diff --git a/pr2eus/robot-interface.l b/pr2eus/robot-interface.l
index ab6b83f10..d2d975c1b 100644
--- a/pr2eus/robot-interface.l
+++ b/pr2eus/robot-interface.l
@@ -347,7 +347,7 @@
 
   (:angle-vector-duration
    (start end &optional (scale 1) (min-time 1.0) (ctype controller-type))
-   (let* ((unordered-joint-names 
+   (let* ((unordered-joint-names
            (flatten (mapcar #'(lambda (joint-param)
                                 (cdr (assoc :joint-names joint-param)))
                             (send self ctype))))
@@ -395,6 +395,7 @@
 - min-time : minimum time for time to goal
 - end-coords-interpolation : set t if you want to move robot in cartesian space interpolation
 - end-coords-interpolation-steps : number of divisions when interpolating end-coords
+- limit-rotation : set t if you want to restrict upper/lower limit angle of unlimited rotational joint
 "
    (if end-coords-interpolation
      (return-from :angle-vector (send self :angle-vector-sequence (list av) (list tm) ctype start-time :scale scale :min-time min-time :end-coords-interpolation t :end-coords-interpolation-steps end-coords-interpolation-steps)))
@@ -407,7 +408,7 @@
      (warn ";; controller-type: ~A not found" ctype)
      (return-from :angle-vector))
    ;;Check and decide tm
-   (let ((fastest-tm (* 1000 (send self :angle-vector-duration 
+   (let ((fastest-tm (* 1000 (send self :angle-vector-duration
                                    (send self :state :potentio-vector) av scale min-time ctype))))
      (cond
       ;;Fastest time Mode