How can I change the execution speed for waypoints and cartesian planning motions?

Alex Servo

July 16, 2025 18:55

0

• Official comment

  

  Shaur Kumar

  July 16, 2025 19:00

  Hi Alex,
  
  All motion plans are time optimal by default, e.g. it will execute trajectories at maximum speed according to he limits in the `joint_limits.yaml`. You can edit that file to impact the execution speeds. Additionally, most planning behaviors have a `velocity_scale_factor` port which allows for a scaling factor to be applied to the trajectory execution speed.  
  
  Thanks,
  Shaur

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