diff --git a/jsk_baxter_robot/baxtereus/baxter-interface.l b/jsk_baxter_robot/baxtereus/baxter-interface.l
index 3c8a77534c2..810ec8d8432 100644
--- a/jsk_baxter_robot/baxtereus/baxter-interface.l
+++ b/jsk_baxter_robot/baxtereus/baxter-interface.l
@@ -233,14 +233,18 @@
      )
    )
   (:angle-vector-raw (av &optional (tm :fast) (ctype controller-type) (start-time 0)
-                         &key (scale 2.2) (min-time 0.05) &allow-other-keys)
-    (send self :angle-vector-sequence-raw (list av) (list tm) ctype start-time :scale scale :min-time min-time))
+                         &key (scale 2.2) (min-time 0.05) (end-coords-interpolation nil)
+                         &allow-other-keys)
+    (send self :angle-vector-sequence-raw (list av) (list tm) ctype start-time :scale scale :min-time min-time
+          :end-coords-interpolation end-coords-interpolation))
   (: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)
+                                   &key (scale 2.2) (min-time 0.05) (end-coords-interpolation nil)
+                                   &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))
+    (send-super :angle-vector-sequence avs tms ctype start-time :scale scale :min-time min-time
+                :end-coords-interpolation end-coords-interpolation))
   (: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)