From 9ce0f1d5cbea781c42586f6a0fd219d21b48cb96 Mon Sep 17 00:00:00 2001
From: Zarnack <56802851+Zarnack@users.noreply.github.com>
Date: Tue, 26 Mar 2024 14:17:44 +0000
Subject: [PATCH] added re-use of max_velocity_scaling_factor and
 max_acceleration_scaling_factor from move_action goal to
 cartesian_path_request

---
 pymoveit2/moveit2.py | 9 +++++++++
 1 file changed, 9 insertions(+)

diff --git a/pymoveit2/moveit2.py b/pymoveit2/moveit2.py
index 6d7684e..927d44a 100644
--- 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
         )