diff --git a/src/cloudproc/CMakeLists.txt b/src/cloudproc/CMakeLists.txt
index cce0f8b4..9d4c55e2 100644
--- a/src/cloudproc/CMakeLists.txt
+++ b/src/cloudproc/CMakeLists.txt
@@ -1,6 +1,6 @@
 
 
-find_package(PCL 1.6 REQUIRED)
+find_package(PCL 1.7 REQUIRED)
 
 include_directories(SYSTEM ${PCL_INCLUDE_DIRS})
 link_directories(${PCL_LIBRARY_DIRS})
diff --git a/src/trajopt/configuration_space.cpp b/src/trajopt/configuration_space.cpp
index 45a050e7..0960b838 100644
--- a/src/trajopt/configuration_space.cpp
+++ b/src/trajopt/configuration_space.cpp
@@ -14,7 +14,8 @@ void RobotAndDOF::SetDOFValues(const DblVec& dofs) {
     OR::Transform T;
     OR::RaveGetTransformFromAffineDOFValues(T, dofs.begin()+joint_inds.size(), affinedofs, rotationaxis, true);
     robot->SetTransform(T);
-    robot->SetDOFValues(dofs, false, joint_inds);
+    if (joint_inds.size() > 0)
+      robot->SetDOFValues(dofs, false, joint_inds);
   }
   else {
     robot->SetDOFValues(dofs, false, joint_inds);
@@ -23,7 +24,8 @@ void RobotAndDOF::SetDOFValues(const DblVec& dofs) {
 
 DblVec RobotAndDOF::GetDOFValues() {
   DblVec out;
-  robot->GetDOFValues(out, joint_inds);
+  if (joint_inds.size() > 0)
+    robot->GetDOFValues(out, joint_inds);
   if (affinedofs != 0) {
     out.resize(GetDOF());
     OR::Transform T = robot->GetTransform();
@@ -40,7 +42,8 @@ void RobotAndDOF::SetRobotActiveDOFs()  {
 }
 
 void RobotAndDOF::GetDOFLimits(DblVec& lower, DblVec& upper) const {
-  robot->GetDOFLimits(lower, upper, joint_inds);
+  if (joint_inds.size() > 0)
+    robot->GetDOFLimits(lower, upper, joint_inds);
   const int translation_dofs[3] = {DOF_X, DOF_Y, DOF_Z};
   for (int i=0; i < 3; ++i) {
     if (affinedofs & translation_dofs[i]) {