diff --git a/src/ur_driver.cpp b/src/ur_driver.cpp
index cae94f2..f46d3ad 100644
--- a/src/ur_driver.cpp
+++ b/src/ur_driver.cpp
@@ -90,10 +90,10 @@ void UrDriver::addTraj(std::vector<double> inp_timestamps,
 		}
 	}
 	//make sure we come to a smooth stop
-	while (timestamps.back() < inp_timestamps.back()) {
+	/*while (timestamps.back() < inp_timestamps.back()) {
 		timestamps.push_back(timestamps.back() + 0.008);
 	}
-	timestamps.pop_back();
+	timestamps.pop_back();*/
 
 	unsigned int j = 0;
 	for (unsigned int i = 0; i < timestamps.size(); i++) {
diff --git a/src/ur_ros_wrapper.cpp b/src/ur_ros_wrapper.cpp
index eb3b62f..fe470ae 100644
--- a/src/ur_ros_wrapper.cpp
+++ b/src/ur_ros_wrapper.cpp
@@ -146,7 +146,7 @@ public:
 		t.push_back(0.);
 		t.push_back(4.);
 		t.push_back(8.);
-		robot_.doTraj(t, pos, vel); */
+		robot_.doTraj(t, pos, vel);*/
 
 	}
 
@@ -295,7 +295,8 @@ private:
 						traj.points[i].positions[mapping[j]]);
 				new_point.velocities.push_back(
 						traj.points[i].velocities[mapping[j]]);
-				new_point.accelerations.push_back(
+				if (traj.points[i].accelerations.size() != 0)
+					new_point.accelerations.push_back(
 						traj.points[i].accelerations[mapping[j]]);
 			}
 			new_point.time_from_start = traj.points[i].time_from_start;