diff --git a/pr2eus_moveit/euslisp/robot-moveit.l b/pr2eus_moveit/euslisp/robot-moveit.l
index 8f2369edd..490a65112 100644
--- a/pr2eus_moveit/euslisp/robot-moveit.l
+++ b/pr2eus_moveit/euslisp/robot-moveit.l
@@ -544,7 +544,9 @@
 
        (if use-send-angle-vector
            (send* self :joint-trajectory-to-angle-vector-list move-arm traj args)
-         (send* self :send-trajectory traj args))
+           (if start-offset-time
+             (send* self :send-trajectory traj :starttime start-offset-time args)
+             (send* self :send-trajectory traj args)))
        (if (listp av) av (list av)))))
   (:move-end-coords-plan ;;
    (cds &rest args &key (move-arm :larm) (reset-total-time 5000.0) (use-send-angle-vector) &allow-other-keys)