Safe Trajectory
Safe Trajectory caps the commanded cursor cartesian velocity when moving to a target set using the set_cursor_position command.
When enabled, the controller limits the cursor/end-effector speed to max_vel and continues updating the position over time until the requested target is reached.
If a new user command is received that changes the target or directly affects cursor/end-effector control (e.g., a new set_cursor_position, force command, etc.), the in-progress safe-trajectory motion is overridden and the new command takes effect immediately.
Settings
Related setting keys:
features/safe_trajectory/enabledfeatures/safe_trajectory/mav_vel