jointControl update
@@ -756,10 +756,7 @@ void OpenManipulator::jointControlForDrawing(Name tool_name, bool use_time)
goal_position = kinematics_->inverse(&manipulator_, tool_name, getPoseForDrawing(object_, tick_time));
if (platform_)
- {
- //sendMultipleActuatorAngle(manipulator_.getAllActiveJointID(), goal_position);
- manipulator_.jointMove(goal_position, control_time_);
- }
+ sendMultipleActuatorAngle(manipulator_.getAllActiveJointID(), goal_position);
if (processing_)
{
@@ -830,10 +827,7 @@ void OpenManipulator::jointControlForDrawing(Name tool_name, bool use_time)
goal_position = kinematics_->inverse(&manipulator_, tool_name, getPoseForDrawing(object_, move_time_));
if (platform_)
- {
- //sendMultipleActuatorAngle(manipulator_.getAllActiveJointID(), goal_position);
- manipulator_.jointMove(goal_position, control_time_);
- }
+ sendMultipleActuatorAngle(manipulator_.getAllActiveJointID(), goal_position);
if (processing_)
{
