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In addition to what @fvd writes, also check whether the robot model has appropriate velocity and acceleration limits configured.

If it doesn't, MoveIt (or actually: the time-parameterisation plugins) will assume a default of 1.0 rad/s and 1.0 rad/s^2 for all joints without limits.

In addition to what @fvd writes, also check whether the robot model has appropriate velocity and acceleration limits configured.

If it doesn't, MoveIt (or actually: the time-parameterisation plugins) will assume a default of 1.0 rad/s and 1.0 rad/s^2 for all joints without limits.limits:

  • here for the IterativeParabolicTimeParameterization
  • here for the IterativeSplineParameterization
  • here and here for the TimeOptimalTrajectoryGeneration