diff --git a/CHANGELOG.md b/CHANGELOG.md
index 7d71c2845c..434a573cfe 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -2,6 +2,10 @@
 
 ### 0.3.0 (201X-XX-XX)
 
+* Common
+  
+  * Fixed bug in StepSequence::getMaxSteps(): [#305](https://github.com/personalrobotics/aikido/pull/305)
+
 * State Space
 
   * Refactored JointStateSpace and MetaSkeletonStateSpace: [#278](https://github.com/personalrobotics/aikido/pull/278)
diff --git a/src/common/StepSequence.cpp b/src/common/StepSequence.cpp
index 828983f740..caaf37416b 100644
--- a/src/common/StepSequence.cpp
+++ b/src/common/StepSequence.cpp
@@ -59,24 +59,12 @@ StepSequence::const_iterator StepSequence::end()
 int StepSequence::getMaxSteps() const
 {
   int numSteps = (mEndPoint - mStartPoint) / mStepSize;
-  if (!mIncludeEndpoints)
-  {
-    // Return numSteps + 1 for the start
-    return numSteps + 1;
-  }
-  else
+
+  if (std::abs(mStartPoint + mStepSize * numSteps - mEndPoint) > 1e-7)
   {
-    if (fabs(mStartPoint + mStepSize * numSteps - mEndPoint) < 1e-7)
-    {
-      // Return numSteps + 1 for the start (endpt already included)
-      return numSteps + 1;
-    }
-    else
-    {
-      // Return numSteps + 1 for the start + 1 for the end
-      return numSteps + 2;
-    }
+    numSteps++;
   }
+  return numSteps + mIncludeEndpoints;
 }
 
 //==============================================================================
diff --git a/tests/common/test_StepSequence.cpp b/tests/common/test_StepSequence.cpp
index c068393342..4c299ce1c7 100644
--- a/tests/common/test_StepSequence.cpp
+++ b/tests/common/test_StepSequence.cpp
@@ -72,6 +72,15 @@ TEST(StepSequence, IteratorStop)
   }
 
   EXPECT_EQ(5, count);
+
+  std::size_t count2 = 0;
+  StepSequence seq2(0.2, false);
+  for (double v : seq2)
+  {
+    DART_UNUSED(v);
+    count2++;
+  }
+  EXPECT_EQ(5, count2);
 }
 
 TEST(StepSequence, IteratorStopAlternateRange)
@@ -93,7 +102,7 @@ TEST(StepSequence, MaxSteps)
   EXPECT_EQ(6, seq1.getMaxSteps());
 
   StepSequence seq2(0.2, false);
-  EXPECT_EQ(6, seq2.getMaxSteps());
+  EXPECT_EQ(5, seq2.getMaxSteps());
 
   StepSequence seq3(0.3, true);
   EXPECT_EQ(5, seq3.getMaxSteps());
@@ -108,11 +117,11 @@ TEST(StepSequence, MaxStepsAlternateRanges)
   EXPECT_EQ(21, seq1.getMaxSteps());
 
   StepSequence seq2(0.2, false, 3, 7);
-  EXPECT_EQ(21, seq2.getMaxSteps());
+  EXPECT_EQ(20, seq2.getMaxSteps());
 
   StepSequence seq3(0.3, true, 2, 4);
   EXPECT_EQ(8, seq3.getMaxSteps());
 
   StepSequence seq4(0.3, false, 2, 5);
-  EXPECT_EQ(11, seq4.getMaxSteps());
+  EXPECT_EQ(10, seq4.getMaxSteps());
 }