Yes I'm using 5axiskins (slightly modified) and till now I didn't noticed this
kind of issues.
>
> Is this a non-trivial kinematics machine?
>
> I'm working on a machine that does something like this when switching
> between forward and inverse kinematics (or maybe the other way around). In
> my case it is caused by a slight error in my forward kinematics function.
>
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