offset to
> each joint. Normally, thi

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