diff --git a/jsk_baxter_robot/baxtereus/baxter-interface.l b/jsk_baxter_robot/baxtereus/baxter-interface.l index 3c8a77534c..b0284edc04 100644 --- a/jsk_baxter_robot/baxtereus/baxter-interface.l +++ b/jsk_baxter_robot/baxtereus/baxter-interface.l @@ -237,10 +237,10 @@ (send self :angle-vector-sequence-raw (list av) (list tm) ctype start-time :scale scale :min-time min-time)) (:angle-vector-sequence-raw (avs &optional (tms :fast) (ctype controller-type) (start-time 0) &key (scale 2.2) (min-time 0.05) &allow-other-keys) - ;; force add current position to the top of avs (if (atom tms) (setq tms (list tms))) (setq ctype (or ctype controller-type)) ;; use default if ctype is nil - (send-super :angle-vector-sequence avs tms ctype start-time :scale scale :min-time min-time)) + ;; if first tm of tms is zero, that means time_from_start of first trajectory point will be zero + (send-super :angle-vector-sequence avs tms ctype start-time :scale scale :min-time min-time :allow-initial-av t)) (:angle-vector (av &optional tm (ctype controller-type) (start-time 0) &rest args &key (move-arm :arms) (start-offset-time 0.01) (clear-velocities t) &allow-other-keys)