diff --git a/src/custom_xarm_moveit_config/config/lite6/cartesian_limits.yaml b/src/custom_xarm_moveit_config/config/lite6/cartesian_limits.yaml
index 8734004..784aa28 100644
--- a/src/custom_xarm_moveit_config/config/lite6/cartesian_limits.yaml
+++ b/src/custom_xarm_moveit_config/config/lite6/cartesian_limits.yaml
@@ -1,5 +1,5 @@
 cartesian_limits:
-  max_trans_vel: 2.0
-  max_trans_acc: 3.00
+  max_trans_vel: 0.4
+  max_trans_acc: 4.00
   max_trans_dec: -5.0
   max_rot_vel: 1.57
diff --git a/src/custom_xarm_moveit_config/config/lite6/joint_limits.yaml b/src/custom_xarm_moveit_config/config/lite6/joint_limits.yaml
index f19e933..712cade 100755
--- a/src/custom_xarm_moveit_config/config/lite6/joint_limits.yaml
+++ b/src/custom_xarm_moveit_config/config/lite6/joint_limits.yaml
@@ -4,31 +4,31 @@
 joint_limits:
   joint1:
     has_velocity_limits: true
-    max_velocity: 10.14
+    max_velocity: 4.14
     has_acceleration_limits: true
-    max_acceleration: 20.0
+    max_acceleration: 30.0
   joint2:
     has_velocity_limits: true
-    max_velocity: 10.14
+    max_velocity: 4.14
     has_acceleration_limits: true
-    max_acceleration: 20.0
+    max_acceleration: 30.0
   joint3:
     has_velocity_limits: true
-    max_velocity: 10.14
+    max_velocity: 4.14
     has_acceleration_limits: true
-    max_acceleration: 20.0
+    max_acceleration: 30.0
   joint4:
     has_velocity_limits: true
-    max_velocity: 10.14
+    max_velocity: 4.14
     has_acceleration_limits: true
-    max_acceleration: 20.0
+    max_acceleration: 30.0
   joint5:
     has_velocity_limits: true
-    max_velocity: 10.14
+    max_velocity: 4.14
     has_acceleration_limits: true
-    max_acceleration: 20.0
+    max_acceleration: 30.0
   joint6:
     has_velocity_limits: true
-    max_velocity: 10.14
+    max_velocity: 4.14
     has_acceleration_limits: true
-    max_acceleration: 20.0
+    max_acceleration: 30.0
diff --git a/src/drawing_controller/drawing_controller/svg_path_parser.py b/src/drawing_controller/drawing_controller/svg_path_parser.py
index 6d63786..2bac2e2 100644
--- a/src/drawing_controller/drawing_controller/svg_path_parser.py
+++ b/src/drawing_controller/drawing_controller/svg_path_parser.py
@@ -115,7 +115,7 @@ class SVGPathParser():
             maxval = np.amax(np.absolute(control_points))
             #print('maxxv', maxval)
             #control_points = control_points / maxval #normalize values
-            n = 1000
+            n = 100
             curve = cf.bezier(control_points)
             lin = np.linspace(curve.start(0), curve.end(0), n)
             coordinates = curve(lin)
@@ -140,7 +140,7 @@ class SVGPathParser():
             nonlocal x
             nonlocal y
             control_points = np.array(control_points)
-            n = 1000
+            n = 100
             curve = cf.bezier(control_points, quadratic=True)
             lin = np.linspace(curve.start(0), curve.end(0), n)
             coordinates = curve(lin)
diff --git a/src/drawing_controller/drawing_controller/svg_processor.py b/src/drawing_controller/drawing_controller/svg_processor.py
index aa09dc0..6303563 100644
--- a/src/drawing_controller/drawing_controller/svg_processor.py
+++ b/src/drawing_controller/drawing_controller/svg_processor.py
@@ -197,8 +197,8 @@ class SVGProcessor():
         Simplify line with https://pypi.org/project/simplification/
         """
         # For RDP, Try an epsilon of 1.0 to start with. Other sensible values include 0.01, 0.001
-        #epsilon = 0.009
-        epsilon = 0.00005
+        #epsilon = 0.00005
+        epsilon = 0.0008
 
         tmp = []
         out = []
diff --git a/src/lite6_controller/src/lite6_controller.cpp b/src/lite6_controller/src/lite6_controller.cpp
index d21403b..9b38ce3 100644
--- a/src/lite6_controller/src/lite6_controller.cpp
+++ b/src/lite6_controller/src/lite6_controller.cpp
@@ -198,11 +198,11 @@ public:
       //mpr.planner_id = "LIN";
       mpr.group_name = move_group.getName();
       //mpr.max_velocity_scaling_factor = 1.0;
-      mpr.max_velocity_scaling_factor = 0.3;
-      mpr.max_acceleration_scaling_factor = 0.3;
+      mpr.max_velocity_scaling_factor = 1.0;
+      mpr.max_acceleration_scaling_factor = 1.0;
       //mpr.max_acceleration_scaling_factor = 0.1;
       mpr.allowed_planning_time = 20;
-      mpr.max_cartesian_speed = 3; // m/s
+      //mpr.max_cartesian_speed = 2; // m/s
       //mpr.goal_constraints.position_constraints.header.frame_id = "world";
 
       // A tolerance of 0.01 m is specified in position
@@ -368,8 +368,17 @@ public:
 
   void executeTrajectoryFromQueue()
   {
-    if (busy || trajectory_queue.empty())
+    if (trajectory_queue.empty())
+    {
+      if (busy)
+        return;
+
+      busy = true;
+      //RCLCPP_INFO(this->get_logger(), "Getting robot state");
+      //move_group_state = move_group.getCurrentState(10);
+      busy = false;
       return;
+    }
     busy = true;
     RCLCPP_INFO(this->get_logger(), "Executing next trajectory from queue");
     move_group.execute(trajectory_queue.front());