The wholebody trajectories use max velocity and max acceleration.

[ninja777]

tough/tough_motion_planners/tough_moveit_planners/src/taskspace_planner.cpp

Line 111 in 6c51e4a

timeParameterizer.computeTimeStamps(robot_traj);

Wholebody trajectories use maximum velocity and accelerations while computing timestamps. This causes robot to freeze while executing the trajectories. Modify this value based on experiments.

[AshayAswale]

In the taskspace_planner.h, the use of IterativeSplineParameterization instead of IterativeParabolicTimeParameterization has produced a comparatively smoother trajectory. Should I push that?
But that is not a permanent fix.

[ninja777]

That's a good start. Let's push that in.