@@ -1462,6 +1462,11 @@ static void get_pos_cmds(long period)
 		       this cycle so it doesn't really matter */
 		    cubicAddPoint(&(joint->cubic), joint->coarse_pos);
 		}
+		/* a non-finite joint left joint 0 without its point, so the
+		   loop would ask for it forever and hang the servo thread */
+		if (joint_num < NO_OF_KINS_JOINTS) {
+		    break;
+		}
 	    }
 	    else
 	    {
Original file line number	Diff line number	Diff line change
`@@ -1462,6 +1462,11 @@ static void get_pos_cmds(long period)`
`1462`	`1462`	`this cycle so it doesn't really matter */`
`1463`	`1463`	`cubicAddPoint(&(joint->cubic), joint->coarse_pos);`
`1464`	`1464`	`}`
	`1465`	`+ /* a non-finite joint left joint 0 without its point, so the`
	`1466`	`+ loop would ask for it forever and hang the servo thread */`
	`1467`	`+ if (joint_num < NO_OF_KINS_JOINTS) {`
	`1468`	`+ break;`
	`1469`	`+ }`
`1465`	`1470`	`}`
`1466`	`1471`	`else`
`1467`	`1472`	`{`