diff --git a/nextage_ik_plugin/src/nextage_left_arm_ikfast_moveit_plugin.cpp b/nextage_ik_plugin/src/nextage_left_arm_ikfast_moveit_plugin.cpp
index 230ae7a0..e2912b09 100644
--- a/nextage_ik_plugin/src/nextage_left_arm_ikfast_moveit_plugin.cpp
+++ b/nextage_ik_plugin/src/nextage_left_arm_ikfast_moveit_plugin.cpp
@@ -479,7 +479,7 @@ double IKFastKinematicsPlugin::harmonize(const std::vector<double> &ik_seed_stat
     while(solution[i] > 2*M_PI) {
       solution[i] -= 2*M_PI;
     }
-    while(solution[i] < 2*M_PI) {
+    while(solution[i] < -2*M_PI) {
       solution[i] += 2*M_PI;
     }
     dist_sqr += fabs(ik_seed_state[i] - solution[i]);
diff --git a/nextage_ik_plugin/src/nextage_right_arm_ikfast_moveit_plugin.cpp b/nextage_ik_plugin/src/nextage_right_arm_ikfast_moveit_plugin.cpp
index dde2de11..e4d89d6c 100644
--- a/nextage_ik_plugin/src/nextage_right_arm_ikfast_moveit_plugin.cpp
+++ b/nextage_ik_plugin/src/nextage_right_arm_ikfast_moveit_plugin.cpp
@@ -479,7 +479,7 @@ double IKFastKinematicsPlugin::harmonize(const std::vector<double> &ik_seed_stat
     while(solution[i] > 2*M_PI) {
       solution[i] -= 2*M_PI;
     }
-    while(solution[i] < 2*M_PI) {
+    while(solution[i] < -2*M_PI) {
       solution[i] += 2*M_PI;
     }
     dist_sqr += fabs(ik_seed_state[i] - solution[i]);