From 68c345c751afebb696ba6d3335b802876fb43d62 Mon Sep 17 00:00:00 2001
From: Zarnack <56802851+Zarnack@users.noreply.github.com>
Date: Mon, 25 Mar 2024 17:40:10 +0000
Subject: [PATCH] fixed max\_cartesian\_speed setter to set the right variable
 for the planning request added max\_cartesian\_acceleration setter and getter

---
 pymoveit2/moveit2.py | 12 ++++++++++--
 1 file changed, 10 insertions(+), 2 deletions(-)

diff --git a/pymoveit2/moveit2.py b/pymoveit2/moveit2.py
index 6d7684e..e158d25 100644
--- a/pymoveit2/moveit2.py
+++ b/pymoveit2/moveit2.py
@@ -2034,11 +2034,19 @@ def max_acceleration(self, value: float):
 
     @property
     def max_cartesian_speed(self) -> float:
-        return self.__move_action_goal.request.max_cartesian_speed
+        return self.__cartesian_path_request.max_velocity_scaling_factor
 
     @max_cartesian_speed.setter
     def max_cartesian_speed(self, value: float):
-        self.__move_action_goal.request.max_cartesian_speed = value
+        self.__cartesian_path_request.max_velocity_scaling_factor = value
+
+    @property
+    def max_cartesian_acceleration(self) -> float:
+        return self.__cartesian_path_request.max_acceleration_scaling_factor
+
+    @max_cartesian_acceleration.setter
+    def max_cartesian_acceleration(self, value: float):
+        self.__cartesian_path_request.max_acceleration_scaling_factor = value
 
     @property
     def num_planning_attempts(self) -> int: