added re-use of max_velocity_scaling_factor and max_acceleration_scal…

…ing_factor from move_action goal to cartesian_path_request
AndrejOrsula · Mar 26, 2024 · 9ce0f1d · 9ce0f1d
1 parent bd63d26
commit 9ce0f1d
Showing 1 changed file with 9 additions and 0 deletions.
diff --git a/pymoveit2/moveit2.py b/pymoveit2/moveit2.py
@@ -1739,6 +1739,15 @@ def _plan_cartesian_path(
         self.__cartesian_path_request.start_state = (
             self.__move_action_goal.request.start_state
         )
+
+        self.__cartesian_path_request.max_velocity_scaling_factor = (
+            self.__move_action_goal.request.max_velocity_scaling_factor
+        )
+
+        self.__cartesian_path_request.max_acceleration_scaling_factor = (
+            self.__move_action_goal.request.max_acceleration_scaling_factor
+        )
+
         self.__cartesian_path_request.group_name = (
             self.__move_action_goal.request.group_name
         )