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 1/2] 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
         )

From b71913be0beac5c6ec624bb53781fb0ff83f0c49 Mon Sep 17 00:00:00 2001
From: Zarnack <56802851+Zarnack@users.noreply.github.com>
Date: Wed, 3 Apr 2024 16:36:02 +0000
Subject: [PATCH 2/2] Removed getter and setter of 'max_cartesian_speed' to
 avoid confusion as the corresponding value of the MotionPlanRequest.msg
 (respectively the self.__move_action_goal.request object) is currently not
 used in moveit2. --> The 'max_cartesian_speed' variable requires the
 'default_planner_request_adapters/SetMaxCartesianEndEffectorSpeed' which
 currently only exists in moveit1.

---
 pymoveit2/moveit2.py | 8 --------
 1 file changed, 8 deletions(-)

diff --git a/pymoveit2/moveit2.py b/pymoveit2/moveit2.py
index 927d44a..7bca993 100644
--- a/pymoveit2/moveit2.py
+++ b/pymoveit2/moveit2.py
@@ -2041,14 +2041,6 @@ def max_acceleration(self) -> float:
     def max_acceleration(self, value: float):
         self.__move_action_goal.request.max_acceleration_scaling_factor = value
 
-    @property
-    def max_cartesian_speed(self) -> float:
-        return self.__move_action_goal.request.max_cartesian_speed
-
-    @max_cartesian_speed.setter
-    def max_cartesian_speed(self, value: float):
-        self.__move_action_goal.request.max_cartesian_speed = value
-
     @property
     def num_planning_attempts(self) -> int:
         return self.__move_action_goal.request.num_planning_attempts